香蕉高位大尺寸特点给香蕉的采摘带来很大的难度，目前以人工采摘作业为主的方式需耗费巨大的人力成本。提出一种香蕉果柄夹持和切割复合执行机构，该复合执行机构主要由夹持与摆切机构、电动链锯、摆头基座和液压系统所组成。夹持与摆切机构和履带行走的驱动动力均来自于安装在履带车底部的液压动力系统。针对香蕉果柄模拟直径为90~120 mm的夹持力学性能实验结果表明：香蕉果柄夹持与切割复合执行机构可以稳定夹持60 kg的负载质量，负载越重需要的最小夹持力就越大，对应的减压阀调节压力也越大，在同一负载下香蕉果柄直径变大需要的夹持力也会增大。将香蕉果柄夹持与切割复合执行机构安装于适配的农业机器人末端，可一次性完成香蕉果柄的夹持、切割和整串香蕉的吊放作业。
The high-level and large-size characteristics of bananas bring great difficulty to picking.At present,the manual picking operation mainly needs to consume huge labor cost.A compound actuator for stalk clamping and cutting was presented.The compound actuator was mainly composed of clamping and swing cutting mechanism,electric chain saw,swing head base and hydraulic system.The driving power of clamping and swing cutting mechanism and crawler walking came from the hydraulic power system installed at the bottom of crawler truck.According to the clamping mechanical properties of banana stalk with a simulated diameter of 90~120 mm,the experiment results show that the banana stalk clamping and cutting composite actuator can be used to stably clamp the load weight of 60 kg.The heavier the load is,the greater the minimum clamping force requires,and the greater the regulating pressure of the corresponding pressure reducing valve is.Under the same load,the clamping force required for the larger diameter of banana stalk will also increase.The banana stalk clamping and cutting composite actuator is installed at the end of the adapted agricultural robot,then the clamping and cutting of the banana stalk and the hoisting of the whole string of bananas can be completed at one time.
OU Juji, ZHANG Rihong, HU Hongnan, HUANG Xinbin, ZHONG Jianming, HUANG Jiajun. Design and Experiment of Compound Actuator for Banana Stalk Clamping and Cutting[J]. Machine Tool & Hydraulics,2022,50(24):45-48