基于直刃型刀片的椪柑果柄剪切特性试验

The Experiment of Shearing Properties about Ponkan Pedicel Based on Straight Blade

为了给柑橘采摘机器人末端执行器的设计提供依据,通过对刀具剪切力进行分析从而确定所用刀具类型。通过对末端执行器采摘柑橘时,椪柑果柄与刀具间的关系完成了剪切试验台的设计。以椪柑果柄为研究对象,选取切割速度、果柄直径、剪切方式等参数作为影响因素,分析对峰值剪切阻抗力的影响。分析切割速度、剪切方式对剪切深度的影响。并建立剪切深度与峰值剪切阻抗力的关系曲线。经理论分析、主效应分析和对各曲线的研究表明:执行器刀具选用单面直刃刀片;悬臂梁和简支梁剪切方式下峰值剪切阻抗力与切割速度都成反相关;采用简支梁剪切方式剪切深度更小;并确定了末端执行器的剪切深度5.34 mm,动力类型为气动,最小剪切力为60.61 N。

To provide a basis for the design citrus harvesting robot end-effector,the type of tool was determined by analyzing the shear forces of tools in this article.The cutting test stand was designed by the relationship between the blades and the pedicel of ponkan,when end-effector harvested citrus.The pedicel of ponkan was the research object,the cutting speed,diameter of pedicel,shank diameter,shear mode were select as influencing factors,sequentially analyze the peak shear resistance force with those factors.Analyze the shear depth with cutting speed and shearing mode,and establish the relationship between shear depth and peak shear resistance force.With the theoretical analysis,analysis of principal effect,and various curves,it shows that the tool of end-effector should select single straight blade;the relationship between peak shear resistance force and the cutting speed at cantilever beam and simply supported beam was inversely correlated;the shear depth was smaller at simple beam shear mode.It was determined that the shear depth of end-effector was 5.34 mm,the power was pneumatic,and the minimum shear force was 60.61 N.