CN206960025U - A kind of measurement apparatus of Kiwi berry harvesting grasping force - Google Patents
A kind of measurement apparatus of Kiwi berry harvesting grasping force Download PDFInfo
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- CN206960025U CN206960025U CN201720893958.7U CN201720893958U CN206960025U CN 206960025 U CN206960025 U CN 206960025U CN 201720893958 U CN201720893958 U CN 201720893958U CN 206960025 U CN206960025 U CN 206960025U
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- kiwi berry
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- outputting unit
- finger
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Abstract
The mode and force way of fruit are grasped for accurate research Kiwi berry picking robot, it is proposed a kind of measurement apparatus of Kiwi berry harvesting grasping force, by sensor, signal amplification circuit, 8 road A/D change-over circuits, data storage cell, data outputting unit and singlechip group into, it is characterized in that：5 sensors are attached on 5 finger gloves respectively, after human hand wear gloves, finger holds Kiwi berry, analog mechanical hand working method plucks Kiwi berry, sensor gathers the pressure between finger and fruit and is converted to voltage analog, faint signal is amplified by signal amplification circuit, then analog quantity is converted to digital quantity after 8 road A/D change-over circuits, then data storage cell is stored the result into, data result is exported finally by data outputting unit, whole measurement process is using single-chip microcomputer as core, 8 road A/D change-over circuits, data storage cell and data outputting unit are overlapped on single-chip microcomputer to realize function.
Description
Technical field
This patent is related to automated machine field, and the measurement apparatus of grasping force is plucked more particularly to a kind of Kiwi berry.
Background technology
With the continuous progress of society, mechanization, which will turn into, substitutes a kind of manually-operated development trend, currently
Social senilization is more serious, and the pressure of labor shortage is more serious, therefore the developing direction of futurity industry production will be
Heavy manual operations is carried out instead of worker using automation, intelligentized plant equipment, this can be that social development is alleviated
Aging stress problems, plant equipment can carry out heavy operation task in addition, and speed is also significantly larger than manual operation,
Labor productivity will be increased dramatically.In these mechanized equipments, the equipment of similar manipulator is widely used, and this is also
An important link in industrial production automation.
The mechanization of kiwifruit fruit and picking robot are following fruit harvest developing direction, but picking robot
End effector can not change the amount of force to Kiwi berry as human hand according to external environment, can cause one to Kiwi berry
Fixed damage, the quality of Kiwi berry is influenceed, therefore the size for studying kiwifruit fruit harvesting grasping force just becomes highly significant.Mi
Monkey peach plucks the measurement of grasping force size, can be provided to grasp the setting of force threshold when manipulator or picking robot Kiwi berry
Theoretical reference.
The content of the invention
For the measurement of Kiwi berry harvesting grasping force size, this patent devises a kind of measurement of Kiwi berry harvesting grasping force
Device.
The measurement apparatus of above-mentioned harvesting grasping force is realized, by sensor（1）, signal amplification circuit（2）, 8 road A/D conversion electricity
Road（3）, data storage cell（4）, data outputting unit（5）And single-chip microcomputer（6）Composition, it is characterized in that：5 sensors（1）
It is attached to respectively on 5 finger gloves, after human hand wear gloves, finger holds Kiwi berry, and analog mechanical hand working method plucks Kiwi berry,
Sensor（1）Gather the pressure between finger and fruit and be converted to voltage analog, pass through signal amplification circuit（2）Will be faint
Signal amplification, then analog quantity passes through 8 road A/D change-over circuits（3）After be converted to digital quantity, then store the result into data
Memory cell（4）, finally by data outputting unit（5）Data result is exported, whole measurement process is with single-chip microcomputer（6）For core
The heart, 8 road A/D change-over circuits（3）, data storage cell（4）And data outputting unit（5）It is overlapped on single-chip microcomputer（6）On with reality
Existing function.
Described sensor is the dynamic IMS series one point sensing devices of Chinese mugwort, and the sensor belongs to resistance-type diaphragm pressure sensing
Device, the power that can statically and dynamically test between two surfaces, the sensor only have 100 microns of thickness, can be placed directly against hand
Put measurement Kiwi berry harvesting grasping force；
Described signal amplification circuit is LM324 four high guaily unit integrated circuits, has that supply voltage scope is wide, quiescent dissipation
The advantages that small, single supply uses, faint analog signalses can be amplified；
Described A/D change-over circuits are the ADC0809 chips used, with A/D converter, 8 way switch and microprocessor
The cmos component of the compatible control logic of machine, 8 way switch fully meet the use of 5 sensors, and A/D converter will can sense
The analog quantity that device obtains is converted to digital quantity；Described memory cell is to build data storage using E2PROMAT24C512 chips
System, the data of collection are stored, be easy to record；
Described data outputting unit is to be come out the digital independent of memory cell storage inside by serial communication, and defeated
It is sent to PC；
Described single-chip microcomputer is STC89C52 chips, is a kind of low-power consumption, the 8-digit microcontrollers of high performance CMOS 8, can
8 road A/D change-over circuits of stable overlap joint（3）, data storage cell（4）And data outputting unit（5）.
The advantages of this patent：Apparatus structure is simple, easy to operate, and sensor is attached on gloves, passes through picking finger fruit
The size of the harvesting grasping force of real can measurement fruit, memory cell can be very good to preserve initial data.
