CN114754960A - Forest fruit vibration mechanical device based on automatic visual inspection technology - Google Patents
Forest fruit vibration mechanical device based on automatic visual inspection technology Download PDFInfo
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- CN114754960A CN114754960A CN202210484289.3A CN202210484289A CN114754960A CN 114754960 A CN114754960 A CN 114754960A CN 202210484289 A CN202210484289 A CN 202210484289A CN 114754960 A CN114754960 A CN 114754960A
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- crank
- swing
- connecting rod
- guide rail
- disc
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/025—Measuring arrangements
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention relates to a forest fruit vibration mechanical device based on an automatic vision detection technology, in particular to a vibration mechanical device for testing forest fruit branch and stem changes in different vibration modes, amplitudes and frequencies through automatic vision of a high-speed camera. The method is characterized in that: the device comprises a rack, a support plate, a disc, an electric control translation table, a crank guide rail, a camera device, an excitation device, a swing mechanism and a clamping mechanism; the electric control translation table is connected with the disc, the crank guide rail is connected with the electric control translation table through a crank, the clamping mechanism is connected with the crank guide rail through a swing mechanism, and the vibration excitation device and the camera device are arranged on the rack. Compared with the prior art, the invention is suitable for testing the change of the branches and stems of the forest fruits under different vibration modes, amplitudes and frequencies, knowing various parameters of the branches and stems of the forest fruits and improving the efficiency of picking the forest fruits by mechanical vibration. The high-speed camera automatically visually detects the movement direction of the forest fruits after the branches and the stems of the forest fruits are broken under different amplitudes, and the damage to the forest fruits is reduced.
Description
Technical Field
The invention relates to a forest fruit vibration mechanical device based on an automatic vision detection technology, in particular to a vibration mechanical device for testing forest fruit branch and stem changes in different vibration modes, amplitudes and frequencies through automatic vision of a high-speed camera.
Background
China has developed fruit industry, and mechanized harvesting is widely applied due to high efficiency. The vibration harvesting technology is one of the main methods for realizing mechanized harvesting of the forest fruits, the fruit trees are vibrated to enable the fruits and the fruit stalks or the fruit stalks and the branches to generate relative motion, so that the joints of the fruits and the fruit stalks and the joints of the fruit stalks and the branches generate deformation, the joints are broken along with the continuous increase of the deformation, and the fruits fall off. Different kinds of fruit trees, different seasons, different producing areas, different connecting forces between the fruit and the fruit handle, different amplitudes and different frequencies required by the fruit trees to vibrate. The mechanical properties of the forest fruits under different operating conditions need to be tested through the vibrating device, most of vibrating machines only have a single vibrating mode, the vibrating machines with multiple single vibrating modes need to be designed in multiple vibrating modes, the cost is increased, and materials are consumed.
Disclosure of Invention
The invention aims to provide a vibration mechanical device for testing the change of fruit branches and stems under different vibration modes, amplitudes and frequencies through automatic vision of a high-speed camera.
The purpose of the invention is realized by the following technical scheme:
The invention is characterized in that: the device comprises a variable frequency motor, a disc, an electric control translation table, a crank, a connecting rod, a crank guide rail top, a crank guide rail bottom, a swinging mechanism, a clamping mechanism, a camera device, a rack and a supporting plate; the disc is connected with a variable frequency motor, the electric control translation table is connected with the disc, the crank is connected with the electric control translation table, the crank guide rail top is hinged with the crank through a connecting rod, the crank guide rail top is connected with the crank guide rail bottom in a sliding mode, the clamping mechanism is connected with the crank guide rail top through a swinging mechanism, the variable frequency motor is arranged on a supporting plate, and the vibration excitation device, the camera device, the crank guide rail bottom and the supporting plate are arranged on a rack;
