Camellia oleifera fruit stem separating force measuring device

Abstract

The invention discloses an oil-tea camellia fruit stem separating force measuring device, and relates to the technical field of oil-tea camellia fruit picking equipment research and development, the oil-tea camellia fruit stem separating force measuring device comprises a fruit cylinder, a chuck and a pushing mechanism, the fruit cylinder is used for storing oil-tea camellia fruits needing to be measured and is provided with a crack for a fruit stem to extend out, and the pushing mechanism is located on one side of the fruit cylinder and is connected with the chuck; a clamping head is arranged on the base, the clamping head faces the crack and is used for clamping a fruit stem, a fixing mechanism used for clamping camellia oleifera fruits is arranged in an inner cavity of the fruit barrel, self-adaptive adjustment can be achieved according to the sizes of different camellia oleifera fruits, and a first visual unit and an adjusting mechanism for adjusting the orientation of the fruit stem according to feedback of the first visual unit are arranged on the surface of the base. And the tension sensor for measuring the separating force is connected between the pushing mechanism and the chuck. The oil tea fruit separating force measuring device has the effect of conveniently measuring the oil tea fruit separating force.

Description

Technical Field

[0001] The present application relates to the technical field of research and development of oil-tea camellia fruit picking equipment, and in particular to a device for measuring the separation force of oil-tea camellia fruit stalks. Background Art

[0002] Camellia oleifera is a woody oil plant unique to my country. Its fruit can be used to extract tea oil and has a high utilization value. However, due to the different separation forces between camellia oleifera fruits of different sizes and their stalks, it is difficult to fully realize mechanized picking. Currently, it is mainly picked by hand.

[0003] In recent years, with the rapid increase in labor costs and the shortage of labor, the research on mechanized picking technology and equipment has attracted much attention. Research on the mechanical properties of separation of Camellia oleifera fruit and stalk is of great significance for the development and promotion of mechanized picking.

[0004] When studying the separation mechanics properties, tools are needed to assist in testing, such as: Patent number ZL201720460122.8 is a mechanical testing device suitable for small berries. It proposes a mechanical testing device for small berries to measure the torque between the berry and the stalk, but it is not suitable for measuring the tension between the fruit and the stalk with a large volume difference.

[0005] Patent number ZL201520747361.2 is a small fruit stalk separation force test platform, which proposes a small fruit stalk separation test platform to measure the separation force of fruits of different volumes, but each measurement requires adjusting the clamping hole diameter, and the measurement process is relatively complicated.

[0006] The above-mentioned existing tools can be used in the mechanical property test of separating Camellia oleifera fruit and stalk, but their convenience and applicability are relatively poor. Therefore, this application proposes a new technical solution. Summary of the Invention

[0007] In order to facilitate the measurement of the separation force of the oil-tea camellia fruit stalk, the present application provides a device for measuring the separation force of the oil-tea camellia fruit stalk.

[0008] This application provides a device for measuring the separation force of a camellia oleifera fruit stalk, which adopts the following technical solution: A device for measuring the separation force of a camellia oleifera stalk, comprising: The fruit cylinder has a sliding platform for receiving the oil-tea fruit in an axially sliding manner, and a crack is opened on the side wall for the oil-tea fruit stem to extend out; A clamping head is located on the side of the fruit barrel, facing the crack and used to clamp the oil-tea camellia fruit stem; a pushing mechanism connected to the chuck and used to push the chuck toward the rip or pull the chuck away from the rip; a controller electrically connected to the pushing mechanism; Among them, a fixing mechanism for clamping and adapting to oil-tea fruits of different sizes is provided on the inner wall of the fruit barrel, a bottom plate is provided at the bottom of the fruit barrel, a receiving groove is provided on the bottom plate, and an adjustment mechanism for adjusting the direction and horizontal position of the crack is provided in the receiving groove, an upward-facing visual unit 1 is fixed to the bottom plate, and the moving path of the chuck and the fruit stalk are present in the field of view of the visual unit 1, a tension sensor for detecting the separation force of the fruit stalk is connected between the pushing mechanism and the chuck, and the adjustment mechanism, the tension sensor and the visual unit 1 are electrically connected to the controller respectively. The controller is configured as follows: If a start signal is received after the oil-tea camellia fruit is clamped, a visual image 1 fed back by a visual unit 1 is obtained; Identify the fruit stem in the first visual image, analyze the angle between the fruit stem and the moving path of the chuck, and control the adjustment mechanism to adjust the direction of the fruit stem according to the analysis result; If the orientation of the fruit stem meets the preset fruit stem clamping condition, the pushing mechanism is controlled to push the clamp toward the fruit stem; If a measurement signal is received after the clamping is completed, the pushing mechanism is controlled to reset and the detection value fed back by the tension sensor is recorded.

[0009] Optionally, the fixing mechanism includes an abutting spring for clamping the oil-tea camellia fruit, a curved block fixed to the abutting spring, and an abutting block for pushing the curved block to move. A connecting ring is rotatably sleeved on the outer wall of the fruit cylinder, and an opening is provided on the inner side of the connecting ring. A plurality of abutment blocks are provided and are respectively fixed on the inner wall of the connecting ring, and the abutment blocks are provided in an arc-shaped protrusion toward the axis of the connecting ring. The outer wall of the fruit can is provided with a plurality of through grooves along its circumference, connecting the connecting ring with the inner cavity of the fruit can. The curved block and the abutment spring are both provided with a plurality of them, and the curved block is slidably connected in the through grooves. The abutment spring is fixed on one side of the curved block facing the inner cavity of the fruit can, and the other side of the curved block is provided with an arc-shaped protrusion. An extension piece is fixed on the inner wall of the through groove, and a limit spring for limiting the sliding of the curved block is fixed on the side of the extension piece facing away from the inner cavity of the fruit barrel, so that the arc-shaped convex surface of the curved block abuts against the inner wall of the connecting ring. The connecting ring is provided with a guide groove for the fruit handle to pass through along the longitudinal direction, and the fruit barrel is connected to a linkage component for driving the connecting ring to rotate and for locking the connecting ring.

