Plant leaf tensile force measuring device and measuring method

Abstract

Plant leaf tensile force measuring device and measuring method, relate to measuring device technical field, including main body frame, main body frame is equipped with split charging device, infrared scanning cutting device, tensile force measuring device and sample induction device, the present application solves the problem of the equipment and method about plant leaf tensile force measurement in traditional technology when tensile force measurement is carried out to the quality requirement of leaf itself is very high, causes artificial measurement error, cutting device can cutting width is limited, leading to leaf strip in the determination process breaks in advance, or measurement error is larger, and when cutting, artificial pressing makes the stress of leaf uneven, leading to the internal damage of leaf strip, edge breakage, further cause the problem of larger error when subsequent tensile force measurement is carried out.

Description

Technical Field

[0001] This invention relates to the field of measuring device technology, specifically to a device and method for measuring the tensile strength of plant leaves. Background Technology

[0002] The determination of leaf tensile strength is of significant reference value for assessing the oil content and elasticity of a plant's leaves. Elasticity refers to the leaf's resistance to breakage under slight external force; sufficient oil content results in strong elasticity, while low oil content leads to weak elasticity. Currently, research on leaf tensile strength in plant leaves is limited to studies on leaf breakage performance, and the field itself is still incomplete. Furthermore, the determination process for leaf tensile strength has not been integrated with the leaf pretreatment stage.

[0003] As existing devices and methods are used, their shortcomings have gradually become apparent, mainly in the following aspects:

[0004] First, current equipment for measuring the tensile strength of plant leaves requires high-quality leaves for measurement, and manual placement can lead to human error.

[0005] Secondly, the cutting width of plant leaf cutting devices on the market is limited, which cannot accurately meet the test requirements when measuring leaf strips of different specifications. The specification error may lead to premature breakage of leaf strips, sample loss, or large measurement error in different experiments.

[0006] Third, in the pretreatment stage of leaf tensile strength testing, the existing cutting devices on the market have fixed specifications and are not easy to clean or maintain, which makes them unable to be operated systematically in different experiments, making the experimental process cumbersome and complicated.

[0007] Fourth, during the cutting process, manual pressing causes uneven stress on the blades, resulting in internal damage and edge breakage, which in turn leads to significant errors in subsequent tensile strength measurements.

[0008] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention solves the problems of traditional equipment and methods for measuring the tensile strength of plant leaves, which require high quality of the leaves themselves, leading to human error in measurement; the limited cutting width of the cutting device, causing premature breakage of the leaf strips during the measurement process or large measurement errors; and the uneven force on the leaves caused by human pressure during cutting, resulting in internal damage and edge breakage, which in turn leads to large errors in subsequent tensile strength measurements.

[0010] To address the above problems, the present invention provides the following technical solution:

[0011] A plant leaf tensile strength measuring device includes a main frame, which is equipped with a sample dispensing and injection device, an infrared scanning and cutting device, a tensile strength measuring device, and a sample collection device.

[0012] The infrared scanning and cutting device includes an infrared scanning platform and a cutting platform arranged side by side, and a waste sample collection channel is provided between the infrared scanning platform and the cutting platform.

[0013] As an optimized solution, the sample dispensing and injection device includes a sample placement plate, a sample clamping block inside the sample placement plate, a slidable tower along the length of one side of the sample placement plate, and a clamping hook that is raised and lowered on the slidable tower.

[0014] As an optimized solution, a sample conveyor belt is rotatably provided on one side of the placement plate, and the conveying end of the sample conveyor belt is provided with an inclined ramp extending downward.

[0015] As an optimized solution, several partition plates are fixedly connected in parallel along the longitudinal direction inside the placement plate, and the placement plate is divided into several sample placement areas by the partition plates, and each sample placement area is provided with a sample clamping block.

[0016] As an optimized solution, a sample fixing groove is provided at the center of the upper end of the sample clamping block.

[0017] As an optimized solution, a scanner is mounted on the upper part of the infrared scanning platform and slides horizontally.

[0018] As an optimized solution, a scanning bracket is slidably mounted on the infrared scanning platform along its horizontal direction, and the scanner is fixed on the scanning bracket.

[0019] As an optimized solution, the infrared scanning platform includes a sample scanning plate, and a backlight plate is fixed to the upper surface of the sample scanning plate.

[0020] As an optimized solution, the cutting platform is also provided with a sample fixing rod, and sample flattening rods that slide longitudinally are respectively provided on both sides of the sample fixing rod, and a probe is provided at the end of the sample fixing rod.

[0021] As an optimized solution, a moving block is provided horizontally above the cutting platform, and the moving block is provided with a cutting component and a gripping component.

[0022] As an optimized solution, the cutting assembly includes two adjustable-spaced cutting blades, which are mounted on a rotating body via a frame, and the rotating body is fixed to the lower end of the moving block.

[0023] As an optimized solution, the gripping assembly includes a gripping hook hydraulic rod fixed to the frame, and the drive end of the gripping hook hydraulic rod is connected to a gripping hook.

