CN110036760A - Varied angle picking fruit mechanism research device and its operating method - Google Patents
Varied angle picking fruit mechanism research device and its operating method Download PDFInfo
- Publication number
- CN110036760A CN110036760A CN201910432083.4A CN201910432083A CN110036760A CN 110036760 A CN110036760 A CN 110036760A CN 201910432083 A CN201910432083 A CN 201910432083A CN 110036760 A CN110036760 A CN 110036760A
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- Prior art keywords
- angle
- branch
- plate
- positioning
- carpopodium
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Sorting Of Articles (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention discloses a kind of varied angle picking fruit mechanism research device and its operating methods, the research device includes branch positioning mechanism, fruit positioning mechanism, angle measurement and fixed mechanism and dynamometer guiding mechanism, wherein the branch positioning mechanism is used to position straight line where branch；The fruit positioning mechanism is used to position target to be measured；The angle measurement and fixed mechanism are used to carry out the angle of carpopodium and branch the positioning of specified angle；The dynamometer guiding mechanism is used to measure carpopodium and branch specified angle binding force.The present invention is multiple functional, and measurement angle range is big, and positioning accuracy is high, can accurately be measured to target position, greatly reduce measurement error.
Description
Technical field
The present invention relates to biomechanics characteristic research institution, specially a kind of varied angle picking fruit mechanism research device and
Its operating method.
Background technique
Picking fruit angle refers to that in the picking process of fruit, carpopodium and branch are in when fruit and fruit tree are detached from
Angle.With the continuous development of science and technology, the Mechaniaed harvest of gourd, fruit and vegetable becomes the main trend of agriculture project development.Research is adopted
The fracture mechanism of fruit during plucking, relationship when research is broken between binding force and carpopodium branch angle, for picking fruit
Theoretical Design, the conceptual design of machinery are of great significance.
Currently, existing approximate schemes are used primarily in machining, for realizing the plane for cutting different angles, section
Deng.For being used to measure the mechanism of carpopodium Yu branch angle, mostly angle adjustable fixture in agriculture project, pass through plate jig pair
Target is clamped with branch, to realize the measurement of angle.
Above-mentioned angle adjustable fixture, has the following disadvantages:
(1) it has a single function.While measuring carpopodium and branch angle, it is unable to measure the binding force of carpopodium and branch；
(2) measurement angle range is small.Existing angle adjustable fixture, angle measurement range are 0 °~45 °, are unable to satisfy big
The requirement of angle measurement；
(3) positioning accuracy is low.Target is low with the positioning accuracy of branch joint, causes angle measurement error larger, thus
Influence measurement result.
In consideration of it, the present invention proposes a kind of varied angle picking fruit mechanism research device and method, it is intended to study different
Influence of the carpopodium branch angle to binding force, that is, the relationship between binding force and carpopodium branch angle.Firstly the need of solution branch
The determination problem of straight line is unable to measure the angle of carpopodium and branch if the position of straight line where branch can not be determined where item；
The orientation problem of straight line where its secondary solution carpopodium；Finally, to solve the fixation problem of dynamometer and device.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of varied angle picking fruit mechanism research device and its operating method,
The each mechanism of the present apparatus cooperates, the common measurement completed to carpopodium branch angle and separating force.
The technical solution adopted by the present invention to solve the technical problems are as follows:
Varied angle picking fruit mechanism research device, including branch positioning mechanism, fruit positioning mechanism, angle measurement and solid
Determine mechanism and dynamometer guiding mechanism, wherein
The branch positioning mechanism includes crossbeam, branch locating rack, and the branch locating rack is installed on by fastening bolt
Crossbeam both ends, for being positioned to straight line where branch；
The fruit positioning mechanism includes plate hanging beam and positioning bolt, and plate hanging beam one end is pacified by fastening bolt
Among crossbeam, the other end is connect with the angle measurement and fixed mechanism, for positioning to target to be measured；
The angle measurement and fixed mechanism include plate angular instrument and be mounted thereon, the plate of angle adjustable determines angle
Bar, the plate angular instrument are installed on crossbeam by fastening bolt, below plate hanging beam, for the angle to carpopodium and branch into
The positioning of row specified angle；
The dynamometer guiding mechanism includes the dynamometer guide groove being installed on plate angle fixing rod, the dynamometer guiding
Slot and dynamometer guide rod cooperate, for measuring to carpopodium and branch specified angle binding force.
As an improvement of the above technical solution, several connecting holes, inside connecting hole are offered on the plate angle fixing rod
Shaft is installed, the center of the shaft is overlapped with the center of the positioning bolt, so that it exists with carpopodium and branch tie point
On same vertical line, installation of the outside connecting hole for the dynamometer guide groove is fixed.
