Abstract: In order to solve the difficulty of mechanized high quality picking of blueberry, this paper presents a method of crankslider mechanism combined motion picking with rotary motion. Through the construction of the vibration complex motion model, the optimal operation parameters of the vibration were obtained. Combined with the design and analysis of the length and deflection of the rubber rod, the key component of the vibration, the change curve of the acceleration of the end point was simulated by MATLAB software. A crossbank platform was used to integrate key components and a validation test was carried out with rabbiteye blueberry as the harvest object. The experiment showed that when the stick length was 325 mm, the cross section diameter of the stick was 10 mm, the rated speed of the rotation motor was 40 r/min, and the rated speed of the reciprocating vibration motor was 380 r/min, the picking demand could be met, and the picking rate of ripe blueberries could reach 87.11%, and the damage rate was less than 6.54%, which met the picking indexes of relevant harvesting machinery. It has certain guiding significance for the study of high efficiency and low consumption harvesting of blueberry.

Key words: blueberries, mechanized picking, combined lifting movement, MATLAB simulation, harvesting machinery

摘要： 为解决蓝莓机械化高质量采摘难题，提出一种兼顾回转运动的曲柄滑块机构复合运动挑振方法。通过构建挑振复合运动模型，获取挑振最佳作业参数，结合挑振关键部件胶棒的长度与挠度设计分析，运用MATLAB软件仿真出端点运动过程中满足脱果加速度变化曲线。利用跨行平台集成关键部件，以兔眼蓝莓为采收对象，开展验证试验。试验表明，当胶棒长325 mm、胶棒横截面直径10 mm、自转电机额定转速为40 r/min、往复振动电机额定转速为380 r/min时，成熟蓝莓的采净率可达87.11%，损伤率在6.54%以内，满足相关采收机械的采摘指标，对研究蓝莓高效低耗采收具有一定的指导意义。

关键词: 蓝莓, 机械化采摘, 挑振复合运动, MATLAB仿真, 收获机械