果园枝条收集机构的运动学仿真与动力学分析研究

Abstract

The spring finger collection mechanism is a core component of balers. It is usually used to collect soft straw crops (corn straw, wheat straw, green forage), and rarely used for hard stem crops (such as branch pruning residues). Due to different biophysical characteristics of hard stem crops and soft straw crops, the collection mechanisms are also different. In China, branch pruning residues in apple orchards are collected manually. It is a heavy labor task. To this end, this article uses an improved spring finger mechanism to collect pruning residues in apple orchard branches, effectively replacing manual collection operations. A dynamic motion trajectory simulation platform is developed by analyzing each action using pitchforks or other agricultural tools throughout the entire collection process, and combined with the structure of the spring finger collection mechanism. The platform of the spring finger collection mechanism is improved to collect orchard branches, and redesign and manufacture the core components of the collection mechanism. In addition, comparative tests were performed on4 different placement orientation sunder the conditions of R=40±2 r/min and V=0.9-1.1 m/s. That is, 1) messy, 2) transverse, 3) portrait orientation (the treetop firstly contacts the collection device), and 4) portrait orientation (the thick stems of the branches first touch the collection device). The results indicate that 1) and 2) have similar success rates in picking branches, while 3) and 4) have lower success rates, especially with 4) being the lowest). The analysis found that some branches were directly inserted into the spring finger gap and moved under the machine, resulting in a large amount of losses. This study aims to improve the success rate of picking branches in the bundling machine and verify the relationship between different placement directions and the success rate of picking branches.