[0010] Optionally, the linkage assembly includes a sleeve ring, a pressure rod and a guide block that are linked to the rotating connection ring. There are two sleeves, which are rotatably connected to the inner wall of the fruit cylinder and sleeved on the slide. A connecting rod is fixed on the outer wall of the sleeve and connected to the connecting ring. A connecting strip is obliquely arranged between the two sleeves, and a guide rail is opened along the length direction of the connecting strip. The guide block is fixedly connected to the outer wall of the slide and extends into the guide rail. The interior of the slide is hollow and opens downward. A fixed column is fixed to the bottom of the inner cavity of the fruit barrel. The slide is slidably sleeved on the fixed column. A telescopic spring is fixed in the inner cavity of the slide and abuts against the fixed column. The pressure rod is fixed to the outer wall of the slide, and the fruit barrel is provided with a sliding groove along the longitudinal direction for the pressure rod to extend. A locking bar is rotatably connected to the outer wall of the fruit cylinder, and when the pressure rod slides to the lower end of the slide groove, the lower end of the locking bar is pressed against the upper end of the pressure rod, and the upper end of the slide is provided with an adjustment component for adjusting the longitudinal inclination of the fruit handle.

[0011] Optionally, the adjustment mechanism includes a support box for supporting the fruit barrel, a driving motor for adjusting the direction of the crack, and a telescopic unit for adjusting the lateral position of the fruit barrel. The support box is slidably connected to the receiving groove, the drive motor 1 is fixedly connected to the inner cavity of the support box, and the output shaft of the drive motor 1 extends vertically upward from the inner cavity of the support box and is fixedly connected to the fruit barrel; There are at least four telescopic units, which are respectively arranged on the inner wall of the accommodating groove. The telescopic rod of the telescopic unit is perpendicular to the inner wall of the accommodating groove and abuts against the side wall of the support box. The lower end of the support box is provided with a lifting component for longitudinally adjusting the support box.

[0012] Optionally, the pushing mechanism includes a slider for pushing the chuck, a second driving motor for driving the slider to slide, and a guide platform for guiding the sliding of the slider. The guide platform is arranged on one side of the chuck and extends toward the chuck, and its interior is hollow and the opening is upward. The second drive motor is fixed on the side wall of the guide platform, and its output shaft is passed through the guide platform along the length direction of the guide platform. The output shaft of the second driving motor is fixedly connected to a threaded rod, and the other end of the threaded rod is rotatably connected to the inner wall of the guide platform. The slider is threadedly sleeved on the threaded rod, and the side wall of the slider is in contact with the inner wall of the guide platform. The tension sensor is fixed on the side wall of the slider facing the clamping head, and the tension end of the tension sensor is connected to the clamping head.

[0013] Optionally, the chuck includes a clamping member for clamping the fruit stem, a sliding ring for controlling the clamping and releasing of the clamping member, and a connecting column for connection. The connecting column is slidably connected to the opening of the guide platform and is connected to the tension sensor, and a threaded structure is provided on the side wall of the connecting column. The side of the connecting column facing away from the tension sensor is rotatably connected to a rotating shaft. The clamping members are provided in plurality, and the clamping members include a first rotating rod and a second rotating rod, one end of the first rotating rod is rotatably connected to the rotating shaft, and the other end is rotatably connected to the second rotating rod, and the end of the second rotating rod is tightly pressed against the fruit handle; The sliding ring is threadedly sleeved on the connecting column, and multiple traction rods are rotatably connected to the side wall of the sliding ring. The traction rods are passed through the rotating rod one and are rotatably connected to the end of the rotating rod two, so that when the traction rods move, the rotating rod two is driven to retract or expand. A pin is provided at one end of the connecting column close to the slider, and a pin hole for the pin to pass through is opened through the side wall of the sliding ring.

[0014] Optionally, the adjustment component includes a support base for supporting the oil-tea camellia fruit, an air bag for adjusting the height of both sides of the oil-tea camellia fruit, and a compression unit for controlling the contraction or expansion of the air bag; Wherein, the support seat is fixed to the upper surface of the slide, and the upper surface of the support seat is arranged in an arc-shaped concave; The airbags are provided with two and are respectively located in the arc-shaped concave surface of the support seat, and the two airbags are distributed front and back toward the opening of the crack; The compression unit is fixedly connected to the upper surface of the bottom plate and is connected to a four-way reversing valve, the input port of the four-way reversing valve is connected to the compression unit, and the output port of the four-way reversing valve is respectively connected to the two air bags and the air; A second visual unit for detecting the longitudinal inclination of the fruit stem is provided on the inner wall of the fruit barrel, and the orientation of the second visual unit is arranged transversely and perpendicularly to the moving path of the chuck. The second visual unit and the compression unit are electrically connected to a controller respectively, and the controller is configured as follows: Obtaining video data fed back by the second visual unit and processing it to obtain a second visual image; The tilt angle of the fruit stalk is calculated based on the second visual image; The compression unit is controlled to adjust the two air bags respectively according to the tilt angle until the fruit stalk is close to horizontal.

[0015] Optionally, the lifting assembly includes a telescopic unit 2 for lifting the support box and a support plate supporting the telescopic unit 2. The bottom of the accommodating groove is provided with an embedding groove, and the opening radius of the embedding groove is larger than the radius of the support plate. The support plate is slidably connected in the embedding groove. The telescopic unit 2 is fixed to the upper surface of the support plate, and the telescopic rod of the telescopic unit 2 is vertically arranged upward and fixedly connected to the lower surface of the support box.

[0016] To sum up, the present application includes the following beneficial technical effects: the oil tea fruit that needs to be measured for separation force is placed in the fruit barrel and fixed by a fixing mechanism, and there is no need to manually adjust the fruit barrel. After the fruit stalk of the oil tea fruit extends out of the fruit barrel through the crack, the position is automatically adjusted based on the visual analysis results, and the separation force is measured in conjunction with the chuck. The measurement process has a high degree of automation and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 is a structural diagram of the fixing mechanism of an embodiment of the present application; Figure 3 It is a structural diagram of the linkage component of an embodiment of the present application; Figure 4 is a structural diagram of the adjustment mechanism of an embodiment of the present application; Figure 5 is a schematic structural diagram of a chuck according to an embodiment of the present application; Figure 6 It is a structural diagram of a fruit cone according to an embodiment of the present application.