the vibration excitation device consists of a variable frequency motor, a transmission shaft and a coupling; the variable frequency motor is fixed on a support plate through screws and used for supporting and fixing the variable frequency motor, the support plate is arranged on a rack, a transmission shaft is connected with the variable frequency motor through a coupler and outputs an excitation force, the transmission shaft is connected with a disc to drive the disc to do circular motion, an electric control translation platform is fixed on the disc through screws and adjusts the vibration amplitude, a crank is connected with a slide block on the electric control translation platform, a connecting rod is hinged with the crank, the connecting rod is fixed on the top of a crank guide rail through screws, before work, the rotation amplitude of the crank is adjusted through adjusting the moving position of the slide block on the electric control translation platform, the crank drives the connecting rod to enable the crank guide rail to prop on the crank guide rail to do reciprocating motion back and forth, a rectangular groove is formed below the bottom of the crank guide rail and is connected with a swing mechanism to control a sample to do reciprocating vibration transversely, and the variable frequency motor adjusts the vibration frequency;
The swing mechanism is connected with the crank guide rail top and consists of a swing base, a speed reducing motor coupler, a swing crank, a connecting rod, a fan-shaped swing disc and a swing connecting rod; the swing base pass through the connecting rod to be fixed at crank guide top, along with crank guide removes the swing mechanism and carries out reciprocating motion, gear motor pass through the fix with screw on swing base, support fixed gear motor, gear motor pass through the gear motor shaft coupling and be connected with swing crank, output exciting force, fan-shaped balance pass through the connecting rod and be connected with swing crank, control fan-shaped balance horizontal hunting, fan-shaped balance top and swing base coaxial coupling are equipped with the recess on the fan-shaped balance, the connecting rod along fan-shaped balance recess direction back-and-forth movement, control swing mechanism horizontal hunting range, swing connecting rod one end fix on fan-shaped balance, the other end connect fixture, the control centre gripping sample vibration that is held. When the clamping mechanism works, the gear motor drives the swinging crank to do circular motion, and the fan-shaped swinging disk connected with the swinging connecting rod swings left and right to drive the clamping mechanism below to swing;
The clamping mechanism is connected with the swinging mechanism and consists of a clamping base, a left chuck, a sample, a column type load sensor, a right chuck, a locking nut, a double-end stud and a chuck connecting rod; the clamping base is connected with a chuck connecting rod, the left chuck and the right chuck are connected with a stud, when a sample is clamped, the stud is rotated, the left chuck and the right chuck are folded inwards at the same time until the sample is clamped, the locking nut is coaxially connected with the stud, the chuck connecting rod is connected with a swinging connecting rod, the clamping sample swings along with the swinging mechanism, the column type load sensor is fixed on the clamping base through a screw, and the stress condition of the clamped sample is tested during working;
the camera device is arranged at the bottom of the rack, automatic visual detection is carried out through high-speed camera shooting, the moving direction of the forest fruits after the branches and the stems of the forest fruits are broken is shot, damage to the forest fruits is reduced, and vibration efficiency is improved;
the forest fruit vibration mechanical device can independently carry out transverse reciprocating vibration, can independently carry out left-right swinging, and can also simultaneously carry out testing on transverse reciprocating vibration and left-right swinging.
Compared with the prior art, the invention is suitable for testing the change of the branches and stems of the forest fruits under different vibration modes, amplitudes and frequencies, knowing the mechanical property of the branches and stems of the forest fruits and improving the efficiency of picking the forest fruits by mechanical vibration. The high-speed camera automatically visually detects the movement direction of the forest fruits after the branches and the stems of the forest fruits are broken under different amplitudes, and the damage to the forest fruits is reduced.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a schematic view of the swing mechanism of FIG. 1;
fig. 4 is a schematic view of the clamping mechanism of fig. 1.
In the drawings: the device comprises a variable frequency motor 1, a disc 2, an electric control translation table 3, a crank 4, a connecting rod 5, a crank guide rail top 6, a crank guide rail bottom 7, a swing mechanism 8, a clamping mechanism 9, an image pickup device 10, a frame 11, a supporting plate 12, a swing base 801, a speed reduction motor 802, a speed reduction motor coupler 803, a swing crank 804, a connecting rod 805, a fan-shaped swing disc 806, a swing connecting rod 807, a clamping base 901, a left chuck 902, a sample 903, a column type load sensor 904, a right chuck 905, a locking nut 906, a stud 907 and a chuck connecting rod 908.
