鲜食玉米仿生摘穗柔性夹持输送装置设计与试验

doi:10.13229/j.cnki.jdxbgxb20210308

Abstract

Abstract:

Aiming at the problems of stem clamping and conveying， such as broken stems and blockages in the process of fresh corn harvesting， a bionic ear picking flexible clamping and conveying device with simple structure and stable clamping and conveying was designed. First， on the basis of analyzing the holding the stalk， bending and breaking the ears from top to bottom， researching the principle of bionic ear picking， the focus is on the operating parameters that affect the flexible stem clamping and conveying device. The grading test method is adopted for the device. The bench test was designed with a single factor， and it was obtained that the working efficiency was the best when the unit forward speed was 1.2 m/s and the cutter speed was 420 r/min. Secondly， fixing the two parameters unchanged and taking the speed of clamping conveyor belt， the inclination angle of clamping mechanism and the gap between clamping conveyor belt were taken as test factors， and the stem breaking rate and clamping accuracy were taken as test indexes， using the quadratic regression orthogonal rotation combination test method to carry out the bench test. The mathematical model of factors and indicators is established through Design-Expert8.0.6 software， and the factors are optimized after the constraints are added. The test results show that when the speed of the clamping conveyor belt is 342 r/min， the inclination angle of the clamping mechanism is 19°， and the clamping conveyor belt gap is 6.0 mm， the average value of stem broken rate is 0.46%， and the average value of clamping accuracy is 94.0%， which show a good working performance. Finally， a field verification experiment was carried out. The results show that the average stalk breaking rate was 0.55% and the average clamping accuracy rate was 93.0%， which were basically consistent with the optimized results. The device designed in this paper reduces the stalk breakage， has high stability， and meets the requirements for harvesting fresh corn ears.

Key words: agricultural mechanization engineering, fresh corn, bionic ear picking flexible clamping and conveying, experimental device, optimization analysis

CLC Number:

S233.4

Guang-qiang ZHU,Tian-yu LI,Fu-jun ZHOU. Design and experiment of flexible clamping and conveying device for bionic ear picking of fresh corn[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(10): 2486-2500.

Figures/Tables 18

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Table 1

Fig.11

Table 2

Table 3

Table 4

Analysis of variance between cutting rate and stem breaking rate"

来源	平方和	自由度	均方	F值	P值
模型	0.68/0.65	9/6	0.076/0.11	9.15/12.09	0.0003*/<0.0001*
Z₁	0.12/0.12	1/1	0.12/0.12	14.44/13.40	0.0022*/0.0021*
Z₂	0.18/0.18	1/1	0.18/0.18	21.44/19.90	0.0005*/0.0004*
Z₃	0.096/0.096	1/1	0.096/0.096	11.58/10.75	0.0047*/0.0047*
Z₁Z₂	0.12/0.12	1/1	0.12/0.12	14.19/13.17	0.0024*/0.0023*
Z₁Z₃	0.025	1/1	0.025	3.05	0.1042
Z₂Z₃	0.0066	1/1	0.0066	0.80	0.3880
Z $12$	0.096/0.096	1/1	0.096/0.096	11.61/10.74	0.00471*/0.0047*
Z $22$	0.042/0.042	1/1	0.042/0.042	5.04/4.66	0.0427/0.0464
Z $32$	0.003	1/1	0.003	0.39	0.5440
残差	0.11/0.14	13/16	0.0082/0.0089
失拟项	0.042/0.077	5/8	0.0085/0.0097	1.03/1.18	0.4593/0.4092
纯误差	0.065/0.065	8/8	0.0082/0.0082
总和	0.79	22

Table 4

Table 5

Analysis of variance of clamping accuracy"

来源	平方和	自由度	均方	F值	P值
模型	22.69/22.52	9/7	2.52/3.22	5.87/8.39	0.0023*/0.0003*
Z₁	2.16/2.16	1/1	2.16/2.16	5.02/5.62	0.0431/<0.0316
Z₂	2.66/2.66	1/1	2.66/2.66	6.19/6.92	0.0272/0.0189
Z₃	1.50/1.50	1/1	1.50/1.50	3.50/3.91	0.0841/0.0665
Z₁Z₂	2.41/2.41	1/1	2.41/2.41	5.61/6.28	0.0340/0.0242
Z₁Z₃	0.044	1/1	0.044	0.10	0.7553
Z₂Z₃	5.07/5.07	1/1	5.07/5.07	11.81/13.22	0.0044*/0.0024*
Z $12$	4.39/4.37	1/1	4.39/4.37	10.21/11.40	0.0070*/0.0042*
Z $12$	4.42/4.41	1/1	4.41/4.41	10.29/11.49	0.0069*/0.0040*
Z $12$	0.12	1/1	0.13	0.30	0.5918
残差	5.58/5.75	13/15	0.43/0.38
失拟项	1.50/1.67	5/7	0.30/0.24	0.59/0.47	0.7099/0.8327
纯误差	4.08/4.08	8/8	0.51/0.51
总和	28.17	22

Table 5

Fig.12

Fig.13

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参数项目	均值	参数项目	均值
株高/mm	2457	籽粒含水率/%	70
最低结穗高度/mm	895	果穗根部直径/mm	45
果穗长度/mm	189	结穗位茎秆直径/mm	36

编码值	因素
编码值	夹持输送带转速/（r·min^-1）	夹持机构倾角/（°）	夹持输送带间隙/mm
1.682	664.8	20	11.3
1	563.13	17.49	10.08
0	414	13.8	8.3
-1	264.87	10.11	6.52
-1.682	163.2	7.6	5.3

编号	因素			目标函数
编号	夹持输送带转速 Z₁/（°）	夹持机构倾角 Z₂/（°）	夹持输送带间隙 Z₃/（m·s^-1）	茎秆断茎率 Y₁/%	夹持准确率 Y₂/%
1	264.87	10.11	6.52	0.47	94.11
2	563.13	10.11	6.52	0.27	95.98
3	264.87	17.49	6.52	0.72	92.45
4	563.13	17.49	6.52	0.75	93.1
5	264.87	10.11	10.08	0.42	93.13
6	563.13	10.11	10.08	0.55	95.65
7	264.87	17.49	10.08	0.13	95.6
8	563.13	17.49	10.08	0.64	94.98
9	163.2	13.8	8.3	0.38	94.37
10	664.8	13.8	8.3	0.73	94.95
11	414	7.6	8.3	0.21	94.65
12	414	20	8.3	0.75	93.68
13	414	13.8	5.3	0.54	93.18
14	414	13.8	11.3	0.21	93.68
15	414	13.8	8.3	0.27	93.9
16	414	13.8	8.3	0.22	93.87
17	414	13.8	8.3	0.14	92.19
18	414	13.8	8.3	0.37	92.89
19	414	13.8	8.3	0.46	93.12
20	414	13.8	8.3	0.31	92.43
21	414	13.8	8.3	0.25	93.41
22	414	13.8	8.3	0.31	92.76
23	414	13.8	8.3	0.29	94.29

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Design and experiment of flexible clamping and conveying device for bionic ear picking of fresh corn

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