ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to solve the problems of high mechanical damage and large picking loss of the existing picking equipment in the automatic picking process of Agaricus bisporus, a flexible profiling picking end-effector was designed based on the principle of particle blocking. The mechanical structure of the end-effector was composed of a flexible profiling sucker and a transmission part. The flexible profiling sucker used the fluidlike characteristics of the particles in the flexible membrane to profile the Agaricus bisporus with different sizes and ovalities, thereby increasing the effective contact area between the sucker and the Agaricus bisporus, improving the stability of the suction and reducing the fruit damage rate. The structural design of the end-effector was carried out according to the growth characteristics of Agaricus bisporus. The key parameters of the end-effector were determined by pre-experiment and simulation analysis. The materials of each component were selected and the prototype was trialproduced. The finite element simulation was carried out for the flexible profiling sucker. The optimal opening size of the sucker was determined by finite element simulation, and the stress of the sucker was obtained. The control system and pneumatic circuit were designed for the picking logic of Agaricus bisporus. In order to clarify the influence of suction negative pressure, Agaricus bisporus diameter, flexible film thickness, particle diameter and other factors on the suction force, the pulling force test was carried out on the end-effector. The results showed that the pulling force had a linear relationship with the suction negative pressure, the diameter of Agaricus bisporus and the particle diameter, and it had a nonlinear relationship with the thickness of the flexible film. When the flexible film thickness of the end-effector was 9mm and the particle diameter was 20 mesh quartz, the suction cup holding effect was the best, and a comparative test was carried out with the ordinary silicone suction cup. The test results showed that the same suction force flexible profiling suction cup required lower negative pressure. The picking test of Agaricus bisporus with a size range of 25~50mm was carried out. The picking success rate of the flexible profiling sucker was 98.5%, and the damage detection of the postharvest Agaricus bisporus was carried out. The picking damage rate of the flexible profiling sucker was 2.5%. It had the advantages of strong adaptability, stable grasping and low damage rate, which can meet the needs of automatic picking.