基于变胞原理的坚果剥壳机械手接触建模与构型研究探析
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摘要
坚果是中国重要的经济林树种,壳仁分离是坚果精深加工的关键环节,目前普遍存在剥壳率低、损失率高、果仁完整性差等问题。建立准确的果壳与剥壳机械接触模型是破壳力分析的基础。树坚果果壳表面粗糙、外形不规则,接触区域不能抽象为规则的几何形状,如何建立面接触约束模型是实现无损伤壳仁分离的关键问题。以研究坚果壳仁分离机械手的破壳机理、结构设计为目标,提出一种变胞多指机械手,分析了坚果脱壳技术、剥壳机械手接触建模的研究现状,介绍了变胞机构的起源和应用研究概况,并阐述了坚果剥壳机械手的研究内容与发展前景。
Nuts are the important economic forest tree species of China.De-shell is the key operation of nut deep processing.There are some problems in the current nut cracking devices such as the low decorticating rate,the high nuts losses rate and nutmeat integrity problems,etc..The foundation of force analysis is to establish contact model for nut and mechanical.The nut surface is rough and irregular,so the contact area cannot be modeled as regular shape.How to set up contact constraint model is the key problem to accomplish non-loss shelling.In order to study the shell-breaking mechanism and structural design of the nut shelling manipulation,a multi-fingered metamorphic manipulator is presented.An overview of the nut shelling technology and the contact manipulator modeling are proposed.The origin and application of metamorphic mechanisms are introduced.Then the research contents and development prospects of nut shelling manipulator are described.
Nuts are the important economic forest tree species of China.De-shell is the key operation of nut deep processing.There are some problems in the current nut cracking devices such as the low decorticating rate,the high nuts losses rate and nutmeat integrity problems,etc..The foundation of force analysis is to establish contact model for nut and mechanical.The nut surface is rough and irregular,so the contact area cannot be modeled as regular shape.How to set up contact constraint model is the key problem to accomplish non-loss shelling.In order to study the shell-breaking mechanism and structural design of the nut shelling manipulation,a multi-fingered metamorphic manipulator is presented.An overview of the nut shelling technology and the contact manipulator modeling are proposed.The origin and application of metamorphic mechanisms are introduced.Then the research contents and development prospects of nut shelling manipulator are described.
引文
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[19]刘明政.核桃剪切挤压柔性破壳取仁的机理分析与实验研究[D].青岛:青岛理工大学,2015.LIU Mingzheng.Mechanization Analysis and Experimentation Research of Walnut Shearing-Extrusion Flexible Shell-Crushing[D].Qingdao:Qingdao Technological University,2015.
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[22]吴英思,杜文亮,刘飞.荞麦剥壳机分离装置的改进试验[J].农业工程学报,2010,26(5):127-131.WU Yingsi,DU Wenliang,LIU Fei.Improvement experiments on the separating device of buckwheat shucker[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(5):127-131.
[23]王灵军,全燕鸣,邓文君.银杏脱壳的有限元受力分析[J].农业工程学报,2003,19(4):58-61.WANG Lingjun,QUAN Yanming,DENG Wenjun.Analysis of finite element method for threshing gingko fruit shell[J].Transactions of the Chinese Society of Agricultural Engineering,2003,19(4):58-61.
[24]卿艳梅,曹玉华,李长友,等.龙眼鲜果剥壳力学特性[J].农业工程学报,2010,26(5):122-126.QING Yanmei,CAO Yuhua,LI Changyou,et al.Mechanical properties of fresh longan hulling[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(5):122-126.
[25]那雪姣,刘明国,张文.机械脱壳时花生仁损伤特征及规律[J].农业工程学报,2010,26(5):117-121.NA Xuejiao,LIU Mingguo,ZHANG Wen.Damage characteristics and regularity of peanut kernels under mechanical shelling[J].Transactions of the Chinese Society of Agricultural Engineering,2010,26(5):117-121.
[26]高连兴,张文,杜鑫.花生脱壳机脱出物的漂浮系数试验[J].农业工程学报,2012,28(2):289-292.GAO Lianxing,ZHANG Wen,DU Xin.Experiment on aerodynamic characteristics of threshed mixtures of peanut shelling machine[J].Transactions of the Chinese Society of Agricultural Engineering,2012,28(2):289-292.
[27]李君,陆华忠,杨洲,等.刀豆脱壳机构的设计与试验[J].农业工程学报,2013,29(1):26-32.LI Jun,LU Huazhong,YANG Zhou,et al.Design and experiment of Canavalia shelling mechanism[J].Transactions of the Chinese Society of Agricultural Engineering,2013,29(1):26-32.
[28]佟瑞庭.纳观纹理表面往复滑动接触磨损问题研究进展[J].河北科技大学学报,2013,34(3):189-199.TONG Ruiting.Advances on nanoscale wear mechanism in reciprocating sliding contacts of textured surfaces[J].Journal of Hebei University of Science and Technology,2013,34(3):189-199.
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