| 库尔勒香梨几何物理参数和采摘挤压因素研究 |
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| 引用本文： | 郭昊生,马蓉.库尔勒香梨几何物理参数和采摘挤压因素研究[J].农机化研究,2022,44(6):152-157. |
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| 作者姓名： | 郭昊生 马蓉 |
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| 作者单位： | 石河子大学 机械电气工程学院,新疆 石河子 832003 |
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| 基金项目： | 国家“863计划”项目(2013AA102307);国家自然科学基金项目(51765059)。 |
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| 摘 要： | 对库尔勒香梨的几何物理参数和采摘挤压因素进行分析,可以为香梨采摘机器人的机械手设计提供理论依据。统计分析160个成熟期库尔勒香梨的几何物理参数,采用单因素加卸载试验研究机械手采摘过程中抓握挤压因素对力学指标的影响。物理参数研究结果表明:香梨果实平均质量为122.34 g,纵径大于横径,纵横比均值约为1.22,与硅胶材料之间的静摩擦因数均值为1.13,动摩擦因数为1.10,抓取力约为0.53~35N。加卸载试验结果表明:各力学指标和压缩量线性相关,压缩量小于3.5mm能保证香梨果体所受的挤压损伤更小;加载速率为60 mm/min时,峰值力、滞后损失最小,进而果体损伤程度最小;赤道部位比中部和尾端受到的损伤程度更大,抗压能力更弱;接触材料硅胶比不锈钢和塑料能更好地吸收压缩过程中产生的能量,为果实提供保护作用。
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| 关 键 词： | 库尔勒香梨 采摘机械手 力学参数 挤压因素 |
Study on the Geomechanical Characteristics and Grasping Damage Mechanism of Korla Fragrant Pear |
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| Guo Haosheng,Ma Rong.Study on the Geomechanical Characteristics and Grasping Damage Mechanism of Korla Fragrant Pear[J].Journal of Agricultural Mechanization Research,2022,44(6):152-157. |
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| Authors: | Guo Haosheng Ma Rong |
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| Institution: | (College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003,China) |
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| Abstract: | The geometric and physical parameters and picking extrusion factors of Korla fragrant pear are studied and analyzed,which provide theoretical basis for the design of picking robot manipulator.The experimental method is to analyze the geometric and physical parameters of 160 mature Korla fragrant pears,and to study the influence of extrusion factors on the mechanical indexes during the picking process by single factor loading and unloading test.The results of physical parameters showed that the average weight of pear was 122.34g,the longitudinal diameter was larger than the transverse diameter,the average aspect ratio was 1.22,the static friction coefficient was 1.13,the dynamic friction coefficient was 1.10,and the grasping force range of the manipulator was about 0.53-35N.The single factor loading and unloading test results showed that the mechanical indexes were linearly related to the compression amount,and the compression amount was less than 3.5 When the loading rate was 60 mm/min,the peak force was the smallest and the lag loss was the smallest;the damage degree of the equatorial part was greater than that of the middle and tail ends,and the compression resistance was weaker;the contact material silica gel could absorb the energy generated in the compression process better than stainless steel and plastic,and provided protection for the fruit. |
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| Keywords: | Korla fragrant pear picking manipulator mechanical parameters extrusion factors |
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