[0018] Explanation of reference numerals: 1. fruit barrel; 11. slide; 12. crack; 13. bottom plate; 14. receiving groove; 15. visual unit 1; 2. chuck; 21. clamping member; 211. rotating rod 1; 212. rotating rod 2; 22. sliding ring; 23. connecting column; 24. rotating shaft; 25. traction rod; 3. pushing mechanism; 31. slider; 32. driving motor 2; 33. guide platform; 34. threaded rod; 4. fixing mechanism; 41. abutting spring; 42. curved block; 43. abutting block; 44. connecting ring; 45. through groove ;46. Extension piece;47. Limit spring;5. Adjustment mechanism;51. Support box;52. Drive motor one;53. Telescopic unit one;54. Lifting assembly;541. Telescopic unit two;542. Support plate;543. Embedded groove;6. Tension sensor;7. Linkage assembly;71. Ring;72. Pressure rod;73. Guide block;74. Connecting rod;75. Connecting strip;76. Fixed column;77. Telescopic spring;78. Locking strip;8. Adjustment assembly;81. Support seat;82. Airbag;83. Visual unit two. DETAILED DESCRIPTION

[0019] The following is combined with Figure 1-Figure 5 This application is described in further detail.

[0020] The embodiment of the present application discloses a device for measuring the separation force of a camellia oleifera stalk.

[0021] Reference Figure 1 The device for measuring the separation force of tea fruit stalks includes a fruit barrel 1 for placing tea fruit that needs to have its stalk separation force measured, a chuck 2 for clamping the fruit stalk, and a pushing mechanism 3 for moving the chuck 2, wherein the upper end of the fruit barrel 1 is open, and a slide 11 for receiving the tea fruit is axially slidably connected inside the barrel, and a crack 12 is penetrated on the side wall of the fruit barrel 1 for the tea fruit stalk to extend out, so that the chuck 2 can clamp the fruit stalk.

[0022] A fixing mechanism 4 is provided on the inner wall of the fruit cylinder 1 for fixing the oil-tea camellia fruit when measuring the separation force. The fixing mechanism 4 can be adaptively adjusted to be suitable for fixing oil-tea camellia fruits of different sizes.

[0023] The chuck 2 is located on the side of the fruit can 1 and is arranged toward the crack 12. The pushing mechanism 3 is connected to the chuck 2. The chuck 2 is pushed toward the crack 12 or pulled away from the crack 12 through the pushing mechanism 3. A tension sensor 6 for measuring the separation force is provided between the pushing mechanism 3 and the chuck 2. The tension sensor 6 measures the magnitude of the separation force of the fruit handle when the chuck 2 is pulled away from the crack 12 through the pushing mechanism 3.

[0024] Taking into account that the stalk of the tea fruit is not in the center of the crack 12 during the storage on the slide 11 (that is, the stalk is offset toward both sides of the crack 12), the chuck 2 will generate an oblique pulling force toward the stalk when measuring the separation force of the stalk, which will cause the measurement result to deviate. A bottom plate 13 is provided under the fruit barrel 1, and the bottom plate 13 is provided with a receiving groove 14, and an adjustment mechanism 5 for adjusting the direction and horizontal position of the crack 12 is provided in the receiving groove 14.

[0025] A groove is also provided on the base plate 13, and an upward-facing visual unit 15 is embedded and fixed in the groove by bolts, and the moving path of the chuck 2 and the fruit stalk are present in the shooting field of the visual unit 15, so as to facilitate observation of the relative position between the fruit stalk and the chuck 2 (the visual unit 15 in the embodiment of the present application can be a small camera).

[0026] The device is also provided with a controller, and the adjustment mechanism 5, the tension sensor 6, the visual unit 15 and the pushing mechanism 3 are electrically connected to the controller respectively. Among them, the controller configuration is: S11, if a start signal is received after the oil-tea camellia fruit is clamped, a visual image 1 fed back by a visual unit 15 is obtained; It can be understood that the fixing mechanism 4 for clamping the oil-tea camellia fruit is manually controlled by the measurement personnel. The above-mentioned start signal can be the electrical signal fed back after the measurement personnel completes the clamping of the oil-tea camellia fruit and presses the start button preset on the surface of the bottom plate 13 (it should be noted that the start button needs to be electrically connected to the controller); the visual unit 15 remains in the turned-on state. When it is necessary to observe the position of the fruit stalk through the visual unit 15, the video data of the visual unit 15 is frame-processed to obtain a visual image 1, which is used for analysis to facilitate the control of the adjustment mechanism 5, which will be explained in detail later.

[0027] S12, identifying the fruit stem in the first visual image, analyzing the angle between the fruit stem and the moving path of the chuck 2, and controlling the adjustment mechanism 5 to adjust the direction of the fruit stem according to the analysis result; It can be understood that the moving path of the chuck 2 refers to the path that the chuck 2 moves toward the fruit barrel 1 when the pushing mechanism 3 pushes the chuck 2. When the fruit stem is not on the moving path of the chuck 2, an oblique pulling force will be applied to the fruit stem when measuring the separation force of the fruit stem, thereby causing a deviation in the measurement result and resulting in inaccurate measurement results; the direction of the fruit stem is adjusted by controlling the adjustment mechanism 5, including but not limited to the inclination direction of the fruit stem relative to the crack 12.

[0028] Image recognition of features such as the fruit stalk and fruit is an existing technology and will not be described in detail. As for analyzing the angle, an example is given: Identify the connection point between the fruit stalk and the fruit as point A, then take at least one point from the fruit stalk as point B, connect point A and point B to obtain line L, and measure the angle between line L and the line corresponding to the moving path of the clamp 2 pre-planned in the image. The angle between the two lines can be measured by importing pre-loaded software with this function, such as a simple version of CAD; or it can be calculated using image measurement size + trigonometric function; after calculating the angle, rotate the fruit according to the angle, and adjust the horizontal position if there is a difference in the horizontal position after the fruit stalk is facing correctly. The details will be explained later.

