并联RSSR空间四杆酿酒葡萄激振机构及采收机理的研究

The harvest of wine grape is mainly rely on manual, which serious restrict the further development of grape industry, therefore, it’s urgent need to realize wine grape mechanized harvesting. In order to address current problems of high vibration damage and low efficiency, the finite element model of grape plant is established, and combine energy finite element and dynamic substructure method to reveal distribution and transfer law of vibration energy in complex vines. It is generated from the research on the grape plant and fruits. The different maturity fruit-pedicel and resistance mechanical shock damage of wine grape is researched to explore the correlation between vibration energy, grape maturity, fruit-pedicel force and grape breakage rate, and wine grape separation mechanism is revealed. Research the RSSR spatial four-bar parallel vibration mechanism, movement track equation is established to explore the relationship between the parameters such as amplitude, velocity, acceleration and the structure, the force, torque and fluctuation during process is analysis. Manufacturing physical prototype, conduct experiment studies to discover relationship and change laws of recovery, breakage rate and driving characteristic, geometrical parameters, seeking the optimal combination of parameters, explore RSSR spatial four-bar parallel mechanism harvest vibration separation mechanism. Research results will provide theoretical and application basis for the development of high efficiency and low damage wine grape harvester.

酿酒葡萄采收完全依靠人工，严重制约了葡萄产业发展，亟需实现其机械化收获。为克服振动损伤大、采收效率低等难题，本项目在研究酿酒植株及果实特性的基础上，建立葡萄植株有限元模型，探究振动能量在复杂形态藤干结构中的分布与传递规律；研究酿酒葡萄不同成熟度的果-柄连接力及抗机械冲击破坏力，探索振动能量、果实成熟度、果-柄连接力与果实破损率间的相关性，揭示酿酒葡萄分离机理；研究基于并联RSSR空间四杆激振机构，建立其运动轨迹方程，探究振幅、速度、加速度等参数与机构结构参数之间的关系，分析间隙和构件柔性对系统动态特性的影响规律；试制物理样机，开展试验研究，获取采收率、破碎率与机构驱动特性、结构几何参数之间的关系及其影响变化规律，寻求最优参数组合，探究并联RSSR空间四杆机构振动采收机理。本项目的成功实施将为研发高效低损伤的酿酒葡萄收获机械奠定基础。

酿酒葡萄是新疆主要特色经济作物，但其采收完全依靠人工，严重制约了酿酒葡萄规模化和产业化发展，亟需实现其机械化收获。项目针对酿酒葡萄采收时振动损伤大、采收效率低等难题，开展了酿酒葡萄物理特性、酿酒葡萄植株振动能量分布与传递研究，并设计了基于并联RSSR空间四杆的激振采收装置和非圆周式酿酒葡萄振动采收装置。田间测量获得了葡萄串在垂直方向上距离地面的分布范围；通过测定葡萄粒同果柄连接力的试验研究，获得了果-柄连接力主要集中在5-13N，确定了主要集中区域最大值13N为酿酒分离装置设计的依据；利用精密多轴数控三维扫描系统，对酿酒葡萄植株进行扫描，建立了葡萄植株有限元动力学模型；搭建了酿酒葡萄植株振动能量分布与传递测试系统，并进行了田间酿酒葡萄植株振动能量的传递与分布试验，酿酒葡萄植株上安装的传感器通过电荷放大器将将采集的电压信号进行放大，反馈到数据采集仪中，获取了植株该测试点的速度、加速度等参数，分析酿酒葡萄植株的振动能量分布与传递规律；设计了并联RSSR空间四杆激振装置，对RSSR四杆机构进行了运动学，球间隙动力学分析和仿真，并进行了田间试验，结果表明并联RSSR空间四杆酿酒葡萄收获装置配置基本合理，葡萄采收率达到93%以上，损伤率小于10%；此外，探索研制了非圆周式振动收获装置，并进行了试验研究，获得了最优参数组合，夹持间距192.93mm、曲轴转速为720r/min、曲轴偏心距为38.79mm，酿酒葡萄采收率与损伤率的预测值分别为94.15%、3.12%，利用高速摄像系统验证了理论仿真与实际作业情况吻合，验证了结构的合理性。