Test platform for picking end execution mechanism

Abstract

The invention provides a test platform of a picking end execution mechanism, and relates to the technical field of shearing force measurement, the test platform comprises a motor, a transmission mechanism, a fixing plate, a force transmission stop block and a force measurement sensor, the input end of the transmission mechanism is connected with an output shaft of the motor, and a blade is fixed at the output end of the transmission mechanism; an opening is formed in the fixing plate, and a fixing mechanism used for fixing fruit stems is arranged at the opening of the fixing plate. The force transmission stop block is fixed to one side of the fixing plate, a containing groove capable of containing the blade is formed in the force transmission stop block, and the containing groove is right opposite to the opening and the blade. The force measurement sensor is connected with the force transmission stop block and is used for measuring the stress when the fruit stem is cut off by the blade; according to the invention, the fruit stem is arranged at the opening of the fixed plate, and the force transmission stop block with the accommodating groove is arranged behind the fixed plate, so that the shearing force of the blade to the fruit stem can act on the force measurement sensor, the shearing force in the process of cutting off the fruit stem by the blade is measured, and the measurement of the limit shearing force is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of shear force measurement, and in particular to a testing platform for a picking end actuator. Background Art

[0002] At present, when people pick ripe fruits, they usually pick them manually, which can easily cause branches to be torn off, affecting the growth of fruit trees and the future fruit yield. On the other hand, it is easy to tear the fruit stems off the fruits, making it impossible to store and preserve the fruits for a long time. In order to facilitate fruit picking, the inventors are aware of a technology that has a picking end actuator that can drive a cutter to cut off the fruit stems through a motor.

[0003] When designing the end-effector of the harvesting machine, the shear force of the fruit stem must be measured in order to select the motor type. However, the ultimate shear force (hereinafter referred to as the ultimate shear force) is not easy to measure directly through a force sensor, so it is necessary to design a mechanism to achieve the measurement of the ultimate shear force. Summary of the invention

[0004] The purpose of the present invention is to provide a testing platform for a picking end actuator to solve the problems existing in the prior art. By arranging the fruit stalk at the opening of a fixed plate and arranging a force transmission stopper with a accommodating groove behind the fixed plate, the shear force of the blade on the fruit stalk can be applied to a force sensor, thereby realizing the measurement of the shear force in the process of the blade cutting off the fruit stalk, and the measurement of the limit shear force is more accurate.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A testing platform for a picking end actuator comprises a motor, a transmission mechanism, a fixed plate, a force transmission block and a force sensor, wherein the input end of the transmission mechanism is connected to the output shaft of the motor, and the output end of the transmission mechanism is fixed with a blade for cutting off fruit stems; an opening is provided on the fixed plate, and the opening is located on the cutting path of the blade, and a fixing mechanism for fixing the fruit stems is provided at the opening on the fixed plate; the force transmission block is fixed to one side of the fixed plate, and a receiving groove capable of receiving the blade is provided on the force transmission block, and the receiving groove is directly opposite to the opening and the blade; the force sensor is connected to the force transmission block, and is used for measuring the force applied to the fruit stems during the process of being cut by the blade.

[0007] As one embodiment, the transmission mechanism includes a gear and a rack, the gear is coaxially fixed with the output shaft of the motor; the rack is slidably arranged and meshes with the gear; the blade is fixed at the end of the rack.

[0008] As an embodiment, it further includes a rack fixing frame, and the rack is slidably arranged on the rack fixing frame.

[0009] As an implementation manner, the rack fixing frame is provided with a guide hole, and both ends of the rack are slidably arranged in the guide hole.

[0010] As an implementation manner, both ends of the rack are square structures, the guide hole is square in shape, and the square structure is slidably disposed in the guide hole.

[0011] As an embodiment, the fixing mechanism includes a spring clip for clamping the end of the fruit stem, and the spring clip is relatively arranged at two ends of the opening.

[0012] As an embodiment, it also includes a sensor fixing bracket for fixing the force sensor.

[0013] As an implementation manner, the motor is connected to a power source via a control switch.

