矮化密植核桃摇床采收机设计与试验

Design and Testing of Shaker Harvester for Dwarf and Densely Planted Walnuts

摘要:

针对国内矮化密植核桃树采收机械适应性差、采摘效率低等问题，设计了一台履带自走式摇床采收机。通过建立树体振动模型，并进行机构运动学分析，设计了摇床关键部件。通过摇床进行了振动试验，使用统计学方法分析了振动参数与脱落率之间的显著性关系，得到了满足高脱落率作业要求的振动参数下限。结果发现，在一定范围内频率影响脱落率的显著性高于振幅、作业时长，并且当振幅小于60 mm，增大频率难以提高脱落率。最后，通过试验检验了脱落率为80%时对应的振动参数下限，验证了结果准确性及可靠性。研究结果为摇床开发以及核桃采收作业提供了理论基础。

Abstract:

Aiming at the problems of poor adaptability of harvesting machinery and low picking efficiency of domestic dwarfed and densely planted walnut trees, a crawler walking shaker was created. Firstly, by establishing a tree vibration model and conducting kinematic analysis of the mechanism, the key components of the shaker were designed, and the development of the whole machine was realized. Then vibration tests were carried out by the shaker, and the significance relationship between the vibration parameters and the shedding rate was analyzed by using statistical methods to obtain the lower limit of the vibration parameters to meet the requirements of high shedding rate operation. By analyzing the vibration response under different excitation parameters，the correlation law between the excitation parameters and the shedding rate was given. The excitation parameters that significantly affected the shedding rate were quantified through linear regression and feature importance comparison, and finally the range of excitation parameters was visualized. It was found that within a certain range, the frequency affected the shedding rate more significantly than the amplitude and operation length, and it was difficult to increase the frequency to improve the shedding rate when the amplitude was lower than 60 mm. Finally, the lower limit of the vibration parameter corresponding to a shedding rate of 80% was tested to verify the accuracy and reliability of the results.The research result can provide a theoretical basis for the development of shakers and walnut harvesting operation. It also can provide a reliable range of excitation parameters for future walnut harvesting operations, aiming to improve harvesting efficiency and reduce harvesting costs, and can also guide the development of intelligent shakers and field harvesting operations.