Detailed Description
The embodiment is as follows: referring to fig. 1 to 4, the present embodiment is a forest fruit vibration mechanics device based on an automatic visual inspection technology, and the forest fruit vibration mechanics device includes a variable frequency motor 1, a disk 2, an electrically controlled translation stage 3, a crank 4, a connecting rod 5, a crank guide rail top 6, a crank guide rail bottom 7, a swing mechanism 8, a clamping mechanism 9, a camera device 10, a frame 11, and a support plate 12; disc 2 be connected with inverter motor 1, automatically controlled translation platform 3 be connected with disc 2, crank 4 be connected with automatically controlled translation platform 3, crank guide rail top 6 articulated through connecting rod 5 and crank 4, crank guide rail top 6 and crank guide rail bottom 7 sliding connection, fixture 9 be connected with crank guide rail top 6 through swing mechanism 8, inverter motor 1 establishes in backup pad 12, vibration excitation device, camera device 10, crank guide rail bottom 7, backup pad 12 establish in the frame.
The vibration excitation device consists of a variable frequency motor 1, a transmission shaft and a coupling; the variable frequency motor 1 is fixed on a support plate 12 through screws and used for supporting and fixing the variable frequency motor 1, the support plate 12 is arranged on a frame 11, a transmission shaft is connected with the variable frequency motor 1 through a coupler to output exciting force, the motor is prevented from being damaged due to overload, the transmission shaft is connected with a disc 2 to drive the disc 2 to perform circular motion, an electric control translation table 3 is fixed on the disc 2 through screws and adjusts vibration amplitude, a crank 4 is connected with a sliding block on the electric control translation table 3, a connecting rod 5 is hinged with the crank 4, the connecting rod 5 is fixed on a crank guide rail top 6 through screws, before work, the rotation amplitude of the crank 4 is adjusted through adjusting the moving position of the sliding block on the electric control translation table 3, the crank 4 drives the connecting rod 5 to enable the crank guide rail top 6 to perform reciprocating motion back and forth on a crank guide rail 7, a rectangular groove is formed below the crank guide rail bottom 7 and is connected with a swing mechanism 8, and controlling the sample to vibrate transversely and reciprocally, adjusting the vibration frequency by using the variable frequency motor 1, and testing the mechanical properties of the branches and the stems of the forest fruits under different amplitudes and vibration frequencies.
The swing mechanism 8 is connected with the crank guide rail top 6, and the swing mechanism 8 is composed of a swing base 801, a speed reducing motor 802, a speed reducing motor coupler 803, a swing crank 804, a connecting rod 805, a sector swing disc 806 and a swing connecting rod 807; the swing base 801 is fixed on a crank guide rail top 6 through a connecting rod, the swing mechanism 8 moves along with a crank guide rail to perform reciprocating motion, the speed reducing motor 802 is fixed on the swing base 801 through a screw and is used for supporting and fixing the speed reducing motor 802 so as to avoid the influence of the shake of the speed reducing motor 802 on the test precision of the device during vibration, the speed reducing motor 802 is connected with the swing crank 804 through a speed reducing motor coupler 803 to output exciting force and avoid damage to parts due to overload, the sector swing disc 806 is connected with the swing crank 804 through a connecting rod 805 to control the sector swing disc 806 to swing left and right, the top end of the sector swing disc 806 is coaxially connected with the swing base 801 to control the rotation direction of the sector swing disc 806, grooves are arranged on the sector swing disc 806, the connecting rod 805 moves back and forth along the groove direction of the sector swing disc 806 to control the left and right swing amplitude of the swing mechanism 8, one end of the swing connecting rod 807 is fixed on the sector swing disc 806, the other end is connected with a clamping mechanism 9 for controlling the vibration of the clamped sample. During operation, the gear motor 802 drives the swing crank 804 to perform circular motion, and the fan-shaped swing disc 806 connected with the swing connecting rod 807 swings left and right to drive the clamping mechanism 9 below to swing, so as to test the mechanical properties of the forest fruit branch and stem samples under the swing of different amplitudes and angles.
The clamping mechanism 9 is connected with the swinging mechanism 8, and the clamping mechanism 9 is composed of a clamping base 901, a left chuck 902, a sample 903, a column load sensor 904, a right chuck 905, a locking nut 906, a stud 907 and a chuck connecting rod 908; the clamping base 901 is connected with a clamping head connecting rod 908 and used for controlling the movement direction of the clamping head, the left clamping head 902 and the right clamping head 905 are connected with a double-end stud 907, when a sample 903 is clamped, the double-end stud 907 is rotated, the left clamping head 902 and the right clamping head 905 are folded inwards at the same time until the sample 903 is clamped, the locking nut 906 is coaxially connected with the double-end stud 907 and used for locking the clamping head and avoiding the phenomenon that the sample is loosened due to vibration and the simulation result is influenced, the clamping head connecting rod 908 is connected with a swinging connecting rod 807, the clamping sample 903 swings along with a swinging mechanism 8, the column type load sensor 904 is fixed on the clamping base 901 through screws, and the stress condition of the clamped sample is tested during work.
