叶类蔬菜有序收获夹持输送的力学特性研究

doi:10.13304/j.nykjdb.2021.0759

摘要/Abstract

摘要：

为确定叶类蔬菜机械化收获参数，以收获期上海青为研究对象，通过夹持部位破损临界力试验分析上海青的无损夹持力。针对目前采用万能试验机进行压缩试验的不足，设计了一款夹持参数测定试验平台，该试验平台可对夹持输送作业的相关参数进行调整，并借助传感器对作业过程实时记录。以夹持角度（15°～25°）、夹持高度（2.0～4.0 cm）和夹持材料（橡胶同步带、花纹输送带、蓝布海绵皮带）为影响因素，以破损临界力和破损压缩量为评价指标，通过响应曲面试验优化上海青收获过程中夹持输送的综合影响因素，建立了影响因素与评价指标之间的回归方程式，并探究各因素组合对上海青夹持输送的影响。结果表明，当以蓝布海绵皮带为夹持材料、以最小破损临界力和破损压缩量为目标时，破损临界力和破损压缩量分别为16.95 N和18.03 mm，在夹持角度15°和夹持高度2.0 cm处。在实际收获中为减少上海青的损伤率，应保持夹持力在最小夹持力和破损临界力之间。

关键词: 叶类蔬菜, 夹持输送, 破损临界力, 压缩量, 曲面响应试验

Abstract:

In order to determine the mechanized harvesting parameters of leafy vegetables， Pakchoi at the harvest period was taken as the research object， and the critical force test of clamping parts damage was carried out to determine the non-destructive clamping force of Pakchoi. Aiming at the shortcomings of the current universal testing machine for compression testing， a testing platform for measuring clamping parameters was designed. This testing platform could adjust the relevant parameters of the clamping and conveying operation， and record the operation process in real time with the help of sensors.Taking clamping angle （15°～25°）， clamping height （2.0～4.0 cm）， and clamping material （rubber timing belt， pattern conveyor belt， blue cloth sponge belt） as the influencing factors， damaging the critical force and damaging compression as the evaluation index， the response surface test method was used to carry out the optimization test of the comprehensive influencing factors of the clamping and conveying in the harvesting process of Pakchoi， the regression equation between the test influencing factors and the test evaluation index was established and the influence of the test influencing factor combination on the gripping conveyance of Pakchoi was explored. The results showed that when blue cloth sponge belt was used as clamping material， the minimum damage critical force and damage compression were used as the goal， the damage critical force and damage compression at this time were 16.95 N and 18.03 mm in order， at a clamping angle of 15° and the clamping height of 2.0 cm. In the actual harvest， the clamping force should be between the minimum clamping force and the critical damage force， then the harvest could reduce the damage rate of the Pakchoi Harvest.

Key words: leafy vegetables, gripping and conveying, critical damage force, compression, surface response test

中图分类号:

S225

刘奇, 陈斌, 孙松林, 肖名涛, 孙超然. 叶类蔬菜有序收获夹持输送的力学特性研究[J]. 中国农业科技导报, 2022, 24(4): 116-125.

Qi LIU, Bin CHEN, Songlin SUN, Mingtao XIAO, Chaoran SUN. Research on Mechanical Characteristics of Clamping Conveyor for Leafy Vegetables[J]. Journal of Agricultural Science and Technology, 2022, 24(4): 116-125.

