库尔勒香梨物理及压缩特性试验研究

Experimental study on physical and compressive characteristics of Kuerle fragrant pear

为确定库尔勒香梨智能化采收参数,减小香梨在采摘过程中的机械损伤以及为香梨采摘机器人末端执行器的设计提供理论依据,试验测定获取香梨果实的物理参数,通过对香梨进行静态压缩试验、抗压特性试验、单因素试验及正交试验测得香梨的压缩特性参数。研究结果表明:香梨果实一般纵径大于横径,果型指数为1.12,质量约为119.42 g,香梨果实与硅胶材料之间摩擦系数为1.1,香梨果实无损夹持力范围约为0.95~30 N;采用SPSS软件分析正交试验结果得知,对香梨压缩特性的影响的因素显著性水平依次为压缩量、加载位置、压头材料、压头类型、加载速率,其中加载速率对香梨的压缩特性的影响较其他因素显著性较低。

In order to determine the intelligent harvesting parameters of Kuerle fragrant pear,reduce the mechanical damage in the process of harvesting,and provide the theoretical basis for the design of the end-effector of the harvesting robot of fragrant pear,the physical parameters of fragrant pear fruit were measured by experiment.The compression characteristic parameters of fragrant pear were measured by static compression test,compression characteristic test,single factor test and orthogonal test.The results showed that the average longitudinal diameter of fragrant pear fruit was larger than that of transverse diameter,and the fruit type index was 1.12.The mass is about 119.42 g,the friction coefficient between fragrant pear fruit and silica gel is 1.1,and the non-destructive clamping force of fragrant pear fruit is from 0.95 N to 30 N;SPSS software was used to analyze the orthogonal test results.The results showed that the significant factors influencing the compression characteristics of fragrant pear were compression amount,loading position,head material,type of press head,loading rate,and so on.The effect of loading rate on compression characteristics of fragrant pear was significantly lower than that of other factors.