Aiming at the problems of manual cutting of the handle of the crown pears after picking that requires the high labor intensity for bag removal,a handle-breaking and bag-removing integrated machine was designed,and its handle-breaking device was optimized.Matlab software was used to calculate the bag removal movement of the bag removal robot Trajectory.In order to optimize the structural parameters of the device,a three-factor Box-Behnken test was designed.The design-Expert software was used to analyze the variance of the test results,and a regression model of significant parameters was established to obtain the optimal structure of the crown pear broken handle and bag removal device Parameters.The cutting gap was 0.89 mm.the"V"-shaped positioning opening angle of the positioning plate was 36.5°,and the feed per tooth was 7.8 r/min.With this combination,the broken handle rate was 90.15%,and the average width of the paper bag tear was 50.63 mm.The research results can provide a theoretical basis for the design and improvement of the device for removing the broken handle of the crown pear.
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