[0029] S13, if the orientation of the fruit stem meets the preset fruit stem clamping condition, for example, the line L and the line corresponding to the moving path coincide with each other or the angle between them is less than 3°, then the pushing mechanism 3 is controlled to push the clamping head 2 toward the fruit stem; S14, if the measurement signal fed back by the clamping head 2 is received, the pushing mechanism 3 is controlled to reset and the detection value fed back by the tension sensor 6 is recorded; It can be understood that the feedback measurement signal can be an electrical signal fed back after the measurement personnel operates the chuck 2 to clamp the fruit stem and presses the measurement button preset on the bottom plate 13 (it should be noted that the measurement button needs to be electrically connected to the controller); the pushing mechanism 3 is used to push the chuck 2 toward the fruit barrel 1. When it is reset, it drives the chuck 2 to pull the fruit stem toward one side of the pushing mechanism 3, so that the tension sensor 6 measures the separation force when the fruit stem is pulled to separate. When the fruit stem is separated, the detection value of the tension sensor 6 will drop significantly. The critical value before the decline is recorded is the magnitude of the fruit stem separation force.

[0030] Through the above-mentioned arrangement, the oil-tea fruit that needs to be measured for separation force is placed in the fruit barrel 1 and fixed by the fixing mechanism 4. There is no need to manually adjust the fruit barrel 1. After the stalk of the oil-tea fruit extends from the fruit barrel 1 through the crack 12, the position is automatically adjusted based on the visual analysis results. The separation force is measured in conjunction with the chuck 2. The measurement process has a high degree of automation and strong adaptability.

[0031] Reference Figure 1 and Figure 2In another embodiment of the present application, the fixing mechanism 4 for adaptively fixing tea fruits of different sizes includes an abutment spring 41 for clamping the tea fruit, a curved block 42 fixed to the abutment spring 41, and an abutment block 43 for pushing the curved block 42 to move.

[0032] An annular groove is provided on the outer wall of the fruit cylinder 1, and a connecting ring 44 is rotatably sleeved in the annular groove. An opening is provided on the inner side of the connecting ring 44, and a plurality of abutment blocks 43 are provided and evenly arranged on the inner wall of the connecting ring 44 by bolts.

[0033] The outer wall of the fruit can 1 is provided with multiple through slots 45 along its circumference, connecting the inner cavity of the connecting ring 44 with the inner cavity of the fruit can 1. The through slots 45 extend radially along the fruit can 1. Multiple curved pieces 42 and abutment springs 41 are provided. The curved pieces 42 slide along the opening of the through slots 45 and are connected thereto. The abutment springs 41 are fixed to the side of the curved pieces 42 facing the inner cavity of the fruit can 1.

[0034] An extension piece 46 is fixed to the inner wall of the through groove 45 near the inner cavity of the fruit barrel 1 by bolts, and a limiting spring 47 is arranged between the extension piece 46 and the curved block 42. The two ends of the limiting spring 47 are respectively fixed to the curved block 42 and the extension piece 46. The elastic force of the limiting spring 47 pushes the end of the curved block 42 into the inner cavity of the connecting ring 44 and abuts against the inner wall of the connecting ring 44, so that the abutting spring 41 moves into the through groove 45, so that the oil tea fruit can be placed in the inner cavity of the fruit barrel 1 for fixing.

[0035] Reference Figure 2 The end of the curved block 42 extending into the connecting ring 44 and the end of the abutment block 43 facing the inner cavity of the fruit barrel 1 are both arranged in an arc-shaped protrusion. When the connecting ring 44 is rotated, the arc surface of the abutment block 43 moves toward the arc surface of the curved block 42. The curved block 42 is abutted by the abutment block 43, causing the limit spring 47 to gradually shrink and move toward the inner cavity of the fruit barrel 1, so that the abutment spring 41 can move toward the center of the inner cavity of the fruit barrel 1 and press against the oil tea fruit, so as to achieve self-adaptation for fixing oil tea fruits of different sizes, and facilitate the measurement of the separation force of oil tea fruit stalks of different sizes (it should be noted that in order to improve the abutment effect of the abutment spring 41, an abutment piece can be fixed at the end of the abutment spring 41 to increase the contact area when fixing the oil tea fruit, and the connecting ring 44 is provided with a guide groove for the fruit stalk to pass through along the longitudinal direction to facilitate the movement of the fruit stalk).

[0036] Reference Figure 2 and Figure 3 In the process of sending the oil-tea fruit into the inner cavity of the fruit barrel 1 through the slide 11, in order to facilitate the abutment spring 41 to fix the oil-tea fruit, a linkage component 7 is provided in the fruit barrel 1 to cooperate with the slide 11 to drive the connecting ring 44 to rotate and lock.

[0037] The linkage assembly 7 includes a ring 71 that rotates in conjunction with the connecting ring 44, a pressure rod 72, and a guide block 73. Two rings 71 are provided, and are respectively rotatably connected to the inner wall of the fruit barrel 1. The two rings 71 are both sleeved on the slide 11, and the two rings 71 are linked by a connecting strip 75 that is obliquely connected.

[0038] A guide rail is provided through the connecting strip 75 along its length. The guide block 73 is welded to the outer wall of the slide 11 and extends into the guide rail. When the slide 11 is raised or lowered in the fruit barrel 1, the guide block 73 will move in the guide rail and be restricted by the guide rail, thereby driving the ring 71 to rotate (by fixing the connecting rod 74 on the ring 71 with bolts to connect it to the connecting ring 44 sleeved on the fruit barrel 1), so as to realize that the abutment spring 41 automatically presses the tea fruit tightly when the tea fruit is sent into the inner cavity of the fruit barrel 1.

[0039] Reference Figure 3 In order to facilitate the positioning of the slide 11 in the fruit can 1, the interior of the slide 11 is hollow and opened downward. A fixing column 76 is fixed to the bottom of the inner cavity of the fruit can 1 by bolts. The slide 11 is slidably sleeved on the fixing column 76, and a telescopic spring 77 is fixed in the inner cavity of the slide 11. The telescopic spring 77 abuts against the fixing column 76 and pushes the upper end of the slide 11 out of the inner cavity of the fruit can 1 through elastic force, so that the measuring personnel can place the oil tea fruit.

