多杆仿形式茶枝柑剥皮取肉装置设计与试验  

Design and experiment of multi-link profiling Citrus reticulata‘Chachi’peeling mechanism

作　　者：莫嘉嗣[1] 谭莹 何惠琪 陈秋烁 周锡恩 闫国琦[1] MO Jiasi;TAN Ying;HE Huiqi;CHEN Qiushuo;ZHOU Xi’en;YAN Guoqi(College of Engineering,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642

出　　处：《农业工程学报》2024年第18期283-291,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(No.52205266)。

摘　　要：广东新会一带的茶枝柑是“南药”广陈皮唯一来源,其初加工过程中剥皮取肉环节自动化程度低、并容易产生“汁溅”导致腐蚀广陈皮(俗称“烧皮”),为了实现茶枝柑初加工全程自动化,该研究研发一种新型茶枝柑自动剥皮取肉装置以解决上述问题。首先采用3D扫描与重构技术,获得人手剥皮时果皮真实轨迹和姿态数据,建立人手剥皮位姿数学模型;然后以人手剥皮位姿信息为目标,设计多杆仿形机构并使其轨迹和姿态逼近人手剥皮位姿;最后对设计好的多杆仿形机构进行仿真验证和分析,并加工装配出样机进行实际剥皮试验。试验结果表明,该装置可较好模拟人手剥皮时的位姿曲线,配合真空吸盘吸附,可实现茶枝柑机械式自动剥皮,然后配合包络式柔顺机械爪,实现了茶枝柑无损剥皮取肉,试验结果显示剥皮无损率为80%。该研究结果可为柑橘类水果剥皮初加工提供了理论和试验参考。Citrus reticulata‘Chachi’cultivated in Xinhui,Guangdong,is the sole source of"Southern Medicine"pericarp of dried tangerine.This processed product has been known as the pericarp of Citrus reticulata‘Chachi’.There are functions of drying dampness,resolving phlegm,regulating Qi,and invigorating the spleen,particularly for its excellent health benefits in cardiovascular,respiratory,endocrine,gastrointestinal,and cosmetic aspects,according to the concept of medicinal food homology.These characteristics have endowed the Citrus reticulata‘Chachi’with high medicinal and economic value,thus resulting in the ever-increasing production and output value in recent years.However,the traditional processing of Citrus reticulata‘Chachi’in peeling and flesh extraction has suffered from low automation and the juice splashing onto the peel for corrosion failure(commonly known as"burning the peel").In this study,an automatic device of peeling and flesh extraction was developed for the Citrus reticulata‘Chachi’,according to the profiling mechanism.Initially,advanced 3D scanning and reconstruction were employed to acquire the real motion trajectory and posture data of fruit peel during manual peeling.Due to the three-fold symmetry,only one-third of the peel was scanned during manual peeling.Six key positions and postures were then selected to establish the curve model of profiling target posture.The coupling relationship between the position and posture of fruit peel during Citrus reticulata‘Chachi’peeling was deduced,according to the posture curve and fitting equation.A mathematical model was then established for the posture of manual peeling in the accurate design of subsequent devices.Subsequently,the conceptual design was combined with the mechanical design to devise a set of multi-link profiling mechanisms.According to the postures of various linkages,a cross-type double rocker mechanism was determined as the prototype of the multi-link profiling mechanism.A mechanism approximating the target posture(manua

关 键 词：初加工 茶枝柑 多杆仿形机构 机械爪 剥皮 3D扫描 运动轨迹 

分 类 号：S23[农业科学—农业机械化工程]