鸡枞菌锥形削根装置设计

针对鸡枞菌人工锥形削根速度慢、一致性差等问题,设计了锥形削根装置。该装置采用两个对称布置的四连杆机构,连杆刀片运动轨迹呈腰形,两个刀片的直线工作段形成圆锥包络,实现鸡枞菌根部锥形切削。装有摄像头的机械臂识别、抓取并精确控制鸡枞菌进入切削区域的深度,实现精准切削。试验结果表明:两个连杆刀片在0.8s内共进行12次作业,完成锥形切削;装置可在6s内实现1个鸡枞菌的抓取、切削、分级,不仅速度快,且一致性更好。以菇柄直径为12mm的鸡枞菌为例,对比人工削根形成的7棱、6棱、5棱和4棱锥,试验装置削根可分别减少7.5%,9.1%,13.9%,24.4%的根部浪费率。

Design of conical root cutting device for Oudemansiella raphanipes

This conical root-cutting device was designed tosolve the problem of slow rooting and poor consistency of artificial cone rooting about Oudemansiella raphanipes.The cutting device adopts two symmetrically arranged four-bar linkage mechanisms,and the connecting rod blade forms a waist-shaped motion track.By forming a cone-shaped envelope,this device could realize the taper cutting of the root of the O.raphanipes.The industrial robot which equipped with the camera recognizes could capture and precisely control the depth of the O.raphanipes into the cutting area.The experimental results indicated that the two connecting rod blades performed a total of 12 operations in 0.8 sto complete the taper cutting.The robot could capture,cut and classify one O.raphanipes in 6 s.Taking the O.raphanipes stalk with a diameter ofφ12 mm as an example,compared with the 7-pyramid,6-pyramid,5-pyramid,and 4-pyramid formed by artificial root cutting,the root-cutting of the robot could reduce root waste by7.5%,9.1%,13.9%,and 24.4%,respectively.