[0040] The pressing rod 72 is fixed horizontally to the outer wall of the slide 11 by bolts, and the fruit can 1 is provided with a sliding groove for the pressing rod 72 to extend along the longitudinal direction. A locking bar 78 is hinged on the outer wall of the fruit can 1, and when the pressing rod 72 is pressed, the pressing rod 72 drives the slide 11 toward the inner cavity of the fruit can 1 to move until the pressing rod 72 is located below the locking bar 78. By rotating the locking bar 78, the lower surface of the locking bar 78 abuts against the upper surface of the pressing rod 72 to achieve the positioning of the slide 11. In the process of the slide 11 moving downward, the connecting ring 44 is driven to rotate by the guide block 73, so that the abutment spring 4 1 is inserted into the inner cavity of the fruit cylinder 1 to fix the oil-tea fruit (it should be noted that at this time, the pressure rod 72 is limited by the locking bar 78 and cannot move upward, so that the guide block 73 limits the rotation of the sleeve 71 in the guide rail, thereby ensuring that the abutment block 43 and the curved block 42 will not deviate after abutting, ensuring the abutment effect of the abutment spring 41, and when the pressure rod 72 moves to the bottom of the locking bar 78, it can drive the sleeve 71 to rotate through the guide block 73 and make the highest arc surface between the curved block 42 and the abutment block 43 abut, ensuring that the abutment spring 41 can extend into the inner cavity of the fruit cylinder 1 to the maximum extent).

[0041] Reference Figure 1 and Figure 4In one embodiment of the present application, the adjustment mechanism 5 for adjusting the fruit barrel 1 so that the fruit handle can be aligned with the chuck 2 includes a support box 51 for supporting the fruit barrel 1, a drive motor 52 for adjusting the direction of the crack 12, and a telescopic unit 53 for adjusting the lateral position of the fruit barrel 1, wherein the support box 51 is slidably connected to the accommodating groove 14, and the interior of the support box 51 is hollow, the drive motor 52 is fixedly connected to the inner cavity of the support box 51 by bolts, and the output shaft of the drive motor 52 extends vertically upward from the support box 51 and is coaxially fixedly connected to the bottom of the fruit barrel 1 through a coupling, so that the fruit barrel 1 is driven to rotate by the rotation of the output shaft of the drive motor 52, so that it drives the fruit barrel 1 to rotate to adjust the direction of the fruit handle, and compares the movement path of the chuck 2 in the visual image obtained by the visual unit 15 to ensure that the fruit handle is parallel to the movement path of the chuck 2.

[0042] Considering that the oil-tea camellia fruit is not in the center position when placed on the slide 11 , and is not in the moving path of the chuck 2 after its orientation is adjusted, the fruit barrel 1 needs to be fine-tuned to align the fruit stem with the chuck 2 .

[0043] There are at least four telescopic units 53, which are respectively fixed on the inner walls of the accommodating groove 14 (the telescopic unit 53 in this embodiment can be an electric cylinder), and the telescopic rod of the telescopic unit 53 is arranged perpendicular to the inner wall of the accommodating groove 14 and abuts against the side wall of the support box 51.

[0044] Through the above arrangement, when it is necessary to adjust the lateral position of the fruit stem parallel to the chuck 2, the telescopic rod of the telescopic unit 53 located on different inner walls of the accommodating groove 14 is controlled to extend, pushing the support box 51 to slide in the accommodating groove 14 to align the fruit stem with the chuck 2.

[0045] It should be noted that in order to ensure that the quantitative separation force of the fruit stalk remains unchanged each time, it is necessary to control the distance between the chuck 2 and the oil tea fruit when clamping. Taking into account that the distance between the center and the edge of the oil tea fruit when placed on the slide 11 is different, the fruit tube 1 and the slide 11 need to be made of transparent material. The visual image of the slide 11 after positioning is obtained through the visual unit 15, and the distance between the chuck 2 and the oil tea fruit when the slide 11 is at this height is obtained. According to the actual distance requirement between the chuck 2 and the connection point between the fruit stalk and the fruit when clamping, the telescopic rod of the telescopic unit 53 is controlled to be telescopic to fine-tune the support box 51.

[0046] Reference Figure 1In one embodiment of the present application, a pushing mechanism 3 for pushing the chuck 2 toward the fruit barrel 1 includes a slider 31, a second drive motor 32, and a guide platform 33, wherein the guide platform 33 is arranged on one side of the chuck 2 and extends toward the chuck 2, and the guide platform 33 extends toward the chuck 2, the interior of the guide platform 33 is hollow and the opening is upward, the second drive motor 32 is fixedly connected to the side wall of the guide platform 33 by bolts, and its output shaft extends into the inner cavity of the guide platform 33 along the length direction of the guide platform 33.

[0047] The output shaft of drive motor 2 32 is fixedly connected to a threaded rod 34 via a coupling. The other end of threaded rod 34 is rotatably connected to the inner wall of guide platform 33. Slider 31 is threadedly mounted on threaded rod 34, with the sidewall of slider 31 abutting the inner wall of guide platform 33. Limited by the threaded connection to the inner wall of guide platform 33, when the output shaft of drive motor 2 32 rotates, slider 31 is driven by threaded rod 34 to slide along the length of threaded rod 34, thereby pushing chuck 2 toward fruit can 1.

[0048] Reference Figure 1 and Figure 5 The clamping head 2 for clamping the fruit stem includes a clamping member 21 for clamping the fruit stem, a sliding ring 22 for controlling the clamping and releasing of the clamping member 21, and a connecting column 23 for connecting various components.

[0049] A sliding seat is slidably connected in the inner cavity of the guide platform 33. The sliding seat is located on the side of the slider 31 facing the fruit barrel 1. The sliding seat is fixedly connected to the tensile end of the tension sensor 6. The connecting column 23 is horizontally connected to the side wall of the sliding seat and extends toward the chuck 2. A threaded structure is provided on the side wall of the connecting column 23.

[0050] There are multiple clamping parts 21, and the clamping parts 21 include a rotating rod 1 211 and a rotating rod 212, wherein a rotating shaft 24 is rotatably connected to the side of the connecting column 23 away from the tension sensor 6, one end of the rotating rod 1 211 is hinged to the rotating shaft 24, and the other end is hinged to the rotating rod 2 212, the rotating rod 1 211 spreads outward toward the axis of the connecting column 23, and the rotating rod 2 212 converges inward toward the axis of the connecting column 23, so that the end of the rotating rod 212 can abut against the fruit handle.