As an improvement of the above technical solution, it is offered on the plate angle fixing rod and determines angle stud sliding slot, be mounted therein with
Determine angle stud, described to determine angle stud sliding slot include guide groove and locating slot, described to determine angle stud and be correspondingly arranged on guide surface and fixed
Plane, so that it can slide or be locked in the stud sliding slot of angle in determining.
As an improvement of the above technical solution, described to determine that wing nut is installed above the stud of angle.
As an improvement of the above technical solution, the plate angular instrument is in semicircle plate-like comprising scale mark and angle
Locating slot, the plate angle fixing rod is by wing nut and determines angle stud and is installed in the angle locating slot of specified angle.
As an improvement of the above technical solution, pillar support bar is installed below the plate angular instrument, is used to support this
Research device.
Invention also provides a kind of operating method of varied angle picking fruit mechanism research device, the method applications
In varied angle picking fruit mechanism research device described in any of the above embodiments, specifically include:
Step (1) selectes the object to be measured on branch to be measured and branch to be measured；
Step (2), the object to be measured on branch to be measured is placed near positioning bolt, and is fixed branch with magic tape
On branch locating rack, so that target carpopodium is in plate angular instrument side；
Step (3), is finely adjusted branch, so that the pointer needle point of the tie point and positioning bolt of carpopodium and branch is in
On same vertical line；
Step (4), rotation plate angle fixing rod to specified angle position, and wing nut is rotated to the position of plate angle fixing rod
It is locked；
Step (5), dynamometer guide rod is placed in dynamometer guide groove, can be to the carpopodium and branch under specified angle
Binding force is measured.
Bring beneficial effect of the present invention has:
Present invention is mainly applied to, to the biomechanics characteristic research of various gourd, fruit and vegetables picking, have in agriculture project
Following advantages:
(1) multiple functional.It, can be in mechanism while when measuring fruit and branch is broken, carpopodium is with branch angle
Upper installation dynamometer measures the separating force of fruit and branch under the angle；
(2) measurement angle range is big.To study different carpopodiums and influence of the branch angle to separating force, measurement of the invention
Angular range is 0 °~80 °, can be from along branch direction (0 °) to inverse branch direction (180 °), every 10 ° to carpopodium and branch
Binding force is measured；
(3) positioning accuracy is high.Pilot pin, i.e. positioning bolt are provided with above the spindle central of plate angle fixing rod, it can essence
Really target position is measured, greatly reduces measurement error.
Detailed description of the invention
With reference to the accompanying drawing and specific embodiment the invention will be further described,
Attached drawing 1 is the schematic perspective view of research device of the present invention；
Attached drawing 2 is the overlooking structure diagram of research device of the present invention；
Attached drawing 3 is the schematic diagram of the section structure of research device of the present invention；
Attached drawing 4 is to determine angle bolt structure schematic diagram；
Attached drawing 5 is plate angle fixing rod structural schematic diagram；
Reference name corresponding to each serial number is as follows in figure:
11 crossbeams, 12 branch locating racks, 21 plate hanging beams, 22 positioning bolts, 31 plate angular instruments, 32 plate angle fixing rods,
321 connecting holes, 322 guide grooves, 323 locating slots, 33 determine angle stud, and 331 wing nuts, 332 guide surfaces, 333 positioning surfaces, 41 survey
Power instrument guide groove, 51 pillar support bars.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.Specific embodiments of the present invention described in attached drawing are only
Illustrate use of the present invention, is not strictly drawn in actual size and ratio.Therefore, the attached drawing in the present invention should not be construed as to this
Any restrictions of invention.Protection scope of the present invention is defined by the claims.
For the sake of the concise and prominent present invention, the details particularly relevant with the present invention is illustrated only in some drawings.It answers
Work as understanding, the presence of other details related to the present invention is not precluded in this diagramatic way.Therefore, attached drawing of the invention is not
Intention limits the scope of the invention.
Embodiment 1
Referring to Fig.1~3, varied angle picking fruit mechanism research device, including branch positioning mechanism, fruit positioning mechanism,
Angle measurement and fixed mechanism and dynamometer guiding mechanism, wherein
Branch positioning mechanism includes crossbeam 11, branch locating rack 12, and branch locating rack 12 is installed on cross by fastening bolt
11 both ends of beam, for being positioned to straight line where branch；
Fruit positioning mechanism includes plate hanging beam 21 and positioning bolt 22, and 21 one end of plate hanging beam is installed by fastening bolt
Among crossbeam 11, the plate angular instrument 31 of the other end and angle measurement and fixed mechanism is bolted, and is used to to be measured
Amount target is positioned；
Angle measurement and fixed mechanism include plate angular instrument 31 and are mounted thereon, the plate angle fixing rod of angle adjustable
32, plate angular instrument 31 is installed on crossbeam 11,21 lower section of plate hanging beam by fastening bolt, for the angle to carpopodium and branch
Carry out the positioning of specified angle.Wherein, plate angular instrument 31 is in semicircle plate-like comprising scale mark and angle locating slot, plate
Shape angle fixing rod 32, which passes through wing nut 331 and determines angle stud 33, to be installed in the angle locating slot of specified angle.
