便携式乔木类水果采摘装置设计与试验

邓成刚; 胡志刚; 张啸风; 翟红蕾; 蒋亚军

doi:10.19998/j.cnki.2095-1795.2022.09.018

便携式乔木类水果采摘装置设计与试验

doi: 10.19998/j.cnki.2095-1795.2022.09.018

邓成刚^{1, 2,},
胡志刚^1,,
张啸风³,
翟红蕾⁴,
蒋亚军¹

1.
武汉轻工大学，湖北武汉 430023
2.
湖北交通职业技术学院，湖北武汉 430079
3.
墨尔本大学，帕克维尔 3010，澳大利亚
4.
武汉理工大学，湖北武汉 430070

基金项目: 国家社会科学基金项目（20BXW029）；湖北省科技厅创新重大专项（2019ABA085）；湖北省教育厅指导性项目（B2021119）；武汉轻工大学校立科研项目（2021Y27）

详细信息

作者简介:
邓成刚，硕士生，讲师，主要从事乔木类水果采摘的机器视觉技术及装备研究　E-mail：5409122@qq.com

胡志刚，通信作者，博士，教授，硕士生导师，主要从事农产品（食品）加工装备、机械产品创新设计研究　E-mail：whhzg@qq.com

中图分类号: S225.93
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- 被引次数: 0
出版历程
- 收稿日期: 2022-03-28
- 修回日期: 2022-06-15
- 出版日期: 2022-09-20

Design and Experiment of Portable Arbor Tree Fruit Harvesting Device

1.
Wuhan Polytechnic University，Wuhan Hubei 430023，China
2.
Hubei Communication Technical College，Wuhan Hubei 430079 ，China
3.
University of Melbourne，Parkville 3010，Australia
4.
Wuhan University of Technology， Wuhan Hubei 430070，China

摘要

摘要:
针对国内乔木类水果种植现状和劳动力短缺的情况，设计了便携式乔木类水果采摘装置。该装置是小型辅助人工采摘机械，由拨动式刀头、分段可调节伸缩杆、棘轮式可折叠支撑杆（省力杆）和螺旋式收集器4部分构成。刀头部分通过曲柄连杆机构的摇杆拨动，使果梗滑过刀刃完成剪切，特别适合对生长在山地、高处水果的采摘，拆卸方便、效率较高、实用性强。在黄花梨采摘作业时，平均单果采摘时间为3.34 s，收获果实合格率97%以上，满足采摘需求。
- 水果 /
- 采摘装置 /
- 拨动式刀头 /
- 棘轮式支撑杆 /
- 螺旋回转收集器
Abstract:
Based on dearth of labor and status quo of arbor tree fruit cultivating, a kind of portable arbor tree fruit harvesting device was invented． This device was a wearable-micromanipulator consist of four main parts: plucked knife-head, sectional scalable expansion link, rachet foldable supporter, and spiral gatherer． Knife head plucked by a crank-link mechanism, cutting bar of the fruit． This device was especially suitable for picking fruits growing in mountains and high place． This device was easily detachable and with high efficiency and very effective． Results showed that average single fruit picking time was 3.34 s, and qualified rate of harvested fruit was more than 97%, which met demand for picking．
- fruits /
- harvesting device /
- plucked knife-head /
- rachet foldable supporter /
- spiral gather

HTML全文

图 1 采摘装置结构

1. 背带　2. “螺旋式”收集器　3. 工字铝合金　4. “棘轮式”可折叠支撑杆　5. 导向管　6. 收集管　7. “拨动式”刀头　8. 万向节　9. 固定卡箍　10. 四节可调节伸缩杆　11. 平衡器　12. 控制开关

Figure 1. Structure of harvesting device

下载: 全尺寸图片幻灯片

图 2 采摘刀头主体部分结构

1. 固定套筒　2. 保护罩　3. 导向片及刀刃　4. 拨杆　5. 微动开关　6. 连杆　7. 曲柄　8. 蜗杆带蜗轮的减速器　9. 微型直流电机　10. 收集管

Figure 2. Structure of main part of picking cutter head

下载: 全尺寸图片幻灯片

图 3 曲柄连杆机构模型

Figure 3. Crank link mechanism model

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图 4 电路接线

Figure 4. Circuit wiring

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图 5 伸缩杆受力及强度计算

Figure 5. Stress and strength calculation of telescopic rod

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图 6 支撑架横杆强度计算

Figure 6. Supporter intensity computation

下载: 全尺寸图片幻灯片

表 1 采摘时间统计

Table 1. Average picking time

组别手工采摘装置采摘

平均采摘时间/s 4.85 3.34

下载: 导出CSV

表 2 采摘数目统计

Table 2. Amount of picking

组别数值

时间/min 1 2 3 4 5 6 7 8 9 10
手工采摘个数 11 9 9 9 7 7 6 5 5 4
装置采摘个数 15 12 14 13 15 14 14 13 12 12

下载: 导出CSV

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