[0051] The sliding ring 22 is threadedly sleeved on the connecting column 23, and multiple traction rods 25 are hinged on the side wall of the sliding ring 22. The traction rods 25 are passed through the rotating rod 1 211 and are hinged to the end of the rotating rod 212. When the sliding ring 22 is rotated, the sliding ring 22 is threadedly sleeved to drive the traction rod 25 to slide along the axial direction of the connecting column 23. The traction rod 25 pulls the end of the rotating rod 212 to rotate, so that the rotating rod 212 is retracted and pressed against the fruit stalk to achieve clamping of the fruit stalk.

[0052] To facilitate the securement of the clamped rotating rod 212, the sliding ring 22 needs to be positioned. A latch is provided on the end of the connecting column 23 near the slider 31, and a pin hole for the latch is provided through the side wall of the sliding ring 22. (To ensure that the end of the rotating rod 212 can be firmly pressed against the fruit stem when the latch is inserted through the sliding ring 22 and into the pin hole, a rubber pad can be fixed to the end of the rotating rod 212 to accommodate fruit stems of different widths.)

[0053] Through the above arrangement, when the fruit stalk needs to be clamped, the slip ring 22 is rotated so that the slip ring 22 is restricted by the threaded structure on the outer wall of the connecting column 23 and moves along the axial direction of the connecting column 23, and during the movement of the slip ring 22, the traction rod 25 is pulled so that the rotating rod 212 gradually converges inward to achieve the clamping effect of the fruit stalk (it should be noted that when the torsional force of the fruit stalk needs to be measured, a motor can be set above the slip seat, and the output shaft of the motor can be rotatably connected to the connecting rod 74, so that the torsional force can be measured after the fruit stalk is clamped).

[0054] Reference Figure 1 and Figure 6 In another embodiment of the present application, in order to prevent the longitudinal deviation of the fruit stalk of the tea fruit after being placed on the slide 11, which causes the rotating rod 212 to be unable to clamp the fruit stalk, or to prevent oblique interference force from occurring during the separation force measurement of the fruit stalk, thereby affecting the measurement result.

[0055] An adjustment component 8 for adjusting the longitudinal inclination of the fruit stalk is provided at the upper end of the slide 11, wherein the adjustment component 8 includes a support seat 81 for supporting the oil tea fruit, an air bag 82 for adjusting the height of both sides of the oil tea fruit, and a compression unit for controlling the expansion and contraction of the air bag 82 (the compression unit in this embodiment can be an air pump).

[0056] The support seat 81 is fixed to the upper surface of the slide 11 by bolts, and the upper surface of the support seat 81 is set in an arc-shaped recessed manner. Two air bags 82 are provided and are respectively located in the arc-shaped recessed surfaces of the support seat 81. Since the fruit stalk extends from the crack 12, it is only necessary to set the two air bags 82 front and back toward the opening of the crack 12 to adjust the longitudinal inclination angle of the fruit stalk.

[0057] The air bag 82 is arranged in an arc-shaped concave shape, and the oil-tea camellia fruit is placed in the arc-shaped concave surface of the air bag 82 to prevent the oil-tea camellia fruit from rolling during the process of inflating the air bag 82 .

[0058] The compression unit is fixed to the upper surface of the base plate 13 by bolts. The compression unit is connected to a four-way reversing valve and is connected to the input port of the four-way reversing valve. The output port of the four-way reversing valve is respectively connected to two air bags 82 and air. When the oil tea fruit is tilted longitudinally, expansion is generated by controlling the input port of the four-way reversing valve and the air bag 82 at the corresponding position. It should be noted that in order to reset the expansion of the air bag 82, the air bag 82 is connected to a solenoid valve that discharges gas, and the resetting effect is achieved by controlling the solenoid valve to open.

[0059] In order to facilitate observation of the inclination angle of the fruit stem, a second visual unit 83 is fixedly installed on the inner wall of the fruit barrel 1 by bolts, and the direction of the second visual unit 83 is arranged transversely perpendicular to the moving path of the chuck 2 (the second visual unit 83 in this embodiment can be a small camera). The second visual unit 83 and the compression unit are respectively electrically connected to the controller and configured as follows: S21. Obtain the video data fed back by the second visual unit 83 and process it to obtain the second visual image. The processing example includes: extracting frames, analyzing image clarity, and obtaining an image with standard clarity. Image clarity analysis is a prior art and will not be described in detail.

[0060] It can be understood that the second visual image refers to the image obtained after the slide 11 moves to the point where the pressure rod 72 is positioned at the lowered position of the locking bar 78 .

[0061] S22, calculating the inclination angle of the fruit stalk according to the second visual image; It is understandable that if the fruit stalk is tilted, there is a height difference between the outer end of the fruit stalk and the point where it connects to the oil-tea camellia fruit. The approximate angle of the tilt can be obtained based on trigonometric functions. For example: Take one corner of the image as the origin and set the coordinate system based on the length and width of the second visual image. Then identify the connection point A between the fruit and the stem, and take the pixel position according to the pixel block as the coordinate parameter. Similarly, obtain the coordinate parameters of B. If the coordinates of the endpoint of the fruit stalk are (6, 3) and the coordinates of the connection point between the fruit stalk and the oil tea fruit are (2, 1), a trigonometric function can be established based on the two coordinates. Let the longitudinal inclination angle of the fruit stalk be α, then:

[0062] Solve for the angle by using the inverse tangent function arctanα, arctanα;

[0063] The obtained α is about 26.56°.

[0064] S23, controlling the compression unit to adjust the two air bags 82 respectively according to the tilt angle until the fruit stalk is close to horizontal; Adjust the airbag 82, for example: When the outer end of the fruit stalk tilts downward relative to the fruit, adjust the output port of the four-way reversing valve so that the air bag 82 near the fruit stalk is connected to the input port of the four-way reversing valve, inflate the air bag 82, and flip the end of the fruit stalk upward, thereby adjusting the longitudinal inclination of the fruit stalk. Similarly, when the outer end of the fruit stalk tilts downward relative to the fruit, the input port of the four-way reversing valve is connected to the air bag 82 on the other side.

[0065] Taking into account that when the chuck 2 and the fruit stem are at different heights, an oblique force may be applied to the fruit stem during the measurement of the separation force, thereby affecting the accuracy of the measurement of the fruit stem separation force, a lifting assembly 54 for longitudinally adjusting the support box 51 is provided at the lower end of the support box 51.