[0024] As an optimized solution, an infrared detection camera is also fixedly installed in the area of ​​the cutting platform above the cutting component.

[0025] As an optimized solution, the infrared detection camera is fixed to the cutting platform by an infrared detection rod.

[0026] As an optimized solution, the waste sample collection channel includes an inclined waste sample slide plate, and a waste sample outlet is provided on the side wall of the main frame, which is connected to the lower end of the waste sample slide plate. A waste sample collector is provided at the waste sample outlet.

[0027] As an optimized solution, the end of the cutting platform is provided with a leaf width matching guide mechanism.

[0028] As an optimized solution, the blade width matching guide mechanism includes two adjustable adjustment plates with adjustable spacing. Narrow plates are respectively fixedly attached downwards to the opposite inner walls of the two adjustment plates. The end of the cutting platform is also fixedly attached to a base plate located below the two narrow plates.

[0029] As an optimized solution, a hydraulic rod is horizontally fixed to the end of the cutting platform corresponding to each of the adjustment plates, and the adjustment plate is fixed to the telescopic end of the hydraulic rod.

[0030] As an optimized solution, the cutting platform is also equipped with a waste sample push rod that slides longitudinally.

[0031] As an optimized solution, the tension measuring device includes a sliding rail connected to a robotic arm, a fixed clamping hook fixedly connected to the sliding rail, and a movable clamping hook slidably arranged on the sliding rail parallel to the fixed clamping hook.

[0032] As an optimized solution, a light-emitting plate is horizontally fixed below the sliding track, a strip-shaped blade placement plate is provided on the light-emitting plate, and a high-sensitivity camera is fixed above the strip-shaped blade placement plate.

[0033] As an optimized solution, the high-sensitivity camera is supported and fixed by a high-sensitivity camera support rod.

[0034] As an optimized solution, a force sensor is provided on the fixing hook.

[0035] As an optimized solution, the sample collection device includes a conveyor belt that rotates laterally, on which several strip-shaped leaf-shaped dispensing boxes are placed side by side, and the main frame is also provided with a magnetic suction frame for removing the strip-shaped leaf-shaped dispensing boxes.

[0036] As an optimized solution, magnetic blocks are fixed to the upper ends of the strip-shaped leaf dispensing box near the four corners, and electromagnets are provided at the lower ends of the magnetic frame near the four corners.

[0037] As an optimized solution, a magnetic frame moving block sliding track is provided on the main frame in the horizontal direction, a magnetic frame moving block is provided on the magnetic frame moving block sliding track in the vertical direction, a magnetic frame telescopic rod is vertically fixed on the magnetic frame moving block, and the telescopic end of the magnetic frame telescopic rod is connected to the magnetic frame.

[0038] As an optimized solution, a sample stage is also provided longitudinally on one side of the main frame to support the strip-shaped leaf dispensing box after removal.

[0039] This invention also discloses a method for determining the tensile strength of plant leaves, comprising the following steps:

[0040] S1: Manual selection of plant leaves;

[0041] S2: The number of the selected plant leaves;

[0042] S3: Scanning and screening of plant leaves;

[0043] S4: Cutting plant leaves;

[0044] S5: Tensile strength determination of plant leaves;

[0045] S6: Sampling of plant leaves.

[0046] As an optimized approach, the manual selection of plant leaves includes determining the number of plant leaves to be selected based on their characteristics and condition, and then bundling them.

[0047] As an optimized approach, the bundling and numbering of the screened plant leaves involves placing the already bundled samples with the stems facing upwards into the sample placement area, awaiting secondary screening.

[0048] As an optimized approach, the scanning and screening of plant leaves includes scanning them with a scanner to observe whether they meet the cutting requirements. If there is obvious damage or breakage, they do not meet the cutting requirements and are picked up by a hook and placed into a waste sample slide plate. If the leaves are intact and have no damage or significant damage, they meet the cutting requirements and are picked up by a hook and placed into the cutting platform.

[0049] As an optimized solution, the cutting of plant leaves includes flattening the plant leaves, determining the cutting position using an infrared detection camera, and then grabbing the cut leaves with a hook and placing them into a tensile strength measuring device.

[0050] As an optimized approach, the tensile strength measurement of the plant leaf includes holding one end of the plant leaf with a fixed hook, holding the other end with a movable hook and stretching it, and recording the elongation and tensile strength.

[0051] As an optimized approach, the sample collection of plant leaves involves placing the tested plant leaves into a strip-shaped leaf placement box, and then transferring them to the sample stage using a magnetic frame, which facilitates subsequent sample and data verification and processing.

[0052] Compared with the prior art, the beneficial effects of the present invention are:

[0053] Compared with other devices on the market, this device is fully automated. The program is manually set and the device operates automatically, which greatly saves manpower and material resources. In addition, the fully automated device can avoid human error caused by different operators.

[0054] This device, through the connection of the pylon, hook and sliding rail, as well as the connection of the power supply and control lines, can make the sample injection process more stable and precise, and can also accurately control the amount of automatic sample injection;

[0055] This device features a benchtop scanner with a large scanning area at the interface with the sample introduction area, combining the advantages of precision and stability of benchtop scanning with a large scanning area.

