果筐搬运夹持装置结构参数优化与试验  

Optimization and test of structural parameters of fruit basket handling and holding device

作　　者：刘树腾 李建平[1] 张阔 李绍波 谢金燕 张詝 Liu Shuteng;Li Jianping;Zhang Kuo;Li Shaobo;Xie Jinyan;Zhang Zhu(College of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding,071000,China)

机构地区：[1]河北农业大学机电工程学院,河北保定071000

出　　处：《中国农机化学报》2025年第2期56-63,共8页Journal of Chinese Agricultural Mechanization

基　　金：河北省现代农业产业技术体系苹果产业创新团队现代果园装备与智能化项目(HBCT2018100205);财政部和农业农村部:国家现代农业产业技术体系建设专项(CARS—27)。

摘　　要：针对苹果采收运输过程中果农搬运装卸果筐费时费力、劳动强度大等问题,设计一种果筐搬运夹持装置,利用双气缸驱动两侧夹持板实现果筐的夹持、搬运装卸作业。利用SolidWorks 2021设计果筐夹持装置模型,对夹持装置受力过程进行理论计算分析,确定影响夹持装置性能的关键因素:夹持板与果筐接触面积、夹持板与果筐夹持位置、夹持板内表面形态;以夹持装置能稳定夹住果筐的最小夹持力为评价指标,通过单因素仿真试验确定夹持板与果筐接触面积、夹持板与果筐夹持位置、夹持板内表面形态等因素对评价指标的影响规律;通过三因素三水平正交试验和响应面优化分析得到果筐搬运夹持装置最优参数组合,当夹持板与果筐侧面接触面积为24/25、夹持装置从果筐中间往两侧夹、夹持板内表面形态为折线纹时,果筐的最小夹持力为2.24 kPa。验证试验的最小夹持力为2.30 kPa,夹持力误差在5%以内,该研究结果可为果筐夹持装置的研发与设计提供理论参考。Aiming at the problems of heavy labor intensity and time consuming in handling and loading fruit baskets during apple harvesting and transportation,a kind of clamping device for handling fruit baskets was designed.Double cylinders were used to drive both sides of the clamping plate to realize the clamping,handling and loading of fruit baskets.The model of fruit basket and gripper was constructed with SolidWorks,and the stress process of the gripper was theoretically calculated and analyzed.The key factors affecting the performance of the gripper were determined as follows:the contact area between the gripper plate and the fruit basket,the clamping position between the gripper plate and the fruit basket,and the inner surface shape of the gripper plate.Taking the minimum clamping force of the clamping device to stabilize the fruit basket as the evaluation index,the influence of the contact area between the clamping plate and the fruit basket,the clamping position between the clamping plate and the fruit basket,and the inner surface shape of the clamping plate on the evaluation index were determined by the single factor simulation test.Through three-factor and three-level orthogonal test and response surface optimization analysis,the optimal parameter combination of fruit basket handling gripper was obtained.When the gripper plate was in 24/25 contact with the side of the fruit basket,the gripper device was clamped from the middle of the fruit basket to both sides,and the inner surface of the gripper plate was polygonal,the minimum gripper force of the fruit basket was 2.24 kPa.The minimum clamping force of the verification test is 2.30 kPa,and the clamping force error is less than 5%,which can provide theoretical reference for the research and design of fruit basket clamping device.

关 键 词：苹果 夹持装置 果筐 夹持力 响应面优化 

分 类 号：S233.4[农业科学—农业机械化工程]