多杆仿形式茶枝柑剥皮取肉装置设计与试验
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S23

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国家自然科学基金项目(No.52205266)


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

    Abstract:

    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 (manual peeling posture) was designed using dimensional synthesis. A rocker-slider and a cross-type double rocker mechanism in series were coordinated with the vacuum sucker adsorption. The motion trajectory of manual peeling was simulated to closely approximate the position and posture during real peeling. The efficiency and accuracy of the device were verified after precise design and optimization. Subsequently, simulation analysis was conducted to validate the performance of the multi-link profiling mechanism. The simulation has verified the stability and reliability of the device during peeling. Furthermore, a physical device was manufactured to conduct the actual peeling experiments. The experimental results demonstrate that the device accurately performed the mimic manual peeling postures, thus achieving mechanical peeling of Citrus reticulata ‘Chachi’. Additionally, an enveloping flexible mechanical claw was designed for the damage-free peeling and flesh extraction of Citrus reticulata ‘Chachi after peeling operation with the multi-link profiling device’. The peel of Citrus reticulata ‘Chachi’ was greatly protected to enhance the efficiency of flesh extraction. The test results show that the nondestructive rate of peeling was 80%. The peeling and flesh extraction were optimized to successfully improve the initial processing of Citrus reticulata ‘Chachi’. The non-destructive mechanical peeling and flesh extraction of Citrus reticulata ‘Chachi’ were integrated into the industrial production lines, thus significantly improving production efficiency and cost savings. Therefore, the findings can provide valuable references for similar fruit processing. The profiling mechanism was integrated with the processing techniques. The non-destructive peeling and flesh extraction were achieved for the modernization and intelligence of agricultural product processing. Thus, practical technical support and valuable experience were offered for the Citrus reticulata ‘Chachi’ industry.

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莫嘉嗣,谭莹,何惠琪,陈秋烁,周锡恩,闫国琦.多杆仿形式茶枝柑剥皮取肉装置设计与试验[J].农业工程学报,2024,40(18):283-291. DOI:10.11975/j. issn.1002-6819.202403035

MO Jiasi, TAN Ying, HE Huiqi, CHEN Qiushuo, ZHOU Xien, YAN Guoqi. Design and experiment of multi-link profiling Citrus reticulata ‘Chachi’ peeling mechanism[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE),2024,40(18):283-291. DOI:10.11975/j. issn.1002-6819.202403035

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  • 收稿日期:2024-03-05
  • 最后修改日期:2024-08-02
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  • 在线发布日期: 2024-09-11
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