[0056] This device is equipped with an infrared scanning and vision imaging camera in the cutting area, which enables precise control of the cuttable area during the cutting process and avoids subsequent data measurement errors caused by cutting non-leaf parts.

[0057] This device has a cutting blade rotating block installed on the upper part of the cutting blade, which allows the cutting blade to move with the rotating block and adjust the blade direction. This design greatly simplifies the device and avoids blade collision caused by cutting blades installed in different directions, making the cutting of the blades easier.

[0058] This device can clean the work surface of waste samples, keep the work surface clean, and avoid human error in data measurement caused by mixing of different samples.

[0059] After the cutting is completed, this device can directly grab the blade with the hook and enter the next module, which facilitates the subsequent tensile data measurement process.

[0060] This device can precisely control the width of the blades entering the tensile strength measurement module by adjusting the spacing adjustment plate with a hydraulic rod, making the experimental data more rigorous, with smaller errors, and higher data reliability;

[0061] This device uses a multi-joint robotic arm to grip, stretch, inspect, and measure the tensile strength of the cut leaf strips, making it more functional and easier to operate.

[0062] This device is equipped with a sample dispensing and storage area, so that after the tensile strength measurement is completed, the sample is left for later use to avoid the need to use the corresponding sample to match the data in the future, making the whole experiment more rigorous and reliable.

[0063] This device is connected to the fully automated main structure via an intelligent control panel. The power supply and control circuits inside the fully automated main structure are connected to each component, enabling each component to operate normally and facilitating the subsequent measurement, input, and processing of tensile data. Attached Figure Description

[0064] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0065] Figure 1 This is a schematic diagram of the structure of the present invention;

[0066] Figure 2 This is a schematic diagram of the tensile strength measuring device of the present invention;

[0067] Figure 3 This is a schematic diagram of the cutting blade of the present invention.

[0068] In the diagram: 1-Main frame; 2-Placement plate; 3-Hanging tower; 4-Clamping hook; 5-Sample clamping block; 6-Sample fixing groove; 7-Sample conveyor belt; 8-Inclined plate; 9-Scanner; 10-Infrared scanning platform; 11-Cutting platform; 12-Waste sample drop plate; 13-Waste sample collector; 14-Sample fixing rod; 15-Sample flattening rod; 16-Probe; 17-Adjusting plate; 18-Narrow plate; 19-Base plate; 20-Hydraulic rod; 21-Sliding track; 22-Conveyor belt; 23-Strip blade dispensing. Box; 24-Magnetic frame; 25-Electromagnet; 26-Magnetic frame moving block sliding track; 27-Magnetic frame moving block; 28-Magnetic frame telescopic rod; 29-Sample stage; 30-Magnetic block; 31-High-sensitivity camera; 32-High-sensitivity camera support rod; 33-Robotic arm; 34-Fixed clamp; 35-Moving clamp; 36-Light-emitting plate; 37-Strip blade placement plate; 38-Moving block; 39-Rotating body; 40-Cutter; 41-Hydraulic rod of gripper hook; 42-Gripper hook; 43-Infrared detection camera. Detailed Implementation

[0069] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0070] like Figures 1 to 3 As shown, the plant leaf tensile strength measuring device includes a main frame 1, which is equipped with a sample dispensing and injection device, an infrared scanning and cutting device, a tensile strength measuring device, and a sample collection device.

[0071] The infrared scanning and cutting device includes an infrared scanning platform 10 and a cutting platform 11 arranged side by side, and a waste sample collection channel is provided between the infrared scanning platform 10 and the cutting platform 11.

[0072] The sample dispensing device includes a sample placement plate 2, a sample clamping block 5 inside the sample placement plate 2, a slidable tower 3 on one side of the sample placement plate 2 along its length, and a clamping hook 4 that is raised and lowered on the slidable tower 3.

[0073] A sample conveyor belt 7 is rotatably provided on one side of the placement plate 2, and an inclined ramp 8 extending downwards is provided at the conveying end of the sample conveyor belt 7.

[0074] Several partition plates are fixedly connected in parallel along the longitudinal direction inside the placement plate 2, and the placement plate 2 is divided into several sample placement areas through the partition plates. Each sample placement area is provided with a sample clamping block 5.

[0075] A sample fixing groove 6 is provided at the center of the upper end of the sample clamping block 5.

[0076] A scanner 9 is mounted horizontally above the infrared scanning platform 10.

[0077] The infrared scanning platform 10 has a scanning bracket that slides horizontally along its upper edge, and the scanner 9 is fixed on the scanning bracket.

[0078] The infrared scanning platform 10 includes a sample scanning plate, and a backlight plate is fixed to the upper surface of the sample scanning plate.

[0079] The cutting platform 11 is also provided with a sample fixing rod 14, and sample flattening rods 15 are provided on both sides of the sample fixing rod 14, which are slidably arranged in the longitudinal direction. A probe 16 is provided at the end of the sample fixing rod 14.

[0080] A moving block 38 is provided above the cutting platform 11 and slides horizontally. The moving block 38 is equipped with a cutting component and a gripping component.

