基于多激励振动采摘原理的蓝莓采收机关键部件设计与试验

Design and Testing of Key Components of Blueberry Harvester Based on Multi-excitation Vibration Harvesting Principle

摘要:

为适应我国蓝莓种植园相关农艺要求，设计了一种国产自走式蓝莓采收机。通过对蓝莓采摘振动机理分析，建立蓝莓植株振动方程，通过方程“正交变换”“正则变换”分析多激励作用条件下蓝莓植株振动输出响应和蓝莓果实采摘力。依据蓝莓种植农艺得到采收机设计要求，对机器采摘系统、果实收集系统和果实输送系统进行结构设计，利用自行研制的样机进行蓝莓采收试验，利用预采试验和正交试验结果建立机器采收评价指标回归方程，进而可得：机器行走速度、采摘装置液压马达转速和采摘装置指排间距对机器采摘效率和采果质量存在交互影响，机器行走速度与采摘效率成正比，与果实损坏率成反比，采摘装置液压马达转速正比于果实采摘效率和果实采净率，指排间距反比于机器采摘生果率。综合正交试验结果得到机器最佳工作参数为：采收作业行走速度35m/min、采摘系统液压马达转速100r/min、指排间距200mm，以机器最佳工作参数进行人机对比试验，可得：机器采摘生果率为8.4%，采摘果实损坏率为3.8%，果实采净率为90.1%，果实采摘效率为1.37kg/min，为人工采摘效率的10.78倍。

Abstract:

Aiming to meet the agronomic requirements of blueberry plantations in China, a domestically produced self-propelled integrated blueberry harvester was designed. The vibration mechanism for blueberry picking was analyzed, and the vibration equation of blueberry plants was established. The vibrational output response of the blueberry plant and the fruit detachment force under multiple excitation conditions were analyzed through the application of orthogonal transformation and canonical transformation of the equations. Based on the agronomic requirements of blueberry cultivation, the design requirements for the harvester were determined. The structural design was then conducted for the harvesting mechanism, fruit collection system, and fruit conveying system utilizing the self-developed prototype for harvesting experiments, along with data from preliminary and orthogonal tests, the regression equations for the machine harvesting evaluation indicators were established. It was found that the machine’s travel speed, the rotational speed of the harvesting unit’s hydraulic motor, and the finger-comb spacing had interactive effects on both the harvesting efficiency and the fruit quality. The machine’s travel speed was directly proportional to the harvesting efficiency, while inversely proportional to the fruit damage rate. The rotational speed of the harvesting unit’s hydraulic motor was directly proportional to both the fruit harvesting efficiency and the fruit recovery rate;conversely, the finger-comb spacing was inversely proportional to the rate of unripe fruit harvest. Based on the comprehensive analysis of the orthogonal experiment results, the optimal working parameters for the machine were identified as follows: a travel speed was 35m/min, a hydraulic motor rotational speed was 100r/min for the harvesting system, and the finger-comb spacing was 200mm. A human-machine comparative experiment conducted under the optimal parameters demonstrated that the machine achieved an unripe fruit rate of 8.4%, the fruit damage rate of 3.8%, the fruit recovery rate of 90.1%, and the harvesting efficiency of 1.37kg/min, which was 10.78 times higher than manual picking efficiency.