CN206974534U - A kind of fruit surveys production device - Google Patents
A kind of fruit surveys production device Download PDFInfo
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- CN206974534U CN206974534U CN201720785570.5U CN201720785570U CN206974534U CN 206974534 U CN206974534 U CN 206974534U CN 201720785570 U CN201720785570 U CN 201720785570U CN 206974534 U CN206974534 U CN 206974534U
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- China
- Prior art keywords
- fruit
- production device
- gripper
- control system
- surveys production
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 67
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 26
- 235000007119 Ananas comosus Nutrition 0.000 claims description 4
- 241000287420 Pyrus x nivalis Species 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 244000099147 Ananas comosus Species 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 abstract description 3
- 241000234671 Ananas Species 0.000 description 3
- 241000220225 Malus Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005089 fruit drop Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Agricultural machinery technological field is the utility model is related to, production device is surveyed more particularly, to a kind of fruit.A kind of fruit surveys production device, including：Control system, power set, gripper, fruit, described control system control power set operating, the folding of described power set driving gripper, described gripper crawl fruit, described fruit, which surveys production device, also includes pressure sensor, described pressure sensor is arranged on gripper, and described control system detects and records the pressure value on pressure sensor.The device can realize that measurement records fruit weight in real time in picking process.
Description
Technical field
Agricultural machinery technological field is the utility model is related to, production device is surveyed more particularly, to a kind of fruit.
Background technology
As China human mortality aging and the reduction of agricultural workforce, agriculture production cost significantly improve, Mission Day is plucked
Benefit is heavy, and traditional artificial Softening can not meet actual production demand, and fruit picking tends to mechanization, intelligent hair
Exhibition.And how in picking process, directly obtain fruits output, reduce the artificial cumbersome link such as weigh, be fruit picking
One of key technology of tool research.
Utility model content
The utility model is to overcome at least one defect described in above-mentioned prior art, there is provided a kind of fruit survey production device and
Method, this method can count weight in real time in fruit picking process.
In order to solve the above technical problems, the technical solution of the utility model is as follows：A kind of fruit surveys production device, including：Control
System processed, power set, gripper, fruit, the control power set operating of described control system, the driving of described power set
The folding of gripper, described gripper crawl fruit, described fruit, which surveys production device, also includes pressure sensor, described pressure
Force snesor is arranged on gripper, and described control system detects and records the pressure value on pressure sensor.The device can
To realize, measurement records fruit weight in real time in picking process.
Further, described gripper includes two corpus unguis, and two corpus unguis clamp fruit both sides, described pressure respectively
Sensor is separately mounted on two corpus unguis of gripper.Convenient harvesting and measurement.
Further, described control system calculates fruit weight according to the pressure value of detection.
Further, described control system is single-chip computer control system.
Further, described fruit, which surveys production device, also includes temporary basket, the fruit that the storage of described temporary basket has just been taken.
Convenient harvesting.
Further, described fruit includes pineapple, apple, pyrus nivalis.
Further, described power set are electricity
Compared with prior art, beneficial effect is：Realize fruit picking process to count weight in real time, calculate fruits output,
The artificial cumbersome link such as weigh is reduced, is had the advantages that simple in construction, convenient and swift.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model fruit stress diagram.
Fig. 3 is that fruit surveys production method flow diagram.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and its explanation may be omitted and will be understood by accompanying drawing.Being given for example only property of position relationship described in accompanying drawing
Explanation, it is impossible to be interpreted as the limitation to this patent.
As Figure 1-3, a kind of fruit surveys production device, including：Control system 1, power set 5, gripper 3, fruit 2,
Described control system 1 controls power set 5 to operate, and described power set 5 drive the folding of gripper 3, described machinery
Pawl 3 captures fruit, it is characterised in that described fruit, which surveys production device, also includes pressure sensor 4, described pressure sensor 4
On gripper 3, described control system 1 detects and records the pressure value on pressure sensor 4.
Further, described gripper 3 includes two corpus unguis, and two corpus unguis clamp the both sides of fruit 2, described pressure respectively
Force snesor 4 is separately mounted on two corpus unguis of gripper 3.
Further, described control system 1 calculates the weight of fruit 2 according to the pressure value of detection.
Further, described control system 1 is single-chip computer control system.
Further, described fruit, which surveys production device, also includes temporary basket, the fruit that the storage of described temporary basket has just been taken.
Further, described fruit 2 includes pineapple, apple, pyrus nivalis.
Further, described power set 5 are motor.