[0081] The cutting assembly includes two adjustable-spaced cutting blades 40, which are mounted on a rotating body 39 via a frame. The rotating body 39 is fixed to the lower end of a movable block 38.

[0082] The gripping assembly includes a gripping hook hydraulic rod 41 fixed to the frame, and a gripping hook 42 is connected to the drive end of the gripping hook hydraulic rod 41.

[0083] An infrared detection camera 43 is also fixedly installed in the area above the cutting components on the cutting platform 11.

[0084] The infrared detection camera 43 is fixed to the cutting platform 11 by an infrared detection rod.

[0085] The waste sample collection channel includes an inclined waste sample slide plate 12. The side wall of the main frame 1 is provided with a waste sample outlet that is connected to the lower end of the waste sample slide plate 12. A waste sample collector 13 is provided at the waste sample outlet.

[0086] The cutting platform 11 is equipped with a blade width matching guide mechanism at its end.

[0087] The blade width matching guide mechanism includes two adjustable plates 17 with adjustable spacing. Narrow plates 18 are fixedly attached downwards to the opposite inner walls of the two plates 17. The end of the cutting platform 11 is also fixedly attached to a base plate 19 located below the two narrow plates 18, so that the cut blade can slide into the next area along this gap.

[0088] At the end of the cutting platform 11, a hydraulic rod 20 is horizontally fixed to each adjusting plate 17, and the adjusting plate 17 is fixed to the telescopic end of the hydraulic rod 20.

[0089] The cutting platform 11 is also equipped with a waste sample push rod that slides longitudinally.

[0090] The tensile strength measuring device includes a sliding rail 21, which is connected to the robotic arm 33. A fixed hook 34 is fixedly connected to the sliding rail 21, and a movable hook 35 is slidably arranged on the sliding rail 21 in parallel with the fixed hook 34.

[0091] Below the sliding track 21, a light-emitting plate 36 is horizontally fixed, and a strip-shaped blade placement plate 37 is provided on the light-emitting plate 36. A high-sensitivity camera 31 is also fixed above the strip-shaped blade placement plate 37.

[0092] The high-sensitivity camera 31 is supported and fixed by the high-sensitivity camera support rod 32.

[0093] A force sensor is provided on the fixed hook 34.

[0094] The sample collection device includes a conveyor belt 22 that rotates laterally, on which several strip-shaped leaf-shaped dispensing boxes 23 are placed side by side. The main frame 1 is also provided with a magnetic frame 24 for removing the strip-shaped leaf-shaped dispensing boxes 23.

[0095] A magnetic block 30 is fixed to the upper end of the strip-shaped leaf packaging box 23 near the four corners, and an electromagnet 25 is provided at the lower end of the magnetic frame 24 near the four corners.

[0096] A magnetic frame moving block sliding track 26 is provided on the main frame 1 along the horizontal direction. A magnetic frame moving block 27 is provided on the magnetic frame moving block sliding track 26 along the vertical direction. A magnetic frame telescopic rod 28 is vertically fixed on the magnetic frame moving block 27. The telescopic end of the magnetic frame telescopic rod 28 is connected to the magnetic frame 24.

[0097] One side of the main frame 1 is also provided with a sample stage 29 along the longitudinal direction to support the strip-shaped leaf dispensing box 23 after it is removed.

[0098] This invention also discloses a method for determining the tensile strength of plant leaves, comprising the following steps:

[0099] S1: Manual selection of plant leaves;

[0100] S2: The number of the selected plant leaves;

[0101] S3: Scanning and screening of plant leaves;

[0102] S4: Cutting plant leaves;

[0103] S5: Tensile strength determination of plant leaves;

[0104] S6: Sampling of plant leaves.

[0105] Manual selection of plant leaves involves determining the number of leaves to be selected based on their characteristics and condition, and then bundling them.

[0106] The selected plant leaves are bundled and numbered, and the bundled samples are placed in the sample placement area with the stems facing upwards, awaiting secondary screening.

[0107] The scanning and screening of plant leaves includes scanning them with scanner 9 to observe whether they meet the cutting requirements. If there is obvious damage or breakage, they do not meet the cutting requirements and are picked up by hook 42 and placed into the waste sample slide plate 12. If the leaves are intact and have no damage or no significant damage, they meet the cutting requirements and are picked up by hook 42 and placed into the cutting platform 11.

[0108] The process of cutting plant leaves involves flattening the plant leaves, determining the cutting position using an infrared detection camera 43, and then grabbing them with a hook 42 and placing them into a tensile strength measuring device.

[0109] The tensile strength of plant leaves is measured by holding one end of the plant leaf with a fixed hook 34, holding the other end with a movable hook 35 and stretching it, and recording the elongation and tensile strength.

[0110] The sample collection of plant leaves involves placing the tested plant leaves into a strip leaf placement box, and then transferring them to the sample stage 29 by the magnetic frame 24, which facilitates the subsequent verification and processing of samples and data.

