Abstract: Aiming at the situation of mountain planting of blueberry and small operation area of some farmers in China, a portable blueberry picking machine was designed with electric drill as the driving part. By analyzing the mechanical structure and working principle of the machine, the kinematic equation and dynamic equation of the picker are obtained, and the mechanical characteristics of the picker are simulated in Adams. The simulation results show that the slide displacement of the picking device, the drive torque of the drill and the power curve of the system change in the shape of “W” when the machine travel speed ratio coefficient increases. When the travel speed ratio coefficient is 1.3, the driving torque and power of the system are maximum, which are 2.7 N ⋅ m and 34 W respectively, which are less than the rating value of the electric drill and meet the design requirements. The orthogonal experiment of blueberry picking was carried out with a self‑made portable picker. The orthogonal test results showed that the speed of the hand drill had the greatest influence on the picking efficiency, the picking rate of ripe fruit and the shedding rate of immature fruit, and the stroke speed ratio coefficient had the greatest influence on the fruit damage rate. When the stroke speed ratio coefficient of the picking device was 1.3, the rotating speed was 150 r/min, and the torque was 35 N ⋅ m, the picking efficiency and picking quality of the machine were the best. The ratio of mechanical and human mining efficiency is 5.9. This provides theoretical reference and technical support for the design and development of domestic small blueberry picker.

Key words: blueberry, portable picker, travel speed ratio coefficient, orthogonal test

摘要： 针对我国蓝莓山地种植以及部分农户经营面积小的情况，以手电钻作为驱动部件，设计一款便携式蓝莓采摘机。通过分析采摘机的机械结构和工作原理，得到采摘机的运动学方程和动力学方程，在Adams中仿真分析采摘机力学特性。仿真结果表明，机器行程速比系数增加时，采摘装置的滑块位移、手电钻驱动转矩和系统功率曲线呈“W”形变化。当行程速比系数为1.3时，系统驱动转矩和功率最大，分别为2.7 N ⋅ m、34 W，小于手电钻额定值，满足设计要求。利用自制的便携式采摘机进行蓝莓采摘正交试验，试验结果表明，手电钻转速对机器的采摘效率、成熟果实采净率和未成熟果实脱落率影响最大，行程速比系数对果实损坏率影响最大。当采摘装置行程速比系数为1.3、手电钻转速为150 r/min、手电钻驱动转矩为35 N ⋅ m时，机器的采摘效率和采果质量最佳，机采与人采效率比值为5.9。为国产小型蓝莓采摘机设计与开发提供理论参考和技术支持。

关键词: 蓝莓, 便携式采摘机, 行程速比系数, 正交试验