[0014] Compared with the prior art, the present invention has the following technical effects:

[0015] The present invention arranges the fruit stem at the opening of the fixing plate and arranges a force transmission stopper with a receiving groove behind the fixing plate, so that the shear force of the blade on the fruit stem can be applied to the force sensor, thereby measuring the shear force in the process of the blade cutting the fruit stem and obtaining the limit shear force; and after the blade cuts off the fruit stem, it will enter the receiving groove, so as to prevent the blade from continuing to apply pressure to the force sensor, and the measurement of the limit shear force is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a structural schematic diagram of a testing platform for a picking end actuator in one embodiment of the present invention;

[0018] Figure 2 for Figure 1 A top view of

[0019] Figure 3 It is a structural schematic diagram of a picking end actuator;

[0020] Figure 4 It is the blade shear force-time curve diagram;

[0021] Description of reference numerals:

[0022] 1. Motor; 2. Fixed plate; 3. Force transmission block; 4. Force sensor; 5. Blade; 6. Opening; 7. Receiving slot; 8. Gear; 9. Rack; 10. Rack fixing bracket; 11. Sensor fixing bracket; 12. Coupling; 13. Drive motor; 14. Pinion; 15. Big gear; 16. Rotating cover plate; 17. Cutter. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The purpose of the present invention is to provide a testing platform for a picking end actuator to solve the problems existing in the prior art. By arranging the fruit stalk at the opening of a fixed plate and arranging a force transmission stopper with a accommodating groove behind the fixed plate, the shear force of the blade on the fruit stalk can be applied to a force sensor, thereby realizing the measurement of the shear force in the process of the blade cutting off the fruit stalk, and the measurement of the limit shear force is more accurate.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 , Figure 2 As shown, a test platform for a picking end actuator includes a motor 1, a transmission mechanism, a fixed plate 2, a force transmission block 3 and a force sensor 4. The input end of the transmission mechanism is connected to the output shaft of the motor 1, and the output end of the transmission mechanism is fixed with a blade 5 for cutting off the fruit stem; an opening 6 is provided on the fixed plate 2, and the opening 6 is located on the cutting path of the blade 5. A fixing mechanism for fixing the fruit stem is provided at the opening 6 on the fixed plate 2. When fixing the fruit stem, the fruit stem should be straightened as much as possible to avoid excessive bending and deformation during the cutting process of the blade 5, which affects the measurement of the ultimate shear force. The force transmission block 3 is fixed on one side of the fixed plate 2, and a receiving groove 7 capable of accommodating the blade 5 is provided on the force transmission block 3, and the receiving groove 7 is directly opposite to the opening 6 and the blade 5; the force sensor 4 is connected to the force transmission block 3, and is used to measure the force applied to the fruit stem during the cutting process of the blade 5.

[0027] During operation, the motor 1 is energized to drive the blade 5 toward the opening 6 through the transmission mechanism, and cuts off the fruit stems set at the opening 6. During the cutting process, the blade 5 generates pressure on the fruit stems, and this pressure acts on the force transmission block 3 through the fixed plate 2, and acts on the force sensor 4 through the force transmission block 3. The force sensor 4 measures the pressure value, which is equivalent to the shear force value of the blade 5 on the fruit stem. After the blade 5 cuts off the fruit stem, the blade 5 enters the receiving groove 7, and the pressure value measured by the force sensor 4 becomes 0, so a curve relationship diagram of the pressure value and time is made based on the pressure value measured by the force sensor 4, as shown in FIG. Figure 4 As shown, the ultimate shear force value can be obtained.

[0028] Therefore, this embodiment sets the fruit stem at the opening 6 of the fixed plate 2 and sets a force transmission stopper 3 with a receiving groove 7 behind the fixed plate 2. It is possible to make the shear force of the blade 5 on the fruit stem act on the force sensor 4, thereby realizing the measurement of the shear force in the process of the blade 5 cutting the fruit stem and obtaining the limit shear force. Moreover, after cutting off the fruit stem, the blade 5 will enter the receiving groove 7, so as to prevent the blade 5 from continuing to apply pressure to the force sensor 4, and the measurement of the limit shear force is more accurate.

[0029] In this embodiment, the fixing plate 2 is vertically arranged, the blade 5 performs cutting horizontally, and the force transmission direction between the blade 5 and the force sensor 4 is horizontal.