[0111] This device is connected to the fully automated main structure via an intelligent control console. The power supply and control circuits inside the fully automated main structure are connected to each component, enabling each component to operate normally. This also facilitates the subsequent measurement, input, and processing of tensile data. The circuits and program controls mentioned above are common in daily life and are not innovative features of this solution, so they will not be elaborated on here.

[0112] The sliding structure involved in this invention can be driven by a ball screw. Since the specific structure is not an innovation of this solution, it will not be described in detail here.

[0113] The working principle of this device is as follows:

[0114] Infrared scanning visual imaging is a non-destructive imaging technique. Unlike infrared photography, it utilizes infrared light in the 900-1700 nanometer range to penetrate deep into the surface of the object under study, imaging the underlying layers to obtain original information and textural details about these objects. Infrared reflectance scanning imaging allows researchers to detect subtle changes in damage, filling, and modification of samples, making it a widely used infrared reflectance imaging technique.

[0115] This invention also utilizes the principles of Time-of-Flight (TOF) technology. TOF is essentially a depth information measurement scheme, primarily composed of an infrared light projector and a receiving module. The projector projects infrared light outward; the infrared light is reflected upon encountering the object being measured and received by the receiving module. By recording the time from emission to reception of the infrared light, the depth information of the illuminated object is calculated, and a 3D model is completed. TOF has been widely applied in various industrial fields such as surveying, logistics, and autonomous driving, and the solution is mature; however, its application in the consumer electronics field is still relatively rare. It differs from more common 3D structured light in that its performance is slightly better. In terms of recognition accuracy, Time-of-Flight (TOF) is lower, while 3D structured light is moderate. Regarding recognition distance, TOF is moderate, ranging from 1 to 10 meters, while 3D structured light has a shorter range. In terms of resolution, TOF is lower, while 3D structured light is higher. In terms of edge sharpness, TOF is higher, while 3D structured light is lower. Regarding adaptability to ambient light, TOF is good, while 3D structured light performs well in low light but poorly in high light. In terms of response time, TOF is faster, while 3D structured light is slower. In terms of power consumption, TOF is lower, while 3D structured light is moderate. In terms of manufacturing processes, TOF has moderate complexity and low cost, while 3D structured light is more complex and expensive.

[0116] The device of this invention uses the principle of infrared scanning vision to scan the sample plant leaves placed on the sample cutting plate, and displays the scanned image on the intelligent control panel, showing the complete veins and leaf condition of the sample plant leaves. By dividing the position coordinates of the infrared scanning area in advance, the part to be cut is determined, and the cutting coordinate position is transmitted to the intelligent control panel, which then transmits it to the internal control system of the cutting blade moving block to control the cutting blade to perform the cutting.

[0117] The principle of light transmission: Light possesses both wave and particle properties, a phenomenon known in physics as wave-particle duality. Explaining the interaction between light and an object using the particle nature of light makes the interaction more vivid. A beam of light can be viewed as a group of tiny balls traveling at extremely high speeds in a certain direction; these are called photons. When photons encounter an object, typically some photons are reflected back (reflection); the remaining photons overcome the surface barrier and enter the object's interior. Some of these photons continue forward, exiting through another surface (transmission); others are entangled by particles within the object until they are absorbed (absorption). The main forms of interaction between light and objects are reflection, transmission, and absorption, as described above.

[0118] This part of the device utilizes the principle of light transmission. By directly illuminating the sample plant leaf with strong light, the shadows of the leaf's edge structure and internal tissue structure are projected into the high-sensitivity camera and transmitted to the intelligent control system. The system automatically processes and identifies the captured image to determine whether the sample leaf meets the experimental requirements. Alternatively, when the internal tissue structure of the sample plant leaf is fully revealed under strong light, the high-sensitivity camera directly captures the image and transmits it to the intelligent control system. The system automatically processes the image separately to determine whether the sample meets the experimental requirements.

[0119] The robotic arm is a multi-joint robotic arm. Its principle is as follows: A robotic arm joint is a transmission method used for near-integral manipulation of the robotic body and is also the core component of the robotic arm. A robotic arm has multiple joints, and each joint can only perform one type of movement: movement along an axis or rotation in a specific direction. The overall structure, load capacity, and sensing capabilities of the robotic arm joints directly affect the overall working level of the robotic arm. Robotic arm joints refer to the joints that operate the robotic body; they belong to the robotic arm itself and can have two to seven movable joints. Currently, most commercially available robotic arms have eight movable joints; however, in actual production, robotic arms with six movable joints are typically used.