Specifically, being offered on plate angle fixing rod 32 referring to Fig. 4~5 and determining angle stud sliding slot, be mounted therein with and determine angle stud
33, determining angle stud sliding slot includes guide groove 322 and locating slot 323, determines then to be correspondingly arranged on guiding at the 33 lower end sliding of angle stud
Face 332 and positioning surface 333 are determined to install butterfly spiral shell above angle stud 33 so that it can slide or be locked in the stud sliding slot of angle in determining
Mother 331 is adjusted convenient for rotation.
When needing replacing dynamometry angle, wing nut 331 is rotated, so that determining guide surface 332 and the plate on angle stud 33
322 side of guide groove for determining angle stud sliding slot on shape angle fixing rod 32 is coplanar, can push determine the adjustment dynamometry of angle stud 33 at this time
Angle.When adjusting to specified angle position, reversed pull determines angle stud 33 to angle locating slot, rotates wing nut again
331, so that determining 322 side of guide groove for determining angle stud sliding slot on the guide surface 332 and plate angle fixing rod 32 on angle stud 33
Vertically (or the positioning surface 333 that can be regarded as determining on angle stud 33 is overlapped with 323 side of locating slot on plate angle fixing rod 32)
The circumferential position specified angle of plate angle fixing rod 32 is locked.
It is opened up on plate angle fixing rod 32 there are three connecting hole 321, the connecting hole 321 of inside is equipped with shaft, in shaft
The heart is overlapped with the center of above-mentioned positioning bolt 22, so that the center of shaft and carpopodium and branch tie point be on same vertical line,
Installation of the connecting hole 321 in outside for dynamometer guide groove 41 is fixed.
Dynamometer guiding mechanism includes the dynamometer guide groove 41 being installed on plate angle fixing rod 32, dynamometer guide groove 41
It cooperates with dynamometer guide rod, for being measured to carpopodium and branch specified angle binding force.
Pillar support bar 51 is installed below plate angular instrument 31, is used to support this research device.
The varied angle picking fruit mechanism research device advantage of the present embodiment is:
1, the determination of straight line where branch.When measuring carpopodium and branch angle, the position of straight line where determining branch is
Measure the basis of angle.Current existing multiangular measurement fixture, the position of straight line where branch can not be accurately positioned.This implementation
Example determines the principle of straight line using two o'clock, and branch is separately fixed at the positioning of the branch in symmetric position with magic tape
Frame 12, thus the position of straight line where precisely determining branch.
2, the determination of straight line where carpopodium.For the direct amount method in angular measurement, to determine carpopodium and branch
The angle of item, it must be determined that the straight line where carpopodium.Current existing multiangular measurement fixture, can not be accurately positioned where carpopodium
The position of straight line.The present embodiment is straight where determining carpopodium using softer features of plants carpopodium such as fructus lycii, Lingwu Long Jujubes
When line position, dynamometer guide rod is fixed on carpopodium root, and during dynamometry, carpopodium is tensioned to level by dynamometer,
Carpopodium root and carpopodium and branch junction will form straight line at this time, this straight line is straight line where carpopodium.And the present apparatus
It is exactly determining carpopodium root and carpopodium and branch junction two o'clock institute for the determination of straight line where carpopodium during angle measurement
Straight line.
3, the determination of carpopodium and branch link position.For angle measurement, determine that the intersection point of two rays is basis.
The present embodiment proposes a kind of intersection point localization method, and the link position of carpopodium and branch is found by plate angle fixing rod 32, operation
It is convenient and simple.
4, dynamometry and angle measurement are completed at the same time.The present embodiment is in conjunction with corresponding dynamometer, both achievable measurements to angle,
The achievable measurement to carpopodium and branch specified angle separating force again.
Embodiment 2
A kind of operating method of varied angle picking fruit mechanism research device is present embodiments provided, this method is applied to real
The varied angle picking fruit mechanism research device in example 1 is applied, is specifically included:
Step (1) selectes the object to be measured on branch to be measured and branch to be measured；
Step (2), the object to be measured on branch to be measured is placed near positioning bolt 22, and is consolidated branch with magic tape
It is scheduled on branch locating rack 12, so that target carpopodium is in 31 side of plate angular instrument；
Step (3), is finely adjusted branch, so that at the pointer needle point of the tie point of carpopodium and branch and positioning bolt 22
In on same vertical line；
Step (4), rotation plate angle fixing rod 32 to specified angle position, and wing nut 331 is rotated to plate angle fixing rod
32 position is locked；
Step (5), dynamometer guide rod is placed in dynamometer guide groove 41, can be to the carpopodium and branch under specified angle
Binding force is measured, and wherein dynamometer uses HF-2 type dynamometer.
