辊式枝条捡拾机构运动学仿真与试验分析

Abstract

Apple tree branches have the physical characteristics of high cellulose content and high elasticity, and the use of traditional soft straw pickers will miss a large number of branches. It is necessary to design a picking mechanism that adapts to the physical characteristics of fruit tree branches. In the treatment of branches in modern orchards, the picking mechanism is an important part of the picking device. The success rate of picking directly affects the processing performance of the whole machine. To improve the picking rate, the roller branch picking mechanism is studied. The trajectory of the roller picking and the stress state of the branches are analyzed, and five main factors affecting the picking effect are obtained, i.e. the position relationship between the rotation center of the picking roller and the feeding roller, inclination angle of the steel teeth, the effective working length, the speed and the forward speed of the machine. A mathematical model is established to obtain the static and dynamic motion trajectories of the roller picking mechanism are obtained by using Matlab. Taking the analysis results of influencing factors as the optimization goal, the picking trajectory of the mechanism is simulated to obtain a set of non-inferior solutions. A roller branch picker is manufactured according to the parameter values and tested in the field, and the picking rate can reach 91%.