基于数字果实的酿酒葡萄多点动接触振动采收机理的研究

As the main characteristic economic crop in Xinjiang, wine grape’s planting area grows steadily, but its harvest entirely depends on labor, which seriously restricts the scale and industrialization of wine grapes. The wine grape plant space shape geometric information is studied to establish the universality plant vibration system model. The vibration discipline between incentive frequency, amplitude, the point of force and the branch-bunch connection node are studied. The three-degree-of-freedom nonlinear vibration model of grape bunch is established, and the multi-point dynamic contact collision discipline of grape fruit in bunch is studied to reveal the separation mechanism of wine grapes under the multi-point dynamic contact collision constraint. The digital grape fruit and bunch are developed to study the fruit-pedal connection force and relative movement disciplines under vibration excitation. The grape bunches replacing the real bunches, are used for launching the harvest test to define ideal shaking conditions and verify the correctness of its separation mechanism. The vibration harvesting mechanism coupling with non-circular planetary gear train and multi-bar mechanism, is put forward. The coupling relationship of the vibration harvesting mechanism is analyzed to verify the law that the changing of coupling mechanism parameters influence working part’s trajectory. The prototype is manufactured and tested to explore rules between the coupling shaking mechanism’s structural parameters, working parameters and wine grape’s recovery, damage rate. The high speed video acquisition and analysis system is utilized to analyze the coupling shaking mechanism’s kinematics and dynamics characteristics, which will be compared to the theoretical model. The results of research will lay a foundation for the research of Xinjiang wine grape harvesting mechanism, promote the healthy development of Xinjiang wine grape industry, and provide the basis for the harvest of spike (string) fruit.

酿酒葡萄作为新疆主要特色经济作物，种植面积稳步增长，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。本项目拟从酿酒葡萄植株空间形态几何信息入手，建立具有普适性植株振动系统模型，研究激励频率、振幅和力的作用点与枝-穗连接节点振动特性间关系；建立葡萄串三自由度非线性振动模型，研究葡萄穗中果粒多点动接触碰撞约束变化规律，揭示酿酒葡萄多点动接触约束下分离机理；开发数字果粒和果穗，研究振动激励状态下各果粒果-蒂连接力及相对运动特性，并利用数字果穗替代真实果实开展采收试验，明确理想振摇采收条件，验证其分离机理的正确性；提出非圆行星轮系与多杆机构相耦合的振摇采收机构，分析两者耦合关系，探明耦合机构参数变化对振摇轨迹的影响规律；试制物理样机，开展试验研究，获取耦合振摇机构结构参数和工作参数最优组合。项目研究成果将为新疆酿酒葡萄采收机构研究奠定基础，并为同类穗（串）状果品的振动采收提供理论依据。

酿酒葡萄作为新疆主要特色经济作物，种植面积稳步增长，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。项目针对新疆酿酒葡萄采收时效率低、损伤大等问题，开展了酿酒葡萄振动机理和植株振动能量分布与传递研究，开发了酿酒葡萄数字果实系统，并设计了基于4R机构和平面运动的酿酒葡萄振动采收装置。项目组开展了酿酒葡萄植株物理特性研究，获取了葡萄串在垂直方向上距离地面的分布范围，获取了葡萄串主要集中在距地面500~1500mm的区域；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，确定了最大值为13N，为酿酒分离装置设计提供了依据；对收获期葡萄藤、果穗生长状态和几何形状进行了田间测定，获得了酿酒葡萄枝蔓空间几何模型；建立了酿酒葡萄振动能量检测平台，通过改变输出的频率及夹持器在藤干上的夹持位置模拟不同激振情况，通过对不同激振参数下获的不同葡萄植株加速度，获取了酿酒葡萄的振动能量分布；开发了酿酒葡萄数字果实，通过数字果实可以自动检测、保存酿酒葡萄在振动采收过程中的动态信息，数据结果作为研究采收过程关键位置、优化采收结构、降低果品损伤的重要依据；设计了基于平面运动的酿酒葡萄采收装置，对装置进行了运动学和动力学分析与仿真，并进行了台架试验，结果表明：基于平面运动的酿酒葡萄采收装置设计可满足酿酒葡萄采收需求，葡萄分离率为95.23%，破损率为4.26%；此外，开展了基于4R机构的酿酒葡萄振动采收装置的研究，开展4R机构和平面振摇机构的耦合分析与建模，并进行试验研究，获得最优参数组合：肋条驱动杆长为650 mm曲柄夹角为75 °、曲柄转速为687 r/min-1，此时酿酒葡萄分离率为95.06 %，破损率为4.12 %，验证了结构设计的合理性。