【摘要】：隨著我國東桑西移戰(zhàn)略的實施,桑農(nóng)養(yǎng)蠶越來越多,桑葉需求量越來越大,但桑葉采摘自動化程度仍然比較低,國內(nèi)的桑葉采摘作業(yè)基本上還是以手工為主。鑒于此,本文針對我國桑葉采摘機技術(shù)落后,主要停留在人工采摘桑葉這一現(xiàn)狀,進行了桑園種植情況調(diào)研和了解桑農(nóng)桑葉采摘方式,并在分析國內(nèi)外桑葉采摘機技術(shù)基礎(chǔ)上,針對桑葉采摘機采摘過程中桑枝的輸送、間歇撥動定位、采摘等環(huán)節(jié)存在技術(shù)問題,對桑葉采摘機間歇撥動定位裝置及采摘裝置的關(guān)鍵機構(gòu)進行詳細分析,以獲得圓柱分度凸輪具體運動參數(shù),最終設(shè)計一種連桿式自動桑葉采摘機來代替人工采摘,以降低桑農(nóng)勞動強度。本文主要從以下幾個方面展開研究:(1)到桑園調(diào)查研究,了解桑園管理模式、桑樹生長情況以及桑農(nóng)采摘桑葉方式。并根據(jù)國內(nèi)外桑葉采摘機采摘機理、桑葉采摘機的發(fā)展趨勢以及工作環(huán)境分析研究,確定桑葉采摘刀具所行走行程為1200mm,桑樹主桿離地面高度為200mm。根據(jù)調(diào)查可知桑園桑樹種植一般壟距為80cm,株距為40cm。用彈簧測力計和小刀片對桑葉葉柄進行簡單的切割力學(xué)試驗,確定桑葉葉柄末鞘和桑樹主桿連接處力的大小,試驗結(jié)果顯示葉柄的切割力主要集中在2N-6N范圍之間。(2)設(shè)計連桿式桑葉采摘機總裝結(jié)構(gòu),對其傳動系統(tǒng)以及主要工作部件—行走裝置、底座裝置、間歇撥動定位裝置、桑葉采摘裝置以及其他輔助機構(gòu)進行設(shè)計。以增加桑葉采摘裝置上曲柄滑塊機構(gòu)的最小傳動角為目標,勾型導(dǎo)軌最低點與曲柄轉(zhuǎn)動中心的距離為1400mm,為構(gòu)成偏心曲柄滑塊機構(gòu),曲柄長度的取值范圍是[450,600],連桿的取值范圍是[800,1400],以滑塊最大行程不超過勾型導(dǎo)軌最低點和偏心曲柄滑塊機構(gòu)曲柄、連桿需要滿足的長度條件為約束;建立優(yōu)化數(shù)學(xué)模型;利用Pro/E上的優(yōu)化模塊進行分析,從而獲得最佳設(shè)計參數(shù):曲柄長度為547mm,連桿長度為1275mm,最終求得最小傳動角為39.4°,與最小傳動角的理論計算基本吻合,使采摘機構(gòu)獲得最佳的傳動性能。根據(jù)優(yōu)化結(jié)果對桑葉采摘裝置和間歇撥動定位裝置的運動時間進行協(xié)調(diào)匹配研究,確定桑葉采摘機的一個采摘周期為5.7s,其中桑枝撥動時間為1.3s和定位時間為4.4s。(3)對間歇撥動定位裝置的關(guān)鍵部件圓柱分度凸輪進行分析研究,結(jié)合桑葉采摘裝置運動規(guī)律和圓柱分度凸輪的結(jié)構(gòu)特點,將圓柱分度凸輪劃分為分度期和停歇期,根據(jù)計算確定分度期轉(zhuǎn)角為820,停歇期轉(zhuǎn)角為2780。通過分析計算,確定圓柱分度凸輪和分度盤的結(jié)構(gòu)參數(shù),完成間歇撥動定位裝置的結(jié)構(gòu)設(shè)計。使間歇撥動定位裝置與桑葉采摘裝置的運動時間協(xié)調(diào)匹配,保障了物流暢通,使桑葉采摘能夠順利進行。
[Abstract]:With the implementation of the strategy of moving from east to west in China, there are more and more mulberry farmers raising silkworm, and the demand for mulberry leaves is increasing, but the degree of automation of mulberry leaf picking is still relatively low, and the domestic mulberry leaf picking operations are basically manual. In view of this, in view of the backward technology of mulberry leaf picking machine in our country, this paper mainly stays in the present situation of artificial picking mulberry leaf, investigates the planting situation of mulberry garden and understands the picking mode of mulberry leaf, and on the basis of analyzing the technology of mulberry leaf picking machine at home and abroad, aiming at the technical problems of mulberry branch transportation, intermittent plucking positioning and picking in the picking process of mulberry leaf picking machine, The intermittent plucking positioning device of mulberry leaf picking machine and the key mechanism of picking device are analyzed in detail in order to obtain the specific motion parameters of cylindrical dividing cam. Finally, a connecting rod automatic mulberry leaf picking machine is designed to replace manual picking in order to reduce the labor intensity of mulberry farmers. This paper mainly studies from the following aspects: (1) to the mulberry garden investigation and study, to understand the mulberry garden management model, mulberry growth and mulberry farmers pick mulberry leaves. According to the mechanism of mulberry leaf picking at home and abroad, the development trend of mulberry leaf picking machine and the analysis of working environment, it is determined that the walking stroke of mulberry leaf picking tool