Design and experiment of ground jujube picker based on bionic mechanism

Weijun Wang, Zefeng Liu, Eli Rusul, Bangbang Chen, Xiyan Song, Hang Yang, Peng Zhang, Chenghao Wang

Abstract


For mechanized picking of ground jujube under thick planting mode, there arise such issues as ease of damage and inefficient and difficult separation from impurities. In view of this, a bionic arm ground jujube picker was designed on the basis of analyzing jujube planting mode and characteristics, the structural parameters of its key components were determined, and a characteristic model for airflow in the internal flow field of the cleaning system and a movement trajectory model of the gathering device were established. A quadratic orthogonal center composite test was carried out to establish the regression models between influencing factors and the performance of the picker, and analyze the influence law of these factors on the picker. In this test, ground jujubes were taken as the picking object; the forward speed of the picker, the fan speed, and the height of the picking mouth from the ground were taken as the influencing factors; and the picking rate and the impurity rate were taken as the performance indices of the picker. The optimal combination of parameters was determined by multi-objective optimization (MOD): the forward speed of the picker was 0.47 m/s, the fan speed was 3025.76 r/min, and the height of the picking mouth from the ground was 84.20 mm. At this time, the picking rate of the picker was 94.00%, and the impurity rate was 2.30%. According to test verification, the test results and optimization results were consistent, meeting the requirements of mechanized picking of ground jujube.
Key words: jujube picker; Fluent simulation; test design; cleaning system
DOI: 10.25165/j.ijabe.20251802.8915

Citation: Wang W J, Liu Z F, Eli·rusul, Chen B B, Song X Y, Song D Y, et al. Design and experiment of ground jujube picker based on bionic mechanism. Int J Agric & Biol Eng, 2025; 18(2): 35–44.

Keywords


jujube picker; Fluent simulation; test design; cleaning system

Full Text:

PDF

References


Younis M, Ahmed I A M, Ahmed K A, Yehia H M, Abdelkarim D O, Alhamdan A. The effects of thermal and pulsed electric field processing on the physicochemical and microbial properties of a high-fiber, nutritious beverage from a milk-based date powder. AgriEngineering, 2023; 5(4): 2020–2031.

Li Y P, Zhou X Y, Zhao K L, Liu J C, Chen G H, Zhang Y P, et al. Cultivation and morphology of jujube (Ziziphus Jujuba Mill.) in the Qi River Basin of Northern China during the Neolithic Period. Scientific Reports, 2024; 14(1): 2305–2305.

Yao S Q, Shi G K, Wang B S, Peng H J, Meng H W, Kan Z. Calibration of the simulation parameters of jujubes in dwarfing and closer cultivation in Xinjiang during harvest period. Int J Agric & Biol Eng, 2022; 15(2): 256–264.

Bai S H, Yuan Y W, Niu K, Zhou L M, Zhao B, Wei L G, et al. Design and parameters optimization of the curved sieve for an air suction jujube harvester. Int J Agric & Biol Eng, 2024; 17(2): 132–139.

Yang L. Analysis on the dilemma and solutions of emerging economical crops in frontier villages—taking the red jujube crop of K Village in Ruoqiang County as an example. Agricultural Forestry Economics and Management, 2023; 6(4): 59–64.

Zhang X C, Chen B Q, Li J B, Fang X, Zhang C L, Peng S B, et al. Novel method for the visual navigation path detection of jujube harvester autopilot based on image processing. Int J Agric & Biol Eng, 2023; 16(5): 189–197.

Xu H Z, Hua Y, He J, Chen Q L. The positive and negative synergistic airflow-type jujube fruit harvester (P-N JH). Processes, 2022; 10(8): 1486–1486.

Ahmad I, Maryam, Ercisli S, Anjum M A, Ahmad R. Progress in the methods of jujube breeding. Erwerbs-Obstbau, 2023; 65(4): 1217–1225.

Lee S W, Kim D H, Lee C K, Seo S W, Huh Y K. Development of a collecting system for jujube harvester. Journal of Biosystems Engineering, 2006; 31(6): 500–505.

Churchill D B, Summer H R. A new system for raking and picking up oranges. Transaction of the ASAE, 1977; 20(4): 617–620.

Li S F. Design and experimental study on key components of sweep and air suction pick-up jujube harvesting machinery. Xinjiang Agricultural University, 2020. (in Chinese)

Fu W, He R, Qu J L, Sun Y, Wang L H, Kan Z. Design of self-propelled dwarf and close planting jujube harvester. Journal of Agricultural Mechanization Research, 2024; 36(4): 106–109. (in Chinese)

Ding K, Zhang B C, Diao X Y, Zhang H M, Fu W, Kan Z. Optimization and experiment of vibration device shaking frequency of jujube harvester. Journal of Agricultural Mechanization Research, 2019; 41(3): 21–25, 33.

