Cluster vibration fall-off simulation model and establishment method thereof

Abstract

The invention discloses a cluster vibration fall-off simulation model and an establishment method thereof, and relates to the field of agriculture devices and simulation analysis. A cluster system entity model is obtained through the combination of laser scanning and entity modeling, a main cluster shaft is represented by a flexible rod, branch cluster shafts are represented by class-I rigid rods, fruit stems are represented by class-II rigid rods, and all fruits are represented by mass balls. Normal distribution laws of connection of the flexible rod, the mass balls and entities are obtained according to physical and mechanical characteristic tests of large samples, and different main cluster shaft restraining and stimulation openings of the picking and transferring stages are added, and the cluster vibration fall-off simulation model is established. Cluster characteristics under large individual differences are effectively reflected, simulation analysis of stimulation transferring and fruit swinging and fall-off of complex cluster systems is achieved, and foundation is provided for structure optimization and control optimization of robots.

Description

technical field [0001] The invention relates to the fields of agricultural equipment and simulation analysis, in particular to a simulation model of ear vibration shedding and a construction method thereof. Background technique [0002] In the vibratory mechanized harvesting or robotic harvesting of fruits, the problem of fruit vibration shedding has always been the key to affecting harvesting performance. In the existing research, aiming at vibrating fruit drop harvesting, various fruit-stem mechanical models and vibration excitation transfer formulas of single fruit have been established. [0003] Based on the practicability of clamping, the robot harvesting of clusters of fruits such as grapes and lychees mostly adopts the "cob clamping and cutting" method. However, during the robot picking operation, the rapid picking and transfer actions may cause the oscillation of the hanging fruit ear and lead to the shedding of the fruit grains. The vibration and shedding of the fr...

AI Technical Summary

Problems solved by technology

However, due to the transmission of active excitation through the trunk or branches, the mechanized vibration harvesting makes the connection of the fruit on the tree invalid and falls; while the robot picking of the ear is manifested as cutting the main cob of the ear, and then Due to the vibration drop problem in the process of clamping and conveying to the fruit box, the existing fruit-stem mechanics and simulation models for mechanized vibration harvesting of single fruit are difficult to meet the needs of robots for preventing fruit drop picking

Images