The forest fruit vibration mechanical device can independently carry out transverse reciprocating vibration, can independently carry out horizontal swinging, and can also test the forest fruit vibration mechanical device in the transverse reciprocating vibration and the horizontal swinging at the same time.
Claims (4)
1. The utility model provides a forest fruit vibration mechanics device based on automatic visual inspection technique which characterized in that: the device comprises a variable frequency motor, a disc, an electric control translation table, a crank, a connecting rod, a crank guide rail top, a crank guide rail bottom, a swinging mechanism, a clamping mechanism, a camera device, a rack and a supporting plate; the disc be connected with inverter motor, automatically controlled translation platform be connected with the disc, the crank be connected with automatically controlled translation platform, crank guide rail top pass through the connecting rod and articulate with the crank, crank guide rail top and crank guide rail end sliding connection, fixture pass through the swing mechanism and be connected with crank guide rail top, inverter motor establishes in the backup pad, vibration excitation device, camera device, crank guide rail end, backup pad establish in the frame.
2. The forest fruit vibration mechanics device based on automatic visual inspection technology of claim 1, wherein: the vibration excitation device consists of a variable frequency motor, a transmission shaft and a coupling; variable frequency motor be connected with the backup pad, the backup pad establish in the frame, the transmission shaft pass through the shaft coupling and be connected with variable frequency motor, the transmission shaft be connected with the disc, automatically controlled translation platform is fixed on the disc, the slider on crank and the automatically controlled translation platform is connected, the connecting rod is articulated with the crank, the connecting rod is fixed on the crank guide rail top.
3. The forest fruit vibration mechanics device based on automatic visual inspection technology of claim 1, wherein: the swing mechanism is connected with the top of the crank guide rail and consists of a swing base, a speed reducing motor coupler, a swing crank, a connecting rod, a fan-shaped swing disc and a swing connecting rod; the swing base pass through the connecting rod and fix on crank guide rail top, gear motor fix on swing base, gear motor pass through gear motor shaft coupling and swing crank and be connected, fan-shaped balance pass through the connecting rod and be connected with swing crank, fan-shaped balance top and swing base coaxial coupling are equipped with the recess on the fan-shaped balance, the connecting rod along fan-shaped balance recess direction back-and-forth movement, swing connecting rod one end fix on fan-shaped balance, fixture is connected to the other end.
4. The forest fruit vibration mechanics device based on automatic visual inspection technology of claim 1, wherein: the clamping mechanism is connected with the swinging mechanism and consists of a clamping base, a left chuck, a sample, a column type load sensor, a right chuck, a locking nut, a double-end stud and a chuck connecting rod; the clamping base is connected with the chuck connecting rod, the left chuck and the right chuck are connected with the stud, the locking nut is coaxially connected with the stud, the chuck connecting rod is connected with the swing mechanism, and the column type load sensor is connected with the clamping base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210484289.3A CN114754960A (en) | 2022-05-06 | 2022-05-06 | Forest fruit vibration mechanical device based on automatic visual inspection technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210484289.3A CN114754960A (en) | 2022-05-06 | 2022-05-06 | Forest fruit vibration mechanical device based on automatic visual inspection technology |
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| Publication Number | Publication Date |
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| CN114754960A true CN114754960A (en) | 2022-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210484289.3A Pending CN114754960A (en) | 2022-05-06 | 2022-05-06 | Forest fruit vibration mechanical device based on automatic visual inspection technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115343010A (en) * | 2022-10-13 | 2022-11-15 | 南通金芸流体设备有限公司 | Ship accessory impact performance detection device |
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2022
- 2022-05-06 CN CN202210484289.3A patent/CN114754960A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115343010A (en) * | 2022-10-13 | 2022-11-15 | 南通金芸流体设备有限公司 | Ship accessory impact performance detection device |
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