本文選題：采摘執(zhí)行機(jī)構(gòu)　切入點(diǎn)：三維設(shè)計(jì)　出處：《吉林大學(xué)》2017年碩士論文

【摘要】：在農(nóng)業(yè)生產(chǎn)過(guò)程中,果實(shí)采摘是最費(fèi)時(shí)、費(fèi)力的一個(gè)環(huán)節(jié),且需要人工手動(dòng)完成。加之農(nóng)業(yè)生產(chǎn)本身對(duì)于季節(jié)和天氣的要求也比較高,勞動(dòng)力不足的問(wèn)題也不斷地被放大。多種因素降低了農(nóng)業(yè)的生產(chǎn)效率,影響了農(nóng)業(yè)的發(fā)展。杏作為一種營(yíng)養(yǎng)豐富的果實(shí)在我國(guó)分布較廣,針對(duì)上述問(wèn)題,本文研究一種新型杏果實(shí)采摘執(zhí)行機(jī)構(gòu),用以解決杏果實(shí)機(jī)械化采摘水平。本文對(duì)杏果實(shí)的物理特性進(jìn)行了分析之后設(shè)計(jì)了針對(duì)杏果實(shí)的采摘機(jī)執(zhí)行機(jī)構(gòu),進(jìn)行了仿真分析,制作了樣機(jī),并利用電子技術(shù)和控制理論等相關(guān)知識(shí),對(duì)杏果實(shí)采摘機(jī)執(zhí)行機(jī)構(gòu)控制系統(tǒng)進(jìn)行了研究,主要研究?jī)?nèi)容如下:(1)設(shè)計(jì)了一種杏果實(shí)采摘機(jī)執(zhí)行機(jī)構(gòu)。針對(duì)杏果實(shí)表面比較柔軟,易受到損傷的特點(diǎn),選取尼龍材料作為采摘仿生指材料,且仿生指具有一定角度,采用了基于人手?jǐn)]指的原理來(lái)完成采摘?jiǎng)幼�。�?duì)整個(gè)執(zhí)行機(jī)構(gòu)的電機(jī)、減速器以及軸承等零件進(jìn)行了相應(yīng)的選型。(2)使用WDW-20微機(jī)控制電子式萬(wàn)能試驗(yàn)機(jī)針對(duì)兩個(gè)時(shí)期(55d和75d時(shí)期)的杏果實(shí)分別進(jìn)行了拉伸試驗(yàn)和剪切試驗(yàn)。并用電子天平測(cè)得杏果實(shí)的質(zhì)量,再通過(guò)計(jì)算得到含水率。利用SPSS軟件進(jìn)行相關(guān)性分析,得到相關(guān)系數(shù),確立相關(guān)關(guān)系。再進(jìn)行回歸分析,得到回歸方程,通過(guò)含水率、質(zhì)量來(lái)推算采摘杏果實(shí)受到的拉伸力和剪切力的大小。觀察杏果實(shí)斷裂位置,判斷杏果實(shí)的成熟程度并選擇合適采摘執(zhí)行機(jī)構(gòu)的轉(zhuǎn)速進(jìn)行采摘,保證經(jīng)濟(jì)效益。(3)通過(guò)實(shí)驗(yàn)測(cè)得了采摘杏果實(shí)時(shí)需要力的大小,然后對(duì)采摘機(jī)關(guān)鍵部件進(jìn)行了仿真分析,分析得到采摘仿生指、采摘執(zhí)行機(jī)構(gòu)以及機(jī)架在采摘時(shí)可能發(fā)生共振的頻率,當(dāng)進(jìn)行整體實(shí)驗(yàn)時(shí)應(yīng)該避免這三個(gè)頻率下的轉(zhuǎn)速,以保證采摘機(jī)執(zhí)行機(jī)構(gòu)不發(fā)生共振,達(dá)到不對(duì)其產(chǎn)生破壞的目的。(4)在采摘機(jī)執(zhí)行機(jī)構(gòu)裝配完成的基礎(chǔ)上,設(shè)計(jì)了控制系統(tǒng)的總體方案,選用了PC+運(yùn)動(dòng)控制卡的形式來(lái)完成控制系統(tǒng)硬件設(shè)計(jì)。(5)完成了采摘模擬實(shí)驗(yàn),驗(yàn)證了采摘機(jī)執(zhí)行機(jī)構(gòu)能夠順利的完成采摘任務(wù),并確定了在34 r/min的轉(zhuǎn)速下可以在不傷及果實(shí)的前提下高效地完成果實(shí)的采摘,根據(jù)實(shí)驗(yàn)可以推斷出當(dāng)轉(zhuǎn)速保持在30~40r/min時(shí)可以高效地采摘杏果實(shí)。本試驗(yàn)中東北杏的成熟日期為7月中旬,所以采摘時(shí)間應(yīng)該在7月初,保證果實(shí)不被打壞的前提下,調(diào)整機(jī)器轉(zhuǎn)速完成采摘,實(shí)現(xiàn)采摘效率最大化。
[Abstract]:In the process of agricultural production, picking fruit is the most time-consuming and laborious link, and it needs manual work. In addition, agricultural production itself requires higher requirements for seasons and weather. The problem of labor shortage has been magnified constantly. Many factors have reduced the productivity of agriculture and affected the development of agriculture. Apricot, as a kind of nutritious fruit, is widely distributed in our country. In this paper, a new kind of apricot fruit picking executive mechanism is studied to solve the mechanized picking level of apricot fruit. The physical characteristics of apricot fruit are analyzed in this paper, and then the executive mechanism of apricot fruit picking machine is designed, and the simulation analysis is carried out. The prototype was made and the control system of apricot fruit picking machine was studied by using electronic technology and control theory. The main research contents are as follows: (1) A kind of apricot fruit picking machine was designed. In view of the soft and vulnerable surface of apricot fruit, nylon material was selected as the biomimetic finger material, and the biomimetic index had a certain angle. Based on the principle of manual masturbation to complete the picking. For the motor of the whole actuator, Using WDW-20 microcomputer controlled electronic universal testing machine, the apricot fruits of two periods (55 d and 75 d) were tested by tensile test and shearing test, respectively. The quality of apricot fruit was measured. Then the moisture content is obtained by calculation. The correlation coefficient is obtained by SPSS software, and the correlation relationship is established. The regression equation is obtained by regression analysis, and the regression equation is obtained by the moisture content. The quality was used to calculate the tensile force and shear force of picking apricot fruit, to observe the broken position of apricot fruit, to judge the ripening degree of apricot fruit and to select the rotation speed of proper picking executive mechanism for picking. To ensure economic benefit. (3) the required force of picking apricot fruit was measured through experiments, and then the key parts of the picking machine were simulated and analyzed, and the bionic index of picking was obtained. The frequency of resonance in picking mechanism and frame should be avoided when the whole experiment is carried out in order to ensure that the actuator of picking machine does not resonate. On the basis of the assembly of the executive mechanism of the picking machine, the overall scheme of the control system is designed, and the hardware design of the control system is completed in the form of the PC motion control card. It is verified that the executive body of the picking machine can finish the picking task smoothly, and it is determined that the picking of the fruit can be accomplished efficiently without harming the fruit at the speed of 34 r/min. According to the experiment, we can infer that apricot fruit can be picked efficiently when the rotational speed is kept at 30~40r/min. The mature date of northeast apricot in this experiment is mid-July, so the picking time should be in early July to ensure that the fruit will not be damaged. Adjust the speed of the machine to complete the picking, to maximize the efficiency of picking.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：S225.93

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