Fu W, Zhang Z Y, Liu Y D, Pan J B, Cui J, Ding K, et al. Simulation experiment in lab on force transfer effect of jujube under vibration excitation. Transactions of the CSAE, 2017; 33(17): 65–72. (in Chinese)

Shi G K, Li J B, Ding L P, Kan Z. Design and experiment of inertia pneumatic type cleaner system of jujube fruit. Transactions of the CSAM, 2022; 53(6): 167–176.

Zhang X J, Bai S H, Jin W, Yuan P P, Yu M J, Yan J S, et al. Development of pneumatic collecting machine of red jujube in dwarfing and close cultivation. Transactions of the CSAE, 2019; 35(12): 1–9. (in Chinese)

Zhao S X, Feng Z. Gas flow characteristics of argon inductively coupled plasma and advections of plasma species under incompressible and compressible flows. Chinese Physics B, 2018; 27(12): 352–364. CNKI: SUN: ZGWL. 0.2018-12-050.

Zhang F K, Yu F S, Li Z J, Zhang H, Lan H P, Li P, Zhang C J. Design and field testing of the air-suction machine for picking up Chinese jujube fruits. Journal of Fruit Science, 2020; 37(2): 278–285. (in Chinese)

Zhang F K, Zhang H, Lan H P, Yu F F, Li Z J, Li P. Simulation analysis of pneumatic conveying device of air-suction jujube picker based on CFD-EDM coupling. Journal of Agricultural Science and Technology, 2021; 23(7): 107–116. (in Chinese)

Li R, Peng J, Sun S, Al-Mallahi A, Fu L S. Determination of selected physical and mechanical properties of Chinese jujube fruit and seed. CIGR e-Journal, 2016; 18(3): 294–300.

Wu L G, He J G, Liu G S, Wang S L, He X G. Detection of common defects on jujube using Vis-NIR and NIR hyperspectral imaging. Postharvest Biology & Technology, 2016; 112: 134–142.

Zewdu A D. Aerodynamic properties of tef grain and straw material. Biosystems Engineering, 2007; 98(3): 304–309.

Liu J, Liu H N. Fluid mechanics. Peking University Press, 2023. (in Chinese)

Ni W J. Computational fluid dynamic. China Machine Press, 2021. (in Chinese)

Zhang X J, Bai S H, Jin W, Yuan P P, Yu M J, Yan J S, Zhang C S. Design and flow simulation of suction chamber of air suction type jujube picking device. Journal of Agricultural Mechanization Research, 2020; 42(8): 91–95. (in Chinese)

China Academy of Agricultural Mechanization, Agricultural machinery design manual. China Machine Press, 2007. (in Chinese)

Xu K C, Wang H Q, Gai J F. Fan Brochure. China Machine Press, 2011. (in Chinese)

Yu F F, Li P, Zhang F K, Li Z J, Zhang H, Fan X W. Experimental determination and analysis of suspension velocity characteristics for red jujube. Journal of Chinese Agricultural Mechanization, 2020; 41(6): 99–105. (in Chinese)

Yan W, Hu Z C, Wu N, Xu H B, You Z Y, Zhou X X. Parameter optimization and experiment for plastic film transport mechanism of shovel screen type plastic film residue collector. Transactions of the CSAE, 2017; 33(1): 17–24. (in Chinese)

Ni X D, Xu G J, Wang Q, Peng X R, Wang J, Hu B. Design and experiment of pneumatic cylinder array precision seed-metering device for cotton. Transactions of the CSAM, 2017; 48(12): 58–67. (in Chinese)

Chen J N, Zhang X W, Liu L M, Ma X X, Yao K, Cheng D. Design and experiments of the clipping-stem type non-circular gear transplanting mechanism for corn pot seedlings. Transactions of the CSAE, 2023; 39(18): 30–40. (in Chinese)

Xie J H, Zhang Y H, Cao S L, Zhang Y, Zhou J B, Meng Q H. Design and experiment of stalk pressing type cotton field mulch film collectors. Transactions of the CSAE, 2023; 39(18): 51–63. (in Chinese)




Copyright (c) 2025 International Journal of Agricultural and Biological Engineering

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

2023-2026 Copyright IJABE Editing and Publishing Office