Full
Outline
In order to solve the problems of low adaptability of the tool to the banana crown and the low success rate of the banana in the process of intelligent de-handing, a type of end effector was designed according to the morphological parameters of the banana bunch and the crown and the production requirements of the de-handing. The cutting arc of the adjustable opening-closing de-handing tool was used to adapt to different sizes of the banana crown to achieve continuous banana de-handing. The key parameters and main structure of the de-handing end effector were designed. The mechanical analysis model of the process of cutting banana crown by the de-handing tool was established, and the strength simulation was carried out. The results showed that the maximum stress of the de-handing tool during the de-handing process was 58.147 MPa, which was less than the yield strength of the tool material 205 MPa. The test platform of robot de-handing was built, and the significant factors affecting the de-handing effect were sorted as the cutting angle of de-handing, the blade angle and the de-handing speed. In order to obtain the optimal parameter combination, taking the peak cutting force and incision quality as the evaluation indices, the combination test of three-factors and three-levels were carried out by using Design-Expert software, and the mathematical regression model between the experimental factors and the evaluation indexes was obtained. The multi-objective optimization of the regression model was carried out, and the optimal parameter combination was obtained as follows: the de-handing speed was 2 m/s, the cutting angle of de-handing was 5.77°, and the blade angle was 5°. The results of the optimal parameter combination verification test showed that the peak cutting force was 31.49 N, the incision quality was 84 points, the relative error with the prediction results of the regression model was less than 5%, and the success rate of the de-handing was 92%, indicating that the opening-closing end effector of banana de-handing can effectively adapt to the banana crown's morphology and obtain better incision quality.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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