A kind of fruit surveys production method, it is characterised in that comprises the following steps：
S1：Pre- clamping force F when gripper is plucked is obtained by preliminary experimentmAnd the friction system between fruit and gripper
Number μ, when fruit-picking, 2f=2Fmμ≥mg。
S2：When gripper clamping fruit is moved to the temporary basket specified, motor drive machinery pawl slowly unclamps fruit, this
When control system constantly detect record pressure sensor pressure FNChange curve.
S3：Frictional force of the f between fruit and gripper, works as 2f=2FNDuring μ≤mg, fruit will drop between gripper, this
When pressure value FN0 is dropped to rapidly, by carrying out data processing to the change in process curve of pressure sensor 4, determines that fruit drops
Critical condition FNValue.
S4：By 2f=2FNμ=mg, you can obtain single fruit weight
Further, step S5 is also included after described S4, step S5 is：S2-S4 processes are repeated, obtain fruit total output
M。
When manipulator carries out harvesting operation, the tight fruit of motor drive machinery claw clip, by single-chip computer control system control machine
The pretightning force of machinery claw, when manipulator is moved to temporary basket, motor drive machinery pawl slowly unclamps fruit, now single-chip microcomputer control
System processed constantly detects the change curve of the pressure of record pressure sensor, when fruit will drop moment among gripper, pressure
Force value drops to rapidly 0, by carrying out data processing to pressure sensor change in process curve, determines that fruit drops critical condition
The value of pressure sensor, byIt can obtain single fruit weight.Said process is repeated, finally gives fruit total yield
Measure M.This method is particularly suitable for use in the big fruit of the particle volumes such as pineapple, apple, pyrus nivalis.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments
It is exhaustive.All made within spirit of the present utility model and principle all any modification, equivalent and improvement etc., should be included in
Within the protection domain of the utility model claims.
Claims (7)
1. a kind of fruit surveys production device, including：Control system（1）, power set（5）, gripper（3）, fruit（2）, it is described
Control system（1）Control power set（5）Operating, described power set（5）Drive gripper（3）Folding, described machine
Machinery claw（3）Capture fruit, it is characterised in that described fruit, which surveys production device, also includes pressure sensor（4）, described pressure passes
Sensor（4）Installed in gripper（3）On, described control system（1）Detect and record pressure sensor（4）On pressure value.
2. a kind of fruit according to claim 1 surveys production device, it is characterised in that described gripper（3）Including two
Corpus unguis, two corpus unguis clamp fruit respectively（2）Both sides, described pressure sensor（4）It is separately mounted to gripper（3）Two
On corpus unguis.
3. a kind of fruit according to claim 1 surveys production device, it is characterised in that described control system（1）According to inspection
The pressure value of survey calculates fruit（2）Weight.
4. a kind of fruit according to claim 1 surveys production device, it is characterised in that described control system（1）For monolithic
Machine control system.
5. a kind of fruit according to claim 1 surveys production device, it is characterised in that described fruit, which surveys production device, also to be included
Temporary basket, the fruit that the storage of described temporary basket has just been taken.
6. a kind of fruit according to claim 1 surveys production device, it is characterised in that described fruit（2）Including pineapple, apple
Fruit, pyrus nivalis.
7. a kind of fruit according to claim 1 surveys production device, it is characterised in that described power set（5）For motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720785570.5U CN206974534U (en) | 2017-07-01 | 2017-07-01 | A kind of fruit surveys production device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720785570.5U CN206974534U (en) | 2017-07-01 | 2017-07-01 | A kind of fruit surveys production device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206974534U true CN206974534U (en) | 2018-02-06 |
Family
ID=61407577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720785570.5U Active CN206974534U (en) | 2017-07-01 | 2017-07-01 | A kind of fruit surveys production device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206974534U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107152963A (en) * | 2017-07-01 | 2017-09-12 | 岭南师范学院 | A kind of fruit surveys production device and method |
-
2017
- 2017-07-01 CN CN201720785570.5U patent/CN206974534U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107152963A (en) * | 2017-07-01 | 2017-09-12 | 岭南师范学院 | A kind of fruit surveys production device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220909 Address after: 524132 Shuigou house, shile village, Longmen Village Committee, qujie Town, Xuwen County, Zhanjiang City, Guangdong Province Patentee after: Xuwen Lianxiang agricultural products planting Co.,Ltd. Address before: 524048 Guangdong Province, Zhanjiang city Chikan District Road No. 29. Patentee before: LINGNAN NORMAL University |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A fruit yield measuring device Effective date of registration: 20231211 Granted publication date: 20180206 Pledgee: China Postal Savings Bank Co.,Ltd. Xuwen County Branch Pledgor: Xuwen Lianxiang agricultural products planting Co.,Ltd. Registration number: Y2023980070637 |