[0120] The working principle of robotic arms is very similar to that of human arms. Human arms move through a combination of joints, bones, and muscles, enabling actions such as following brain commands and conditioned reflexes. Robotic arms, under PLC program control, receive commands from the control system. Through the coordination of drive mechanisms (such as hydraulic, pneumatic, and electrical systems) and various transmission mechanisms (such as cylinders, cam mechanisms, rack and pinion mechanisms, and screw mechanisms), the robotic arm achieves various complex movements such as lifting, extending, and rotating its joints. For example, a Cartesian coordinate robotic arm only has the degree of freedom to move linearly along three Cartesian coordinates. That is, its joints can only perform extension, lifting, and translation. The motion design of a Cartesian coordinate robotic arm can be a straight line, a rectangle, or a rectangular plane. Its layout is relatively simple, its movement is intuitive, and it is easy to achieve certain precision requirements, but it occupies a large space and has a relatively small working range. Another example is a cylindrical coordinate robotic arm. This type of robotic arm has horizontal rotational motion in its arm, meaning that its joints can not only extend and lift but also rotate horizontally. The motion design of a cylindrical coordinate robotic arm can be a circular arc, a cylindrical surface, or a hollow cylinder. Compared to a Cartesian coordinate robotic arm, it occupies less space but has a larger working range. A multi-joint robotic arm consists of an upper arm and a forearm. The connection between the upper arm and forearm forms the elbow joint, the connection between the upper arm and the column forms the shoulder joint, and the connection between the wrist and forearm forms the wrist joint. Not only does the upper arm have horizontal rotation and pitch movements, but the forearm also has a pitch movement relative to the upper arm. Its movements are quite flexible, with low inertia, and it can avoid obstacles to continue working.

[0121] The tensile strength measurement module of this invention utilizes a cylindrical coordinate type robotic arm. Multiple arms are connected by a knob on the robotic arm, and the rotation and movement commands of each part of the robotic arm are completed through the sliding rail on the robotic arm, ultimately completing the measurement of the tensile strength index.

[0122] Hydraulic rod principle: A hydraulic rod is an elastic element that uses gas and liquid as working media. It consists of a pressure pipe, piston, piston rod, and several connecting parts. It is filled with high-pressure nitrogen. Due to a through-hole inside the piston, the gas pressure at both ends of the piston is equal, but the cross-sectional areas on both sides of the piston are different. One end is connected to the piston rod, while the other end is not. Under the action of gas pressure, a pressure is generated towards the side with the smaller cross-sectional area, which is the elastic force of the support rod. The magnitude of the elastic force can be set by setting different nitrogen pressures or piston rods of different diameters. Hydraulic rods are used for several reasons: various components of hydraulic transmission can be conveniently and flexibly arranged according to needs; they are lightweight, small in size, have low inertia, and fast response speed; they are easy to operate and control, and can achieve stepless speed regulation over a wide range; they can automatically achieve overload protection; they generally use mineral oil as the working medium, which allows for self-lubrication of the moving surfaces, resulting in a long service life; they easily achieve linear motion; and they easily automate machines. When electro-hydraulic combined control is used, not only can a higher degree of automatic control be achieved, but remote control can also be realized. Hydraulic principles, within certain mechanical and electronic systems, rely on the static pressure of a liquid medium to accumulate, transfer, and amplify energy, thereby achieving the lightweight, scientific, and maximized functionality of mechanical functions. Hydraulic principles can be used to construct both hydraulic transmission systems and hydraulic control systems.

[0123] The device of this invention utilizes hydraulic principles to control the rotation, movement, extension, and retraction of the grab hook; when adjusting the spacing of the spacing adjustment plate, the hydraulic rods on both sides are compressed or extended in one direction simultaneously under the action of gas pressure, thereby completing the spacing adjustment command.

[0124] Pretreatment methods and procedures for plant leaves before sample introduction:

[0125] Taking cigar tobacco leaves as an example: First, select the cigar tobacco leaves. Randomly select five to seven leaves with clear tip outlines and intact leaves from the test leaves to be tested. During the selection process, the leaves need to be processed and screened for the first time. If the leaves are too dry and fragile to unfold properly, they need to be slightly soaked in water. The degree of soaking depends on the dryness of the leaves. After the leaves can be fully unfolded, the cigar tobacco leaves should be flattened so that the leaves are evenly stressed. Do not use too much force, otherwise it is easy to cause the edges of the cigar tobacco leaves to break and be damaged.

[0126] The selected cigar tobacco leaves were grouped and labeled, then placed in a equilibration chamber and equilibrated for 48 hours at 22°C and 75% humidity until the sample leaves could be fully unfolded. Each variety of sample leaves was then bundled and placed with the stem facing upwards in the sample fixing slot, thus completing the selection, placement, and fixing of the samples.

[0127] Determination methods and procedures in the sample dispensing and injection area:

[0128] After pretreatment, the cigar tobacco leaves are placed with the stems facing upwards in the sample fixing slots on the sample placement plate. Multiple batches of samples are placed side by side according to the same pretreatment method. After placement, the intelligent control console sends a command, and the crane moves back and forth along the sliding track. The crane has a clamping hook at the bottom, which is used to clamp the stems of the cigar tobacco leaves in the sample, ensuring that only one leaf from each group of samples is clamped at a time. The sample is then slowly placed on the sample conveyor belt, which moves the sample up the slope. After the sample cutting area is finished, the command is transmitted again through the intelligent control console to the dispensing and loading area, and the sample clamping work is repeated.