图/表 15

参考文献 20

1	前瞻产业研究院.2020年中国蔬菜种植行业市场现状和竞争格局分析[EB/OL].(2020-09-21)[2021-07-23]. .
2	廖禺,陈立才,潘松,等.叶类蔬菜机械化收获技术装备现状与发展[J].江西农业学报,2019,31(11):77-81.
	LIAO Y, CHEN L C, PAN S, et al.. Status and development of chemical harvesting technology and equipment for leaf vegetables [J]. Acta Agric. Jiangxi, 2019, 31(11): 77-81.
3	林羽,刘斌琼.浅谈我国设施农业发展状况[J].福建农业科技,2014(10):68-70.
	LIN Y, LIU B Q. Brief introduction to development situation of facilities agriculture [J]. Fujian Agric. Sci. Technol., 2014(10): 68-70.
4	蒋欢.国内外农业机械化发展研究[J].农业科技与装备,2013(3):83-84.
	JIANG H. Research on the development of agricultural mechanization at home and abroad [J]. Agric. Sci. Technol. Equip., 2013(3): 83-84.
5	辜松,杨艳丽,张跃峰,等.荷兰蔬菜种苗生产装备系统发展现状及对中国的启示[J].农业工程学报,2013,29(14):185-194.
	GU S, YANG Y L, ZHANG Y F, et al.. Development status of automated equipment systems for greenhouse vegetable seedlings production in Netherlands and its inspiration for China [J]. Trans. Chin. Soc. Agric Eng., 2013, 29(14): 185-194.
6	常江雪,白学峰,鲁植雄.中国农业机械化绿色可持续发展理论框架研究[J].中国农机化学报,2021,42(3):213-220, 226.
	CHANG J X, BAI X F, LU Z X. Research on the theoretical framework of green sustainable development of agricultural mechanization in China [J]. J. Chin. Agric. Mechan., 2021, 42(3): 213-220, 226.
7	殷海访,王振华.叶菜类蔬菜机械化收获技术及研究[J].南方农机,2021,52(9):14-15.
	YIN H F, WANG Z H. Technology and research on mechanized harvesting of leafy vegetables [J]. Chin. Sout. Agric. Machinery, 2021, 52(9): 14-15.
8	缪磊,王建军.叶类蔬菜收获机械研发关键技术及发展趋势[J].江苏农机化,2020(6):24-26.
	MIAO L, WANG J J. Key technology and development trend of leaf vegetable harvesting machinery research and development [J]. Jiangsu Agric. Mechan., 2020(6): 24-26.
9	金月,肖宏儒,曹光乔,等.我国茎叶类蔬菜生产关键环节的机械化作业模式[J].中国蔬菜,2019(7):7-11.
	JIN Y, XIAO H R, CAO G Q, et al.. The mechanized operation mode of the key links in the production of stem and leaf vegetables in China [J]. Chin. Veget., 2019(7): 7-11.
10	王伟,吕晓兰,王士林,等.茎叶类蔬菜机械化收获技术研究现状与发展[J].中国农业大学学报,2021,26(4):117-127.
	WANG W, LU X L, WANG S L, et al.. Current status and development of stem and leaf vegetables mechanized harvesting technology [J]. J. China Agric.Univ., 2021, 26(4): 117-127.
11	于昭洋,胡志超,杨柯,等.大蒜联合收获切根试验台设计与试验[J].农业工程学报,2016,32(22):77-85.
	YU Z Y, HU Z C, YANG K, et al.. Design and experiment of root cutting device in garlic combine harvesting [J]. Trans. Chin. Soc. Agric. Eng., 2016, 32(22): 77-85.
12	黄继承,沈成,纪爱敏,等.工业大麻收割机切割-输送关键部件作业参数优化[J].吉林大学学报(工学版),2021,51(2):772-780.
	HUANG J C, SHEN C, JI A M, et al.. Optimization of operation parameters of cutting-conveying key components of industrial hemp harvester [J]. J. Jilin Univ. (Eng. Technol.), 2021, 51(2) :772-780.
13	章永年,施印炎,汪小旵,等.茎叶类蔬菜有序收获机柔性夹持输送机构设计[J].中国农机化学报,2016,37(9):48-51.
	ZHANG Y N, SHI Y Y, WANG X Y, et al.. Design on flexible clamping and conveying mechanism for orderly harvester of stems-leafy vegetables [J]. J. Chin. Agric. Mechan., 2016, 37(9): 48 -51.
14	张涛,李英,宋树民,等.基于柔性夹持的青菜头收获机设计与试验[J].农业机械学报,2020,51(S2):162-169, 190.
	ZHANG T, LI Y, SONG S M, et al.. Design and experiment of tumorous stem mustard harvester based on flexible clamping [J]. Trans. Chin. Soc. Agric. Machinery, 2020, 51(S2): 162-169, 190.
15	NANG V N, YAMANE S. Sutton development of prototype harvesting for head lettuce [J]. Eng. Agric. Environ. Food, 2015,8(1):18-25.
16	ALI M, LEE Y S, KABIR M S N, et al.. Kinematic analysis for decide of the transportation part of atractor-mounted Chinese cabbage collector [J]. J. Biosys. Eng.,2019,4( 4):226-235.
17	赵庆南,王锦江,王志,等.夹持输送技术在蔬菜收获机械中的应用[J].农业工程,2020,10(9):8-11.
	ZHAO Q N, WANG J J, WANG Z, et al.. Application of clamping conveying technology in vegetable harvesting machine [J]. Agric. Eng., 2020, 10(9): 8-11.
18	刘东.鸡毛菜有序收获机关键部件的优化设计与试验研究[D].北京:中国农业科学院, 2019.
	LIU D. Optimal design and experimental research on key components of the orderly harvester of Fessola chinensis [D]. Beijing: Chinese Academy of Agricultural Sciences, 2019.
19	皮杰,柳军,徐磊,等.三指柔性气动夹爪结构设计与试验[J].农业机械学报,2020,51(S1):93-101.
	PI J, LIU J, XU L, et al.. Structure design and experiment of three finger flexible pneumatic gripper [J]. Trans. Chin. Soc. Agric. Machinery, 2020, 51(S1): 93-101.
20	李天华,孟志伟,郑成路,等.甘蓝收获机研究现状与发展[J].中国农机化学报,2019,40(2):40-46.
	LI T H, MENG Z W, ZHENG C L, et al.. Research status and development of cabbage harvesters [J]. J. Chin. Agric. Mechan., 2019, 40(2): 40-46.