is 1200 mm, and the height of mulberry main rod from the ground is 200 mm. According to the investigation, the general ridge distance of mulberry planting in mulberry garden is 80 cm, and the plant spacing is 40 cm. The simple cutting mechanics test of mulberry leaf petiole was carried out with spring dynamometer and blade, and the force between the end sheath of mulberry leaf petiole and the main rod of mulberry tree was determined. the test results showed that the cutting force of petiole was mainly concentrated in the range of 2N-6N. (2) the general assembly structure of connecting rod mulberry leaf picking machine was designed, and the transmission system and main working parts, such as walking device, base device and intermittent swinging positioning device, were designed. Mulberry leaf picking device and other auxiliary mechanisms are designed. In order to increase the minimum transmission angle of the crank slider mechanism on the mulberry leaf picking device, the distance between the lowest point of the hook guide rail and the rotation center of the crank is 1400 mm. In order to form the eccentric crank slider mechanism, the value range of the crank length is [450600], and the value range of the connecting rod is [800, 450600]. The maximum stroke of the slider does not exceed the lowest point of the hook guide rail and the crank of the eccentric crank slider mechanism. The optimization mathematical model is established and analyzed by using the optimization module on Pro/E, and the optimum design parameters are obtained: the crank length is 547mm, the connecting rod length is 1275mm, and the minimum transmission angle is 39.4 擄, which is basically consistent with the theoretical calculation of the minimum transmission angle, so that the picking mechanism can obtain the best transmission performance. According to the optimization results, the motion time of mulberry leaf picking device and intermittent plucking positioning device is studied. It is determined that one picking period of mulberry leaf picking machine is 5.7 s, in which the mulberry branch plucking time is 1.3 s and the positioning time is 4.4 s. (3) the cylindrical dividing cam, which is the key component of the intermittent plucking positioning device, is analyzed and studied, combined with the motion law of mulberry leaf picking device and the structural characteristics of cylindrical dividing cam. The cylindrical dividing cam is divided into dividing period and stopping period. According to the calculation, the rotation angle of the dividing period is 820 and the rotation angle of the stopping period is 2780. Through the analysis and calculation, the structural parameters of the cylindrical dividing cam and the dividing plate are determined, and the structural design of the intermittent toggling positioning device is completed. The motion time of the intermittent plucking positioning device and the mulberry leaf picking device is coordinated and matched, which ensures the smooth flow of the logistics and makes the mulberry leaf picking proceed smoothly.
【學(xué)位授予單位】：廣西科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：S225.93

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