[0129] Measurement methods and procedures for the infrared scanning cutting module:

[0130] The sample slides from the ramp to the top of the backlight plate. The cutter sliding track support rod moves to the left along the cutter sliding track support rod sliding rail. The hook picks up the sample cigar leaf, adjusts its position, and places it in the center of the backlight plate. The scanner moves back and forth along the scanner sliding track to scan the sample cigar tobacco leaf from all directions. The scanned image is transmitted to the intelligent control panel. Based on the integrity of the sample cigar tobacco leaf in the image and whether the "leaf tip" and "leaf base" are prominent, the system automatically identifies whether the sample cigar tobacco leaf meets the cutting requirements. If it meets the requirements, the hook on the cutter sliding track support rod picks it up and places it on the top of the sample cutting board. If it does not meet the requirements, the hook on the cutter sliding track support rod supports it and places it into the waste sample collector.

[0131] After the second identification of the sample cigar tobacco leaves, the qualified sample is placed in the center of the upper part of the sample cutting board with the stem facing upwards. The sample fixing rod begins to extend until the probe at the top of the sample fixing rod touches the stem and stops. The probe then begins to extend, entering from the stem of the sample cigar tobacco leaf and extending from the "leaf base" to the "leaf tip". The sample cigar tobacco leaf is then fixed. The sample flattening rod begins to move along the sliding track of the sample flattening rod. Depending on the position of the sample at this moment, it is pressed on the left and right sides and moves to the left and right sides along the sliding track of the sample flattening rod until the leaf part of the sample cigar tobacco leaf is completely flattened without wrinkles, which means that the flattening is complete.

[0132] After the sample cigar tobacco leaf is fully unfolded, it undergoes infrared detection scanning. The infrared camera at the top of the infrared detection rod is fixed at a certain height and remains stationary. Coordinates are established, and scanning begins, starting with the leaf tip and proceeding to the leaf base. During this process, the sample cigar tobacco leaf must be completely flattened; otherwise, image errors will occur during the infrared camera scan. Once the infrared camera has completed scanning, the image is transmitted to the intelligent control panel system. The scanned image displays the main vein, lateral veins, and the curling of certain parts of the leaf. Based on the optimal cutting area shown in the image, the coordinates of the cuttable area are determined, and a command is immediately issued, which is transmitted to the cutting blade sliding track support. Within the internal control system of the rod, commands are transmitted to the cutting blade moving block. The cutting blade sliding rail support rod moves along the sliding rail to move the cutting blade to the horizontal axis of the cuttable area. The cutting blade moving block then moves along the vertical axis of the cutting blade sliding rail, placing the cutting blade above the cuttable area. The cutting blade cuts in one direction, and the cutting blade rotating block rotates the cutting direction, cutting again to complete the cut. After cutting, the hook height is adjusted by the hydraulic rod according to the distance between the hook and the cut sample blade. Once the height is appropriate, the cut blade is gripped, and the cutting blade sliding rail support rod places the blade into the entrance of the two adjustable-spacing narrow plates. Based on the width cut by the cutting blade, the hydraulic rod is adjusted so that the spacing adjustment plate moves with the extension and retraction of the hydraulic rod, making the distance between the two adjustable-spacing narrow plates the same as the width of the cut sample blade. The cut blade then enters the tensile strength measurement module through this point.

[0133] Measurement methods and procedures for the tensile strength testing module:

[0134] After the cut blade strip enters the two adjustable-spacing narrow plates, it slides down the track. At this time, both the fixed and movable clamps are in the released state. After the lower end of the blade strip passes the fixed clamp, the movable clamp moves to the upper part to clamp the lower end of the blade strip and slowly moves downward. When the upper end of the blade strip passes the fixed clamp, the fixed clamp clamps. At this time, the robotic arm knob starts to turn, driving the movable clamp sliding track to rotate until the movable clamp is parallel to the bottom light-emitting plate. That is, the clamped sample blade strip is parallel to the bottom light-emitting plate, and the light-emitting plate starts to work. According to the actual situation, the lower robotic arm knob slides up and down to control the height of the blade strip from the light-emitting plate. Turn on the high-sensitivity camera at the top of the high-sensitivity camera support rod, aim it at the sample blade, and after being illuminated by the light-emitting plate, the image projected by the sample blade is transmitted to the intelligent control panel through the high-sensitivity camera. The intelligent control panel automatically analyzes and identifies the internal structure and edge integrity of the sample blade in the image for screening and classification. If it does not meet the requirements for tensile strength testing, the sample blade is transported to the waste sample collector. If it meets the requirements for tensile strength testing, the next step is carried out.

[0135] Sample blades that do not meet the tensile strength test requirements are moved by the robotic arm to the waste sample collector behind the robotic arm. Sample blades that meet the requirements await the start of the tensile strength test program. Before the moving clamp begins to move downward, the intelligent control panel automatically records the position of the moving clamp as the initial point. The moving clamp begins to move downward slowly until the sample blade begins to break, at which point it stops. The difference between the moving clamp position and the initial position is the blade elongation. The tension displayed by the sensor inside the fixed clamp at this time is the tensile strength of the sample blade. If, during the stretching process, the sample blade breaks close to the fixed clamp or the moving clamp, the tensile strength test data is invalidated, and the sample blade is placed into the waste sample collector. For the remaining blades that are tested normally for tensile strength, the robotic arm moves the sample blades for tensile strength testing to the upper part of the strip blade dispensing box by rotating and moving commands, and releases the fixed clamp and the moving clamp. The sample strip blades then enter the sample collection area.