Brief description of the drawings
This patent is further illustrated with embodiment below in conjunction with the accompanying drawings.
Fig. 1 overall schematics；
Fig. 2 gathers schematic diagram；
Wherein in overall schematic, 1. sensors, 2.A/D change-over circuits, 3. signal amplification circuits, 4. data storage lists
Member, 5. data outputting units, 6. single-chip microcomputers；
Gather in schematic diagram, 11. sensors, 12. pins, 13. leads, 14. gloves.
Embodiment
The embodiment of this patent is described in further detail with reference to explanation accompanying drawing.This patent is that a kind of picking fruit is grabbed
The measurement apparatus of holding force.
Measurement apparatus is mainly by sensor（1）, signal amplification circuit（2）, 8 road A/D change-over circuits（3）, data storage list
Member（4）, data outputting unit（5）And single-chip microcomputer（6）, specifically after human hand wear gloves, finger holds Kiwi berry, analog mechanical
Hand working method plucks Kiwi berry, sensor（1）Gather the pressure between finger and fruit and be converted to voltage analog；Due to
The analog signalses drawn are faint, so needing to pass through amplifying circuit（3）Analog signalses are amplified, after being so advantageous to
Continuous data processing；Analog signalses after amplification cannot be directly used to data processing, by 8 road A/D change-over circuits（3）Respectively
The analog quantity that 5 sensors obtain is converted into digital quantity；Data storage cell is arrived into digital quantity storage after conversion（4）In,
Data storage cell（4）It can be very good to preserve the initial data measured, it is not necessary to which often surveying a Kiwi berry will be manually recorded, greatly
The big efficiency for improving measurement；Final data memory cell（4）The data of storage pass through data outputting unit（5）It is output to PC
Machine；Whole gatherer process is carried out by core of single-chip microcomputer, passes through single-chip microcomputer（6）On power circuit, reset circuit and
Interface etc. complete whole device power supply, signal acquisition reset and with 8 road A/D change-over circuits（3）, data storage cell
（4）And data outputting unit（5）Overlap joint and complete its corresponding function.
Described sensor is the dynamic IMS series one point sensing devices of Chinese mugwort, and the sensor belongs to resistance-type diaphragm pressure sensing
Device, the power that can statically and dynamically test between two surfaces, the sensor only have 100 microns of thickness, can be placed directly against hand
Kiwi berry harvesting grasping force is measured on finger；
Described signal amplification circuit is LM324 four high guaily unit integrated circuits, has that supply voltage scope is wide, quiescent dissipation
The advantages that small, single supply uses, faint analog signalses can be amplified；
8 described road A/D change-over circuits are the ADC0809 chips used, with A/D converter, 8 way switch and micro- place
The cmos component of the compatible control logic of reason machine, 8 way switch fully meet the use of 5 sensors, and A/D converter will can pass
The analog quantity that sensor obtains is converted to digital quantity；Described memory cell is to use E2PROMAT24C512 chips are built data and deposited
Storage system, the data of collection are stored；
Described data outputting unit is to be come out the digital independent of memory cell storage inside by serial communication, and defeated
It is sent to PC；
Described single-chip microcomputer is STC89C52 chips, is a kind of low-power consumption, the 8-digit microcontrollers of high performance CMOS 8, can
8 road A/D change-over circuits of stable overlap joint（3）, data storage cell（4）And data outputting unit（5）.
Claims (1)
- A kind of 1. measurement apparatus of Kiwi berry harvesting grasping force, by sensor（1）, signal amplification circuit（2）, 8 road A/D conversion electricity Road（3）, data storage cell（4）, data outputting unit（5）And single-chip microcomputer（6）Composition, it is characterized in that：5 sensors（1） It is attached to respectively on 5 finger gloves, after human hand wear gloves, finger holds Kiwi berry, and analog mechanical hand working method plucks Kiwi berry, Sensor（1）Gather the pressure between finger and fruit and be converted to voltage analog, pass through signal amplification circuit（2）Will be faint Signal amplification, then analog quantity passes through 8 road A/D change-over circuits（3）After be converted to digital quantity, then store the result into data Memory cell（4）, finally by data outputting unit（5）Data result is exported, whole measurement process is with single-chip microcomputer（6）For core The heart, 8 road A/D change-over circuits（3）, data storage cell（4）And data outputting unit（5）It is overlapped on single-chip microcomputer（6）On with reality Existing function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720893958.7U CN206960025U (en) | 2017-07-22 | 2017-07-22 | A kind of measurement apparatus of Kiwi berry harvesting grasping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720893958.7U CN206960025U (en) | 2017-07-22 | 2017-07-22 | A kind of measurement apparatus of Kiwi berry harvesting grasping force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206960025U true CN206960025U (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720893958.7U Expired - Fee Related CN206960025U (en) | 2017-07-22 | 2017-07-22 | A kind of measurement apparatus of Kiwi berry harvesting grasping force |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107167272A (en) * | 2017-07-22 | 2017-09-15 | 西北农林科技大学 | A kind of Kiwi berry plucks the measurement apparatus of grasping force |
-
2017
- 2017-07-22 CN CN201720893958.7U patent/CN206960025U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107167272A (en) * | 2017-07-22 | 2017-09-15 | 西北农林科技大学 | A kind of Kiwi berry plucks the measurement apparatus of grasping force |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 Termination date: 20180722 |