Pear fruit picking force measuring device
By designing a pear fruit picking force measurement device including a grasping device and a force measuring device, the problem of lack of mechanized equipment for existing pear fruit harvesting is solved, and the accurate measurement of pear fruit picking force is achieved, providing technical support for automated harvesting.
Patent Information
- Application Number
- CN202422277404.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-09-19
AI Technical Summary
The lack of mechanized equipment during the existing pear fruit harvesting process has led to high labor costs and a shortage of labor supply, making it difficult to meet the development needs of modern pear orchards.
A pear fruit picking force measuring device is designed, including a front-end grasping device and a rear-end force measuring device. The grasping device consists of a support frame, a soft claw fixing ring and three soft rubber claws. The claws are closed and opened by the tension of the spring; the force measuring device measures and displays the picking force through the plug buckle, display screen and control buttons.
This device can accurately measure the picking force of the multi-point surface of pear fruit, provide design basis and parameter selection for the study of lossless picking of end effectors, and help achieve automatic harvesting of pear fruits.
Smart Images
Figure CN223037280U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of experimental measurement equipment, in particular to a pear picking force measuring device. Background Art
[0002] Pear is one of the main fruits in the world and the third most popular fruit in my country after apples and citrus. China ranks first in the world in both the scale of pear cultivation and total output, and has an important position and broad market prospects. Pear is a low-calorie fruit rich in vitamins and dietary fiber. It is loved by the general public for its juicy and crisp taste.
[0003] The pear industry occupies an important economic position in my country's agricultural industry, but the overall level of mechanization in pear orchards is low. In the labor-intensive process, the harvesting process lacks corresponding machinery. During the harvesting season, the labor cost is high, and the labor supply is insufficient to meet the development of modern pear orchards. Therefore, it is particularly important to realize the automated harvesting of pears, and it is of great significance to develop the non-destructive grasping and picking mechanism of the end effector. Summary of the invention
[0004] Purpose of the invention: To accurately measure the picking force at multiple points on the surface of pear fruit, and to provide a design basis and parameter selection for the study of non-destructive picking of the end effector.
[0005] Technical solution: To solve the above technical problems, the utility model discloses a pear picking force measuring device, which includes a front-end grasping device and a rear-end force measuring device. The grasping device includes a support frame, and the front end of the support frame is connected to a soft claw fixing ring and three soft rubber claws. The support frame, the soft claw fixing ring and the three soft rubber claws are connected as a whole by rivets and straight rods; the force measuring device includes a straight rod buckle at the front end, a display screen in the middle and a control button at the rear end. The buttons of the control button include a power button, a reset button, a unit button, a peak button and a setting button. The grasping part and the force measuring part are connected by the buckle at the end of the middle straight rod.
[0006] Furthermore, the grasping device achieves closing of the three claws by the tension of the spring on the straight rod on the front support frame and the rear spring baffle, and opens the three claws by the thrust of the buckle on the straight rod by the force measuring device.
[0007] Furthermore, the spring is a compression spring. When the spring is compressed, the three claws are in an open state; when the spring is not compressed, the three claws are in a closed state.
[0008] Furthermore, the skeleton structure material of the soft rubber claw is nylon, and a layer of polypropylene soft rubber is attached to the inner surface thereof. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] Figure 1 This is a structural schematic diagram provided by the utility model.
[0010] 1. Soft rubber claw, 2. Soft claw fixing ring, 3. Support frame, 4. Straight rod, 5. Spring, 6. Snap fastener, 7. Spring baffle, 8. Display screen, 9. Power button, 10. Reset button, 11. Unit button, 12. Peak value button, 13. Setting button, 14. Handheld device box. Detailed implementation mode
[0011] In order to enable the personnel in the technical field to better understand the solution of the present invention, the following further describes the present utility model in conjunction with the accompanying drawings of the embodiments.
