红花柔性夹取装置设计与试验  

Design and test of flexible clamping device for safflower

作　　者：杨双平 叶云霞 郭刚 张毅 Yang Shuangping;Ye Yunxia;Guo Gang;Zhang Yi(College of Mechanical and Electrical Engineering,Xinjiang Agricultural University,Urumqi,830000,China)

机构地区：[1]新疆农业大学机电工程学院,乌鲁木齐市830000

出　　处：《中国农机化学报》2025年第2期14-19,共6页Journal of Chinese Agricultural Mechanization

基　　金：新疆维吾尔自治区自然科学基金资助项目(2022D01B30)。

摘　　要：针对红花人工采收劳动强度大、切割式采收破损率高等问题,设计一种仿形抓取的红花柔性夹取装置,该装置采用连杆机构模拟人手抓取拉拔动作,利用弹簧预紧力实现花丝低损柔性夹取,并基于VB参数化编程,优化夹取机构设计。通过对夹花板夹持力的计算分析,设计柔性机构,降低花丝破损率。通过Adams软件进行运动学仿真分析,验证夹取机构运动满足花丝夹取要求。搭建试验平台并进行对比试验。结果表明,红花柔性夹取装置的采净率为94.76%,破损率为2.53%,相比切割采收方式采净率提高1.55%,破损率降低1.15%。红花柔性夹取装置满足红花采收作业要求,有效降低花丝破损率。研究结果可为红花产业进一步机械化发展提供技术参考。Aiming at the problems of high labor intensity and high breakage rate in manual harvesting of safflower,a kind of flexible clamping device for safflower with copying and grasping was designed.The device uses linkage mechanism to simulate manual grasping and drawing action,and uses spring pre-tightening force to realize flexible clamping of filaments with low loss.And optimize the design of clamping mechanism based on VB parametric programming.Through the calculation and analysis of the clamping force of the clamping plate,a flexible mechanism is designed to reduce the breakage rate of filaments.Through the Adams software kinematics simulation analysis,it is verified that the movement of the clamping mechanism meets the requirements of filament clamping.The experimental platform was set up and the comparative experiment was carried out.The results showed that the removal rate of safflower flexible clamping device was 94.76%,and the breakage rate was 2.53%.Compared with cutting harvesting method,the removal rate increased by 1.55%and the breakage rate decreased by 1.15%.Safflower flexible clamping device meets the requirements of safflower harvesting operation and effectively reduces the breakage rate of filaments.The research results can serve as a valuable technical reference for the advancement of mechanization in the safflower industry.

关 键 词：红花 柔性夹取装置 ADAMS仿真 采净率 收获机械 

分 类 号：S223.2[农业科学—农业机械化工程]