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Clamping force detection system of seedling manipulator and detection method using the system

A detection method and manipulator technology, which are applied in force/torque/work measuring instruments, measurement of the properties of piezoelectric devices, and measuring devices, etc., can solve the problems of inaccurate detection systems, reduced productivity, etc. The effect of avoiding loss and convenient and accurate control

Inactive Publication Date: 2019-03-22
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There are also some manufacturers who use inaccurate detection systems, and still need to test and modify, which greatly reduces productivity

Method used

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  • Clamping force detection system of seedling manipulator and detection method using the system
  • Clamping force detection system of seedling manipulator and detection method using the system
  • Clamping force detection system of seedling manipulator and detection method using the system

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Embodiment Construction

[0026] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0027] In order to better illustrate the clamping force detection system and detection method of the seedling clamping manipulator provided by the present invention, a seedling clamping manipulator is firstly introduced, which includes a bracket, and the front end of the bracket is provided with two shaft sleeves arranged in parallel. Equipped with supporting rotating shafts, each supporting rotating shaft 1 is respectively fixed with a rotating seedling clamping needle 6, and the rotating seedling clamping needle 6 is fixed to the supporting rotating shaft 1. The bottoms of the two rotating seedling clamping needles 6 respectively have clamping stressed sections, and the clamping stressed sections are located below the supporting rotating shaft 1, and the two rotating clamping seedling needles rotate around the supporting rotating shaft, and the clamping...

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Abstract

The invention relates to a clamping force detection system and method for a seedling clamping manipulator. The detection method comprises the following steps that 1) when a rotary clamping pin and a corresponding clamping pin are closed for clamping, a pressure sensor arranged in the inner side of a clamping stress segment of the rotary clamping pin of the seedling clamping manipulator detects a pressure F2 born by a corresponding position of the clamping stress segment; and 2) the pressure F2 obtained in the step 1) is substituted into a following formula to calculate the total clamping force FN of the clamping stress segment of the rotary seedling clamping pin. According to the rule that forces born by the rotary seedling clamping pin when clamping pot seedlings distribute linearly, and a relation between the total clamping force and the clamping force of a certain point of the clamping stress segment of the rotary clamping pin is obtained by analysis; and thus, when the pressure sensor clings to the inner side of the clamping stress segment of the rotary clamping pin during use, the detected clamping force is more accurate and approaches a practical value infinitely.

Description

technical field [0001] The invention relates to a clamping force detection system of a manipulator for clamping seedlings and a detection method using the system. Background technique [0002] As early as the 1970s, seedling cultivation and transplanting of vegetables, flowers and other crops had become a specialized greenhouse production mode, and plug seedling technology had appeared and shown extremely strong vitality. Since the beginning of the 21st century, this technology has been widely used in the production of annual and biennial plants and flowers, and has also been widely used in some vegetable crops and some economic crops such as tobacco. At present, my country has preliminarily established an industrialized seedling raising technology system, and the output of commercial seedlings of vegetables alone has reached more than 100 billion plants. [0003] At present, developed countries such as the Netherlands have widely used transplanting machines for seedling tr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/00G01L1/16
CPCG01L1/16G01L5/0028
Inventor 王俊金鑫杜壮壮于光辉刘冲彭林
Owner HENAN UNIV OF SCI & TECH
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