[0012] As Figure 1 shown, it includes a front-end grasping device and a rear-end force measuring device. The grasping device includes a support frame 3, the front end of the support frame 3 is connected to a soft claw fixing ring 2 and three soft rubber claws 1, and the support frame 3, the soft claw fixing ring 2 and the three soft rubber claws 1 are connected into an integral body by rivets and a straight rod 4; the force measuring device includes a snap fastener 6 at the front end, a display screen 8 in the middle and operation buttons at the rear end. The buttons of the operation buttons include five physical buttons: a power button 9, a reset button 10, a unit button 11, a peak value button 12 and a setting button 13. All the above parts are fixed or embedded on the handheld device box 14. The grasping part and the force measuring part are connected by a snap fastener 6 at the end of the middle straight rod 4.
[0013] The grasping device realizes the closing of the three claws 1 by the tension of the spring 5 on the straight rod 4 on the front-end support frame 3 and the rear-end spring baffle 7, and realizes the opening of the three claws 1 by the thrust of the snap fastener 6 of the force measuring device on the straight rod 4. The spring 5 is a compression spring. When the spring 5 is compressed, the three claws 1 are in an open state. At this time, the inside of the claw mouth can be aligned with the pear fruit. When the spring is not compressed and there is a pear fruit inside the claw mouth, the three claws 1 will envelope the pear fruit; when there is no pear fruit inside the claw mouth, the three claws 1 are in a closed state. The skeleton structure material of the soft rubber claw 1 is nylon, and a layer of polypropylene soft rubber is attached to its inner surface.
[0014] When measuring the picking force of the pear fruit, the spring 5 on the straight rod 4 is compressed, and the three claws 1 of the grasping device are in an open state. The pear fruit is placed inside the claw mouth, and the spring 5 is relaxed so that the three claws 1 envelope the measured pear fruit. The snap fastener 6 of the force measuring device is connected to the end of the straight rod 4. Press the power button 9 on the handheld device box 14 and click the reset button 10 to measure the picking force of the pear fruit. Pull the handheld device box 14 to make it away from the initial pear fruit position. The pear fruit exerts a reaction pulling force on the snap fastener 6 of the force measuring device. When the fruit stalk of the pear fruit is separated from the branch, the picking pulling force reaches the maximum value. In the force measuring device, the force signal is converted into an electrical signal, and the value of the picking force is displayed on the display screen 8.
[0015] Example 1, conduct 10 picking force measurement experiments on different directions of pear fruits using the force measuring device of this method. The experimental results are shown in Table 1:
[0016]
[0017] This grasping device is suitable for fitting pear fruits with a diameter of 50 mm - 150 mm, and can also be used for measuring the picking force of fruits with a similar shape and size to pear fruits, such as oranges, apples, and peaches. The range of the force measuring device is 0 - 100 N, and the measurement accuracy is 0.1 N, which can provide a basis for the design of the power parameters of the end effector of the pear fruit picking robot. Due to the polypropylene material on the surface of the soft rubber claw and the treatment of widening and thickening, it can prevent slipping and wear and effectively prevent damage to the skin of the pear fruit.
[0018] The above embodiments are only several descriptions of the concept and implementation of the present invention, and do not limit it. Under the concept of the present invention, the technical solutions without substantial transformation are still within the protection scope.
Claims
1. A pear picking force measuring device, characterized in that: It includes a front-end grasping device and a rear-end force measuring device; the grasping device includes a supporting frame, the front end of the supporting frame is connected to a soft claw fixing ring and three soft rubber claws, the supporting frame, the soft claw fixing ring and the three soft rubber claws are connected into a whole by rivets and straight rods; the force measuring device includes a straight rod buckle at the front end, a display screen in the middle and a control button at the rear end, the control buttons include a power button, a reset button, a unit button, a peak button and a setting button, the grasping part and the force measuring part are connected by the buckle at the middle straight rod end.
2. A pear picking force measuring device according to claim 1, characterized in that: The grasping device achieves the closing of the three jaws by the tension of the spring on the straight rod on the front support frame and the rear spring baffle, and achieves the opening of the three jaws by the thrust of the buckle of the force measuring device on the straight rod. The spring is a compression spring. When the spring is compressed, the three jaws are in an open state; when the spring is not compressed, the three jaws are in a closed state.
3. The pear picking force measuring device according to claim 1, characterized in that: The skeleton structure material of the soft rubber claw is nylon, and a layer of polypropylene soft rubber is attached to the outer surface thereof.