[0136] Methods and procedures for determining the sample summarization area:

[0137] The sample strip blades are moved into the strip blade packaging box. After all the strip blades for tensile strength testing of this type of sample are placed in the box, the magnetic frame support rod begins to move along the sliding track of the magnetic frame support rod. The magnetic frame extension rod adjusts the height of the magnetic frame, and the magnetic frame moving block adjusts the lateral position of the magnetic frame. This completes the instruction to move the magnetic frame to the top of the strip blade packaging box. The electromagnets embedded in the four corners of the magnetic frame and the magnetic blocks embedded in the four corners of the strip blade packaging box attract and connect with each other, thus completing the magnetic frame transfer of the strip blade packaging box to the top of the sample stage for sample preservation. After the transfer of each set of samples is completed, the rollers inside the conveyor belt will roll, driving the conveyor belt forward a certain distance, so that the subsequent strip blade packaging box takes over the position of the previous strip blade packaging box and continues the sample transfer.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A device for measuring the tensile strength of plant leaves, characterized in that: It includes a main frame (1), which is equipped with a sample dispensing and injection device, an infrared scanning and cutting device, a tensile strength measuring device, and a sample collection device; The infrared scanning and cutting device includes an infrared scanning platform (10) and a cutting platform (11) arranged side by side, and a waste sample collection channel is provided between the infrared scanning platform (10) and the cutting platform (11); A movable block (38) is provided horizontally above the cutting platform (11). The movable block (38) is provided with a cutting component and a gripping component. The cutting assembly includes two adjustable-spaced cutting blades (40), which are mounted on a rotating body (39) via a frame. The rotating body (39) is fixed to the lower end of the moving block (38). The gripping assembly includes a gripping hook hydraulic rod (41) fixed to the frame, and a gripping hook (42) is connected to the drive end of the gripping hook hydraulic rod (41). An infrared detection camera (43) is also fixedly installed in the area above the cutting component on the cutting platform (11). The cutting platform (11) is provided with a leaf width matching guide mechanism at its end. The blade width matching guide mechanism includes two adjustable plates (17) with adjustable spacing. Narrow plates (18) are fixedly attached to the inner walls of the two plates (17) respectively. The end of the cutting platform (11) is also fixedly attached to a base plate (19) located below the two narrow plates (18). The tensile strength measuring device includes a sliding rail (21), which is connected to the robotic arm (33). A fixed hook (34) is fixedly connected to the sliding rail (21), and a movable hook (35) is slidably provided on the sliding rail (21) and arranged in parallel with the fixed hook (34). A light-emitting plate (36) is horizontally fixed below the sliding track (21), and a strip-shaped blade placement plate (37) is provided on the light-emitting plate (36). A high-sensitivity camera (31) is fixed above the strip-shaped blade placement plate (37).

2. The plant leaf tensile strength measuring device according to claim 1, characterized in that: The sample dispensing device includes a sample placement plate (2), a sample clamping block (5) is provided inside the sample placement plate (2), a slidable tower (3) is provided on one side of the sample placement plate (2) along its length, and a clamping hook (4) is provided on the slidable tower (3). The sample conveyor belt (7) is rotatably provided on one side of the placement plate (2), and the conveying end of the sample conveyor belt (7) is provided with an inclined ramp (8) extending downward.

3. The plant leaf tensile strength measuring device according to claim 1, characterized in that: A scanner (9) is mounted on the upper part of the infrared scanning platform (10) and slides horizontally. The infrared scanning platform (10) includes a sample scanning plate, and a backlight plate is fixed to the upper surface of the sample scanning plate.

4. The plant leaf tensile strength measuring device according to claim 1, characterized in that: The cutting platform (11) is also provided with a sample fixing rod (14), and sample flattening rods (15) are provided on both sides of the sample fixing rod (14) and are slidably arranged in the longitudinal direction. A probe (16) is provided at the end of the sample fixing rod (14).

5. The plant leaf tensile strength measuring device according to claim 1, characterized in that: The waste sample collection channel includes an inclined waste sample slide plate (12), and a waste sample outlet is provided on the side wall of the main frame (1) that is connected to the lower end of the waste sample slide plate (12). A waste sample collector (13) is provided at the waste sample outlet.

6. The plant leaf tensile strength measuring device according to claim 1, characterized in that: The sample collection device includes a conveyor belt (22) arranged to rotate laterally, on which several strip-shaped leaf packaging boxes (23) are placed side by side, and the main frame (1) is also provided with a magnetic frame (24) for taking out the strip-shaped leaf packaging boxes (23). The strip-shaped leaf packaging box (23) has magnetic blocks (30) fixed to the upper end near the four corners, and the magnetic frame (24) has electromagnets (25) at the lower end near the four corners.

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