Specific embodiments of the present invention are described in detail above, but content is only presently preferred embodiments of the present invention,
It should not be considered as limiting the scope of the invention.Any changes and modifications in accordance with the scope of the present application,
It should still be within the scope of the patent of the present invention.
Claims (7)
1. varied angle picking fruit mechanism research device, it is characterised in that: including branch positioning mechanism, fruit positioning mechanism, angle
Degree measurement and fixed mechanism and dynamometer guiding mechanism, wherein
The branch positioning mechanism includes crossbeam, branch locating rack, and the branch locating rack is installed on crossbeam by fastening bolt
Both ends, for being positioned to straight line where branch；
The fruit positioning mechanism includes plate hanging beam and positioning bolt, and plate hanging beam one end is installed on by fastening bolt
Among crossbeam, the other end is connect with the angle measurement and fixed mechanism, for positioning to target to be measured；
The angle measurement and fixed mechanism include plate angular instrument and are mounted thereon, the plate angle fixing rod of angle adjustable,
The plate angular instrument is installed on crossbeam, plate hanging beam lower section by fastening bolt, carries out for the angle to carpopodium and branch
The positioning of specified angle；
The dynamometer guiding mechanism includes the dynamometer guide groove being installed on plate angle fixing rod, the dynamometer guide groove with
Dynamometer guide rod cooperates, for measuring to carpopodium and branch specified angle binding force.
2. varied angle picking fruit mechanism research device according to claim 1, it is characterised in that: the plate angle fixing rod
On offer several connecting holes, inside connecting hole is equipped with shaft, the center at the center of the shaft and the positioning bolt
Be overlapped so that its with carpopodium and branch tie point on same vertical line, outside connecting hole is for the dynamometer guide groove
Installation is fixed.
3. varied angle picking fruit mechanism research device according to claim 2, it is characterised in that: the plate angle fixing rod
On offer and determine angle stud sliding slot, be mounted therein with and determine angle stud, described to determine angle stud sliding slot include guide groove and locating slot, institute
It states and determines angle stud and be correspondingly arranged on guide surface and positioning surface, so that it can slide or be locked in the stud sliding slot of angle in determining.
4. varied angle picking fruit mechanism research device according to claim 3, it is characterised in that: described to determine on the stud of angle
Side is equipped with wing nut.
5. varied angle picking fruit mechanism research device according to claim 4, it is characterised in that: the plate angular instrument
In semicircle plate-like comprising scale mark and angle locating slot, the plate angle fixing rod is by wing nut and determines angle stud peace
In angle locating slot loaded on specified angle.
6. varied angle picking fruit mechanism research device according to claim 1, it is characterised in that: the plate angular instrument
Lower section is equipped with pillar support bar, is used to support this research device.
7. the operating method of varied angle picking fruit mechanism research device, it is characterised in that: the method is applied to claim 1
~6 described in any item varied angle picking fruit mechanism research devices, specifically include:
Step (1) selectes the object to be measured on branch to be measured and branch to be measured；
Step (2), the object to be measured on branch to be measured is placed near positioning bolt, and branch is fixed on branch with magic tape
On locating rack, so that target carpopodium is in plate angular instrument side；
Step (3), is finely adjusted branch, so that the pointer needle point of the tie point and positioning bolt of carpopodium and branch is in same
On vertical line；
Step (4), rotation plate angle fixing rod to specified angle position, and rotate wing nut and the position of plate angle fixing rod is carried out
Locking；
Step (5), dynamometer guide rod is placed in dynamometer guide groove, can be to the carpopodium under specified angle in conjunction with branch
Power is measured.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910432083.4A CN110036760B (en) | 2019-05-23 | 2019-05-23 | Variable-angle fruit picking mechanism research device and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910432083.4A CN110036760B (en) | 2019-05-23 | 2019-05-23 | Variable-angle fruit picking mechanism research device and operation method thereof |
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| Publication Number | Publication Date |
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| CN110036760A true CN110036760A (en) | 2019-07-23 |
| CN110036760B CN110036760B (en) | 2023-10-20 |
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| CN109580402A (en) * | 2018-12-11 | 2019-04-05 | 宁夏农林科学院枸杞工程技术研究所 | A kind of measurement method of fructus lycii branch hardness |
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