| 摇枝式油茶果采摘装置作业过程分析与试验 |
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| 引用本文： | 伍德林,李超,曹成茂,范二波,汪奇.摇枝式油茶果采摘装置作业过程分析与试验[J].农业工程学报,2020,36(10):56-62. |
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| 作者姓名： | 伍德林 李超 曹成茂 范二波 汪奇 |
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| 作者单位： | 安徽农业大学工学院,合肥 230036;安徽农业大学工学院,合肥 230036;安徽农业大学工学院,合肥 230036;安徽农业大学工学院,合肥 230036;安徽农业大学工学院,合肥 230036 |
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| 基金项目： | 国家重点研发计划油茶籽机械化收获关键技术与装备研究（2016YFD0702105） |
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| 摘 要： | 为了解决油茶果机械化采摘漏采率高、损伤率大和耗能过大的问题,针对摇枝式油茶果采摘装置,该文通过对油茶果振动脱落过程的分析,建立油茶果振动脱落模型并求解,得出影响油茶果脱落的主要因素为作用在枝条上的外力的振幅、频率、作用时间以和夹持位置,并通过预试验和正交试验得到摇枝式油茶果采摘装置的作业参数范围及漏采率最低情况下的作业参数组合。利用高速摄像对油茶果振动脱落过程进行记录,然后回放录像并分析,以油茶果脱落时间作为评价指标,得出采摘效率较高的振动频率、振幅范围为6~10 Hz和20~40 mm,根据平均落果时间范围确定采摘装置的振动作用时间约为4~12 s。根据油茶果在树上的主要分布范围(距离树冠表层260 mm左右),设计四因素三水平正交油茶果采摘试验,得出漏采率最低的作业参数组合为振动夹持位置在距离树梢末端260 mm以内、振动频率10 Hz、振幅20 mm、振动时间8 s,此时油茶果的漏采率为10.87%,花苞损伤率为31.80%。机械夹持方式和铁质的夹持材料对花苞损伤较大,需进一步优化采摘装置作业参数,优化夹持方式和采用柔软的夹持材料,实现油茶果的机械采摘。
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| 关 键 词： | 农业机械 收获 试验 油茶果 采摘装置 高速摄像 运动分析 |
| 收稿时间： | 2019/12/23 0:00:00 |
| 修稿时间： | 2020/4/9 0:00:00 |
Analysis and experiment of the operation process of branch-shaking type camellia oleifera fruit picking device |
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| Wu Delin,Li Chao,Cao Chengmao,Fan Erbo,Wang Qi.Analysis and experiment of the operation process of branch-shaking type camellia oleifera fruit picking device[J].Transactions of the Chinese Society of Agricultural Engineering,2020,36(10):56-62. |
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| Authors: | Wu Delin Li Chao Cao Chengmao Fan Erbo Wang Qi |
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| Institution: | College of Engineering, Anhui Agricultural University, Hefei 230036, China |
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| Abstract: | A dynamic model and Lagrange equation of forced vibration of camellia oleifera were established for the fruit picking machine with a shaking branch mode according to the theory of forced vibration separation. The equation of inertia force for camellia oleifera fruit was also obtained by solving the governing equation. In dynamic analysis of the equation, main factors affecting the vibration of camellia oleifera can be obtained, including the vibration amplitude, frequency, action time and clamping position of the excitation force. A high speed camera was used to record the vibration shedding process of camellia oleifera fruit. The results showed that the average shedding time of fruit decreases with the increase of vibration frequency under the same amplitude. At the same frequency, the average time of fruit shedding decreased with the increase of amplitude. The picking efficiency was better when the frequency was 6-10 Hz and the amplitude was 20-40 mm. The average shedding time of fruit was between 4-12 s. An integrated electromechanical and hydraulic picking device of camellia oleifera fruit was designed with the frequency between 0 and 10 Hz, and the amplitude adjustable from 20 to 40 mm. A three-level orthogonal experiment for fruit picking was designed based on four factors: dynamic amplitude, frequency, action time and vibration position. According to the fact that most camellia oleifera fruits are concentrated at a distance of about 260 mm from the tree top, the height of 0-260 mm was selected as a factor level of clamping position, with an increase of 100 mm, and 260-360 and 360-460 mm were set as the other two test levels. According to the falling time of camellia oleifera fruits under different amplitudes and frequencies, the vibration frequency was selected as 6, 8 and 10 Hz, and the vibration amplitude was selected as 20, 30 and 40 mm. Since the average shedding time of camellia oleifera was between 4-12 s, the vibration time 4, 8 and 12 s were selected. The mature period of camellia oleifera fruit is generally in late October and early November. From October 30 to November 2, 2018, during the mature and suitable period of camellia oleifera fruit, 9 camellia oleifera trees of Xianglin No. 56 in the camellia oleifera forest of Qidong County, Hunan Province were selected, and 3 canopy branches with the same physical state and similar fruits amount and flower buds were selected as the picking objects, to mark and count the total fruits and flower buds on the branches. At the end of the experiment, the remaining number of camellia oleifera fruits and damaged buds were counted and recorded. The results showed that the holding lamping position of the end-effector had the greatest influence on the picking effect, while the vibration time has the least influence. The optimal picking parameters was that the clamping position was 0-260 mm from the treetop, the vibration frequency was 10 Hz, the amplitude was 20 mm, the vibration time was 8 s, under this condition, the leakage rate of fruits was the lowest (10.87%), the bud damage rate was 31.80%. Since the damage rate of flower bud was relatively large, the machine should be further improved. |
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| Keywords: | agricultural machinery harvesting test camellia oleifera fruit picking device high speed camera kinematic analysis |
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