面向番茄自动整枝的茎秆夹持力学特性测量与分析  

Measurement and Analysis of Mechanical Properties of Stem Clamping for Automatic Pruning of Tomato

作　　者：王博文 张万豪 冯青春 Wang Bowen;Zhang Wanhao;Feng Qingchun(Xinjiang Agricultural University,Urumqi 830052,China;Intelligent Equipment Technology Research Center,Beijing Academy of Agricultural and Forestry Sciences,Beijing 100097,China;National Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China;Beijing Key Laboratory of Agricultural Intelligent Equipment Technology,Beijing 100097,China)

机构地区：[1]新疆农业大学机电工程学院,乌鲁木齐830052 [2]北京市农林科学院智能装备技术研究中心,北京100097 [3]国家农业智能装备工程技术研究中心,北京100097 [4]农业智能装备技术北京市重点实验室,北京100097

出　　处：《农机化研究》2023年第12期157-163,共7页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2019YFE0125200);北京市农林科学院创新能力建设专项(KJCX20210414)。

摘　　要：获取番茄植株的茎秆外观形态和组织力学特性是设计自动化整枝执行机构的重要依据。为此,以“佳丽14”番茄品种作为研究对象,通过实地测量获取番茄植株茎秆自然形态参数,基于MTS E43型电子万能试验机对茎秆力学特性进行测量,获得番茄茎秆挤压、剪切及离层断裂等力学特性参数。根据对茎秆施加不同正压力时产生的最大静摩擦力,采用最小二乘法分别估算了其与不锈钢、PVC、硬质橡胶及硅胶等4种典型工程材料的最大静摩擦因数;同时,为了实现对番茄植株侧枝安全夹持与可靠分离,结合对茎秆离层断裂与夹持压溃时临界力约束,确定了番茄植株侧枝夹持柔性材料的硬度与弹性模量。研究结果可以为设施农业番茄自动化整枝及整枝机器人关键执行部件的设计提供理论依据。Obtaining the stem appearance and tissue mechanical properties of tomato plants is an important basis for the design of automated pruning actuators.In this paper,the tomato variety"Jiali 14"was taken as the research object,and the natural morphological parameters of tomato stems were obtained through field measurement.Based on the MTS E43 electronic universal testing machine to measurement of stems mechanical properties,Obtaining mechanical properties parameters such as tomato stem extrusion,shearing and delamination fracture.According to the maximum static friction generated when different positive pressures are applied to the stem,Using the least squares method,Estimated the maximum static friction coefficients with four typical engineering materials such as stainless steel,PVC,hard rubber and silica gel;In order to achieve lateral branch of tomato plants safe clamping and reliable separation,combine with that critical force constraint of stem reliable separation and clamping crush,To determine the hardness and elastic modulus of tomato lateral branch clamping flexible material.This study can provide theoretical basis for tomatoautomatic pruning in protected agriculture and the design of key pruning robotexecutive components.

关 键 词：番茄茎秆 蔬菜整枝 柔性夹持 力学特性 末端执行器 

分 类 号：S183[农业科学—农业基础科学]