Fracture mechanism and separation conditions of pineapple fruit-stem and calibration of physical characteristic parameters

At present,the research on the physical composition and properties of pineapple plants is scarce,and the uncertainty of fruit picking method is the key bottleneck factor hindering the research and development of pineapple harvesting machinery.Based on the statistics of survey data from many places,this paper analyzes the fruit-stem fracture mechanism and the theoretical conditions for optimal separation through structural modeling,mechanical behavior analysis and function judgment.On this basis,the“pineapple plant fixation bench”and“fruit-stem bending separation torque test equipment”were developed,and large-size,small-size tests and random optimization tests were carried out successively.The test results showed that the larger of the stem-stalk fixation distance,the more torque and fracture starting angle required for fruit fracture would increase,and the change range was small when the stem-stalk fixation distance was within 50 mm,and the probability of brittle fracture and complete separation was very high.When the space between the fracture section and the fruit-stem connecting point is about 5mm,the range of bending moment value required for the fruit-stem fracture is 1.88 to 2.77 N·m,the range of fracture starting angle is 12.2°to 18.1°,and the angular travel range during the separation process is 82.9°to 87.5°.When the stem-stalk fixation distance is about 15 mm,it is the best fruit-stem separation condition and the breaking torque measured in the verification test is about 2.76 N·m.The fracture starting angle is about 13.8°,the maximum prediction error is 13.1%,and the elastic modulus near the fruit-stem joint ranges from 16.1 to 23.9 MPa.This conclusion can provide an important design basis for the research and development of pineapple field picking robot and harvesting equipment.

Analysis of the track system in bumpy unstructured hard road environment by vibration test

The complex terrain environment in the hilly land directly affects the operational reliability of agricultural robots.In order to study the impact of road irregularity on walking chassis vibration,the 3CYLZ-750 remote-controlled weeding machine which is applied to orchards was taken as the object of study,and the rear roller was selected as the object of observation to reveal the rules under which the vibration of the track chassis changes as there is a sudden change in road surface elevation.A column-type test-to-pass method based on unit excitation was proposed in this study.The excitation behavior and action process were analyzed by category.A critical acceleration prediction model was built and verified by virtual simulation and hard road surface excitation testing.The results showed that at the forward velocity of 0-2.5 km/h and exciter height of 20-100 mm,the vertical vibration acceleration of the target roller was significantly affected by Track Contact Point Centrifugal Acceleration(TCPCA).As TCPCA increased,the change rate of vertical vibration acceleration decreased,reaching a minimum of[−13.8,28.8];as TCPCA decreased,the vertical vibration acceleration tended to increase positively at a maximum variation range of[−13.3,42.2].The measured and simulated macroscopic change rules were consistent with the theoretical analysis,further verifying the correctness of variable extraction,and providing a research basis for the accurate modification and improvement of the model.The research conclusions can lay a theoretical foundation for analyzing the walking reliability of the track chassis,and provide a design basis and technical support for the development of a tracked agricultural robot chassis for the hilly land in the future.