[0030] The transmission forms in the picking end actuator may be various, for example, the structure of the picking end actuator is as follows: Figure 3As shown, it includes a driving motor 13, a pinion 14, a large gear 15, a rotating cover plate 16 and a cutter 17. The output end of the driving motor 13 is fixedly connected to the pinion 14, and the large gear 15 is driven to rotate through the pinion 14. The large gear 15 is fixedly connected to the rotating cover plate 16. The rotating cover plate 16 and the cutter 17 form a mechanical iris structure (the mechanical iris structure is an existing structure, and those skilled in the art are familiar with its structure and movement principle. This embodiment does not repeat its structure and movement principle). The rotating cover plate 16 can drive the five cutters 17 to move during the rotation process to open or close the cutting port. When the cutting port is opened, the fruit can be placed inside the actuator. When the cutting port is closed, the cutter 17 cooperates to cut off the fruit stem. The transmission form of the transmission mechanism in this embodiment should be as similar or similar as possible to the structural form of the transmission chain in the picking end actuator, except that one cutter 17 is selected from the five cutters 17 for testing. In order to reduce the complexity of the structure, the transmission mechanism in this embodiment includes a gear 8 and a rack 9. The gear 8 is coaxially fixed with the output shaft of the motor 1 through a coupling 12. The rack 9 is slidably arranged and meshes with the gear 8. The blade 5 is fixed at the end of the rack 9. The transmission ratio of the gear 8-rack 9 in this embodiment is the same as the transmission ratio of the small gear 14-large gear 15 in the simulated picking end actuator. The gear 8 in this embodiment has the same rotational inertia as the small gear 14 in the simulated picking end actuator, and the inertia of the rack 9 is similar to the inertia of the large gear 15.

[0031] As an implementation mode, the present embodiment further includes a rack fixing frame 10, and the rack 9 is slidably arranged on the rack fixing frame 10. A guide hole is arranged on the rack fixing frame 10, and the two ends of the rack 9 are slidably arranged in the guide hole. The two ends of the rack 9 are square structures, and the guide hole is square in shape. The square structure is slidably arranged in the guide hole to prevent the rack 9 from shaking during the movement, thereby ensuring the accuracy of the measurement structure.

[0032] As an embodiment, the fixing mechanism includes a spring clip for clamping the end of the fruit stem, and the spring clip is arranged at two ends of the opening 6 opposite to each other.

[0033] As an implementation manner, this embodiment further includes a sensor fixing bracket 11 for fixing the force sensor 4 .

[0034] As one embodiment, the motor 1 is connected to a power source via a control switch.

[0035] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0036] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A testing platform for a picking end actuator, characterized in that: include: Motor; A transmission mechanism, wherein an input end of the transmission mechanism is connected to an output shaft of the motor, and a blade for cutting off fruit stems is fixed to an output end of the transmission mechanism; A fixing plate, wherein an opening is provided on the fixing plate, the opening is located on the cutting path of the blade, and a fixing mechanism for fixing the fruit stem is provided at the opening on the fixing plate; A force transmission stopper, the force transmission stopper is fixed on one side of the fixed plate, the force transmission stopper is provided with a receiving groove capable of receiving the blade, and the receiving groove is directly opposite to the opening and the blade; And a force sensor, which is connected to the force transmission block and is used to measure the force applied to the fruit stem during the process of being cut by the blade.

2. The testing platform for the picking end actuator according to claim 1, characterized in that: The transmission mechanism comprises a gear and a rack, wherein the gear is coaxially fixed with the output shaft of the motor; the rack is slidably arranged and meshes with the gear; and the blade is fixed at the end of the rack.

3. The testing platform for the picking end actuator according to claim 2, characterized in that: It also includes a rack fixing frame, on which the rack is slidably arranged.

4. The testing platform for the picking end actuator according to claim 3, characterized in that: The rack fixing frame is provided with a guide hole, and the two ends of the rack are slidably arranged in the guide holes.

5. The testing platform for the picking end actuator according to claim 4, characterized in that: Both ends of the rack are square structures, the guide hole is square in shape, and the square structure is slidably arranged in the guide hole.

6. The testing platform for the picking end actuator according to claim 1, characterized in that: The fixing mechanism comprises a spring clip for clamping the end of the fruit stem, and the spring clip is arranged oppositely at two ends of the opening.

7. The testing platform for the picking end actuator according to claim 1, characterized in that: Also included is a sensor fixing bracket for fixing the force sensor.

8. The testing platform for the picking end actuator according to claim 1, characterized in that: The motor is connected to a power source via a control switch.

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