基本参数 Parameter	范围 Scope	平均值 Average	标准偏差 SD
株高Plant height/mm	156.00～196.00	176.00	28.28
质量Mass/g	63.80～95.60	79.70	22.49
叶梗高Leaf stem height/mm	47.10～61.85	54.48	10.43
直径Diameter/mm	49.25～64.42	55.45	3.65
含水率Moisture content/%	87.30～90.10	88.70	1.40

基本参数 Parameter	范围 Scope	平均值 Average	标准偏差 SD
株高Plant height/mm	156.00～196.00	176.00	28.28
质量Mass/g	63.80～95.60	79.70	22.49
叶梗高Leaf stem height/mm	47.10～61.85	54.48	10.43
直径Diameter/mm	49.25～64.42	55.45	3.65
含水率Moisture content/%	87.30～90.10	88.70	1.40

夹持高度 Height/cm	最小值 Minimum/mm	最大值 Maximum/mm	平均值 Average/mm	标准偏差 SD
1.0	43.72	59.45	52.15	3.95
2.0	49.25	64.42	55.45	3.65
3.0	46.21	66.11	54.80	4.38
4.0	41.27	66.21	52.17	4.96
5.0	34.84	66.15	49.17	5.86

夹持高度 Height/cm	最小值 Minimum/mm	最大值 Maximum/mm	平均值 Average/mm	标准偏差 SD
1.0	43.72	59.45	52.15	3.95
2.0	49.25	64.42	55.45	3.65
3.0	46.21	66.11	54.80	4.38
4.0	41.27	66.21	52.17	4.96
5.0	34.84	66.15	49.17	5.86

材料 Material	临界倾角 Critical inclination/（°）	静摩擦系数 Static friction coefficient	弹性 Elasticity/（N·mm^-2）
光滑面 Smooth surface	19.92	0.36	—
材料A Material A	34.78	0.69	3 519
材料B Material B	38.24	0.79	218
材料C Material C	36.09	0.73	11