基于机器人采摘的柑橘果柄切割力学特性研究

发布时间：2018-06-18 08:42

本文选题：机器人 + 柑橘果柄　；参考：《河南农业科学》2017年04期

【摘要】：为了给柑橘采摘机器人切割装置设计提供依据,根据采摘时被切割果柄弯曲的工作状态,设计了果柄切割夹持试验架,对柑橘果柄进行了不同切割条件的切割试验。结果表明:切割过程中,柑橘果柄发生弯曲,随着滑切角增大,果柄产生的起始裂纹从外侧转移到内侧,同时果柄切口更光滑;切割速度、刀具形式和滑切角均显著影响柑橘果柄的切割力学参数;随着切割速度的增大,峰值切割力、切割功率和切割位移均先快速减小,然后缓慢减小;随着滑切角的增大,峰值切割力减小,但切割位移先减少后增大;当滑切角为0°时,相比平刀和齿刀,弧刀对柑橘果柄的峰值切割力和切割位移最少;采用平刀切割,滑切角不应太大,以免切割位移过大,降低采摘速度;使用齿刀切割,滑切角应大于30°,不但峰值切割力大大减小,而且切割位移增加也较小。
[Abstract]:In order to provide the basis for the design of the cutting device of the citrus picking robot, according to the working state of the cutting handle bending during picking, a fruit handle cutting clamping test frame was designed, and the cutting test of the citrus stalk was carried out under different cutting conditions. The results show that during the cutting process, the citrus stalk bends, and with the increase of the slip angle, the initial crack of the petiole moves from the outside to the inside, and the cut of the petiole is smoother, and the cutting speed is higher. The cutting force, power and displacement of cutting decreased rapidly with the increase of cutting speed, and then decreased slowly with the increase of cutting speed. The peak cutting force decreases, but the cutting displacement decreases first and then increases. When the slip angle is 0 掳, the peak cutting force and cutting displacement of arc knife on citrus fruit handle are the least compared with flat knife and tooth knife. The cutting angle should be more than 30 掳, not only the peak cutting force is greatly reduced, but also the cutting displacement is small.
【作者单位】：华南农业大学工程学院/南方农业机械与装备关键技术教育部重点实验室;华南农业大学信息学院;
【基金】：广东省科技计划项目(2014A020208091,2015A020209120,2015A020209111) 广东省自然科学基金项目(2015A030310258) 国家自然科学基金项目(31571568)
【分类号】：S225.93;TP242

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