[0066] Reference Figure 4 , wherein the lifting assembly 54 includes a telescopic unit 2 541 for lifting the support box 51 and a support plate 542 supporting the telescopic unit 2 541. A embedding groove 543 is provided at the bottom of the accommodating groove 14, and the opening radius of the embedding groove 543 is larger than the radius of the support plate 542, so that the support plate 542 can be slidably connected in the embedding groove 543 (the telescopic unit 2 541 in this embodiment can be a small electric cylinder).

[0067] The second telescopic unit 541 is fixed to the upper surface of the support plate 542 by bolts, and the telescopic rod of the second telescopic unit 541 is vertically arranged upward and fixedly connected to the lower surface of the support box 51 .

[0068] Through the above arrangement, when the axis of the chuck 2 and the fruit stalk are at different heights, the height of the fruit stalk is adjusted by controlling the extension / contraction of the telescopic rod of the telescopic unit 2 541, and the telescopic unit 2 541 is fixed on the support plate 542 so that it can move with the support box 51.

[0069] It should be noted that the adjustment amount of the telescopic rod of the telescopic unit 2 541 can be achieved by setting a zero line flush with the axis of the chuck 2 in the processed visual image 2, and controlling the frame skipping amount of the telescopic rod of the telescopic unit 2 541 by obtaining the overlap between the fruit stalk and the zero line in the visual image 2 (that is, when the fruit stalk is above the zero line, the telescopic rod of the telescopic unit 2 541 needs to be controlled to contract; otherwise, it needs to be controlled to extend).

[0070] The working principle of this embodiment is as follows: after placing the oil-tea camellia fruit on the support seat 81, the pressure rod 72 is pressed to lower the slide 11 and drive the oil-tea camellia fruit into the fruit tube 1. In the process of the slide 11 descending, the guide block 73 slides in the obliquely arranged guide rail and drives the connecting bar 75 to rotate, so that the ring 71 fixed to the connecting bar 75 drives the connecting ring 44 to rotate.

[0071] The abutment spring 41 for pressing the oil-tea fruit is fixed on the curved block 42. The curved block 42 extends into the inner cavity of the connecting ring 44 and abuts against its inner wall due to the elastic force of the limiting spring 47. When the connecting ring 44 rotates, the abutment block 43 fixed on the inner wall of the connecting ring 44 abuts against the curved block 42, and pushes the curved block 42 toward pushing the abutment spring 41 into the inner cavity of the fruit tube 1 and abutting against the oil-tea fruit, and is subject to the elastic force of the abutment spring 41 to achieve adaptive clamping of the oil-tea fruit.

[0072] When the visual unit 15 located on the bottom plate 13 detects that the fruit stem is not in the moving path of the chuck 2, it adjusts the direction of the fruit tube 1 by controlling the driving motor 52 in the support box 51 so that the fruit stem remains parallel to the chuck 2. Then, the position of the support box 51 is fine-tuned by controlling the telescopic unit 53 to ensure that when the separation force is measured by the tension sensor 6, the fruit stem can be separated along the moving path of the chuck 2, so as to facilitate the measurement of the separation force and reduce the interference of variables on the experimental data.

[0073] Similarly, the visual unit 2 83 provided in the inner cavity of the fruit tube 1 is used to monitor whether the fruit stem has been tilted longitudinally. For the fruit stem that needs to be adjusted in longitudinal tilt, the compression unit is used to control the inflation of the air bag 82 provided on the support seat 81, thereby achieving the effect of adjusting the tilt of the fruit stem and ensuring the accuracy of the experimental data.

[0074] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A device for measuring the separation force of oil-tea camellia stalks, characterized in that: include: The fruit cylinder has a sliding platform for receiving the oil-tea fruit in an axially sliding manner, and a crack is opened on the side wall for the oil-tea fruit stem to extend out; A clamping head is located on the side of the fruit barrel, facing the crack and used to clamp the oil-tea camellia fruit stem; a pushing mechanism connected to the chuck and used to push the chuck toward the rip or pull the chuck away from the rip; a controller electrically connected to the pushing mechanism; Among them, a fixing mechanism for clamping and adapting to oil-tea fruits of different sizes is provided on the inner wall of the fruit barrel, a bottom plate is provided at the bottom of the fruit barrel, a receiving groove is provided on the bottom plate, and an adjustment mechanism for adjusting the direction and horizontal position of the crack is provided in the receiving groove, an upward-facing visual unit 1 is fixed to the bottom plate, and the moving path of the chuck and the fruit stalk are present in the shooting field of the visual unit 1, a tension sensor for detecting the separation force of the fruit stalk is connected between the pushing mechanism and the chuck, and the adjustment mechanism, the tension sensor and the visual unit 1 are electrically connected to the controller respectively. The controller is configured as follows: If a start signal is received after the oil-tea camellia fruit is clamped, a visual image 1 fed back by a visual unit 1 is obtained; Identify the fruit stem in the first visual image, analyze the angle between the fruit stem and the moving path of the chuck, and control the adjustment mechanism to adjust the direction of the fruit stem according to the analysis result; If the orientation of the fruit stem meets the preset fruit stem clamping condition, the pushing mechanism is controlled to push the clamp toward the fruit stem; If a measurement signal is received after the clamping is completed, the pushing mechanism is controlled to reset and the detection value fed back by the tension sensor is recorded.

2. The device for measuring the separation force of the oil-tea camellia stalk according to claim 1, characterized in that: The fixing mechanism includes an abutting spring for clamping the oil-tea camellia fruit, a curved block fixed to the abutting spring, and an abutting block for pushing the curved block to move. A connecting ring is rotatably sleeved on the outer wall of the fruit cylinder, and an opening is provided on the inner side of the connecting ring. A plurality of abutment blocks are provided and are respectively fixed on the inner wall of the connecting ring, and the abutment blocks are provided in an arc-shaped protrusion toward the axis of the connecting ring. The outer wall of the fruit can is provided with a plurality of through grooves along its circumference, connecting the connecting ring with the inner cavity of the fruit can. The curved block and the abutment spring are both provided with a plurality of them, and the curved block is slidably connected in the through grooves. The abutment spring is fixed on one side of the curved block facing the inner cavity of the fruit can, and the other side of the curved block is provided with an arc-shaped protrusion. An extension piece is fixed on the inner wall of the through groove, and a limit spring for limiting the sliding of the curved block is fixed on the side of the extension piece facing away from the inner cavity of the fruit barrel, so that the arc-shaped convex surface of the curved block abuts against the inner wall of the connecting ring. The connecting ring is provided with a guide groove for the fruit handle to pass through along the longitudinal direction, and the fruit barrel is connected to a linkage component for driving the connecting ring to rotate and for locking the connecting ring.

