摘要
为了提高切割式红花采摘机器人采摘红花的质量和产量,设计了红花切割分离试验台。通过对机器人采摘红花过程的分析,以刀具转速、进给速度、刀具刃偏角为试验因素,采净率、破碎率为评价指标,利用响应曲面试验法进行试验,并通过Design-Expert.V8.0.6.1软件,确定最佳组合参数为:刀具转速769 r/min、进给速度315 mm/min、刀具刃偏角15°,对应的红花采净率为91.83%,破碎率为4.51%。红花切割采摘试验结果表明:红花实际采净率为94.71%,破碎率为4.24%。该研究为红花采摘机器人末端执行器切割装置的优化设计和控制提供了理论依据。
In order to improve the quality and yield of safflower plucking by safflower picking robot, the separation experiment platform of safflower and safflower ball cutting was designed according to the work requirement of separating the safflower and safflower ball when the safflower was plucked by safflower plucking robot. Through the analysis of the safflower plucking process of the safflower plucking robot, the cutting tool speed, the feed speed and the cutting tool edge declination angle were the experiment factors, the removal rate and the broken rate are the evaluation indexes, and the experiment used the response surface method(RSM). By the Design-Expert.V8.0.6.1 software,the optimal combination parameters were as follows: the cutting tool speed was 769 r/min, the feed speed was 315 mm/min, the cutting tool edge declination angle was 15 degrees, and the removal rate of safflower was 91.83%, the broken rate was 4.51%.The cutting and plucking experiment of safflower was carried out, the experiment results showed that in the process of cutting and plucking, the actual removal rate of safflower was 94.71%, the broken rate was 4.24%. This research provides a theoretical basis for the optimal design and control of the end-effector cutting device of safflower plucking robot.
作者
刘光欣
葛云
张立新
赵庆展
张天勇
LIU Guangxin;GE Yun;ZHANG Lixin;ZHAO Qingzhan;ZHANG Tianyong(College of Mechanical and Electrical Engineering, Shihczi University, Xinjiang Shihezi 832003 , China;Industrial Technology Research Institute, XPCC , Xinjiang Shihezi 832003, China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第2期178-183,共6页
Machine Design And Research
基金
国家自然科学基金资助项目(51565050)
关键词
采摘
切割
红花
优化
试验台
plucking
cutting
safflower
optimization
experiment platform