3. The device for measuring the separation force of the oil-tea camellia stalk according to claim 2, characterized in that: The linkage assembly includes a sleeve ring, a pressure rod and a guide block that rotates in a linkage connection ring. There are two sleeves, which are rotatably connected to the inner wall of the fruit cylinder and sleeved on the slide. A connecting rod is fixed on the outer wall of the sleeve and connected to the connecting ring. A connecting strip is obliquely arranged between the two sleeves, and a guide rail is opened along the length direction of the connecting strip. The guide block is fixedly connected to the outer wall of the slide and extends into the guide rail. The interior of the slide is hollow and opens downward. A fixed column is fixed to the bottom of the inner cavity of the fruit barrel. The slide is slidably sleeved on the fixed column. A telescopic spring is fixed in the inner cavity of the slide and abuts against the fixed column. The pressure rod is fixed to the outer wall of the slide, and the fruit barrel is provided with a sliding groove along the longitudinal direction for the pressure rod to extend. A locking bar is rotatably connected to the outer wall of the fruit cylinder, and when the pressure rod slides to the lower end of the slide groove, the lower end of the locking bar is pressed against the upper end of the pressure rod, and the upper end of the slide is provided with an adjustment component for adjusting the longitudinal inclination of the fruit handle.

4. The device for measuring the separation force of the oil-tea camellia stalk according to claim 3, characterized in that: The adjustment mechanism includes a support box for supporting the fruit barrel, a driving motor for adjusting the direction of the crack, and a telescopic unit for adjusting the lateral position of the fruit barrel. The support box is slidably connected to the receiving groove, the drive motor 1 is fixedly connected to the inner cavity of the support box, and the output shaft of the drive motor 1 extends vertically upward from the inner cavity of the support box and is fixedly connected to the fruit barrel; There are at least four telescopic units, which are respectively arranged on the inner wall of the accommodating groove. The telescopic rod of the telescopic unit is perpendicular to the inner wall of the accommodating groove and abuts against the side wall of the support box. The lower end of the support box is provided with a lifting component for longitudinally adjusting the support box.

5. The device for measuring the separation force of the oil-tea camellia stalk according to claim 4, characterized in that: The pushing mechanism includes a slider for pushing the chuck, a driving motor 2 for driving the slider to slide, and a guide platform for guiding the sliding of the slider. The guide platform is arranged on one side of the chuck and extends toward the chuck, and its interior is hollow and the opening is upward. The second drive motor is fixed on the side wall of the guide platform, and its output shaft is passed through the guide platform along the length direction of the guide platform. The output shaft of the second driving motor is fixedly connected to a threaded rod, and the other end of the threaded rod is rotatably connected to the inner wall of the guide platform. The slider is threadedly sleeved on the threaded rod, and the side wall of the slider is in contact with the inner wall of the guide platform. The tension sensor is fixed on the side wall of the slider facing the clamping head, and the tension end of the tension sensor is connected to the clamping head.

6. The device for measuring the separation force of the oil-tea camellia stalk according to claim 5, characterized in that: The chuck includes a clamping piece for clamping the fruit stem, a sliding ring for controlling the clamping and releasing of the clamping piece, and a connecting column for connection. The connecting column is slidably connected to the opening of the guide platform and is connected to the tension sensor, and a threaded structure is provided on the side wall of the connecting column. The side of the connecting column facing away from the tension sensor is rotatably connected to a rotating shaft. The clamping members are provided in plurality, and the clamping members include a first rotating rod and a second rotating rod, one end of the first rotating rod is rotatably connected to the rotating shaft, and the other end is rotatably connected to the second rotating rod, and the end of the second rotating rod is tightly pressed against the fruit handle; The sliding ring is threadedly sleeved on the connecting column, and multiple traction rods are rotatably connected to the side wall of the sliding ring. The traction rods are passed through the rotating rod one and are rotatably connected to the end of the rotating rod two, so that when the traction rods move, the rotating rod two is driven to retract or expand. A pin is provided at one end of the connecting column close to the slider, and a pin hole for the pin to pass through is opened through the side wall of the sliding ring.

7. The device for measuring the separation force of a camellia oleifera stem according to claim 4, characterized in that: The adjustment component includes a support base for supporting the oil-tea camellia fruit, an air bag for adjusting the height of both sides of the oil-tea camellia fruit, and a compression unit for controlling the contraction or expansion of the air bag; Wherein, the support seat is fixed to the upper surface of the slide, and the upper surface of the support seat is arranged in an arc-shaped concave; The airbags are provided with two and are respectively located in the arc-shaped concave surface of the support seat, and the two airbags are distributed front and back toward the opening of the crack; The compression unit is fixedly connected to the upper surface of the bottom plate and is connected to a four-way reversing valve, the input port of the four-way reversing valve is connected to the compression unit, and the output port of the four-way reversing valve is respectively connected to the two air bags and the air; A second visual unit for detecting the longitudinal inclination of the fruit stem is provided on the inner wall of the fruit barrel, and the orientation of the second visual unit is arranged transversely and perpendicularly to the moving path of the chuck. The second visual unit and the compression unit are electrically connected to a controller respectively, and the controller is configured as follows: Obtaining video data fed back by the second visual unit and processing it to obtain a second visual image; The tilt angle of the fruit stalk is calculated based on the second visual image; The compression unit is controlled to adjust the two air bags respectively according to the tilt angle until the fruit stalk is close to horizontal.

8. The device for measuring the separation force of the oil-tea camellia stalk according to claim 7, characterized in that: The lifting assembly includes a telescopic unit 2 for lifting the support box and a support plate supporting the telescopic unit 2. An embedding groove is provided at the bottom of the accommodating groove, and the opening radius of the embedding groove is larger than the radius of the support plate. The support plate is slidably connected in the embedding groove. The telescopic unit 2 is fixed to the upper surface of the support plate, and the telescopic rod of the telescopic unit 2 is vertically arranged upward and fixedly connected to the lower surface of the support box.

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