JPH0256042B2 - - Google Patents

Description

【発明の詳細な説明】 本発明は、アームの先端に連設した果実取入用
筒状ケース側に引退される状態と果梗を所定位置
に押圧支持するように前記ケースから突出する状
態とに切換操作自在な果梗押圧用部材の複数個
を、前記ケースの周方向に並べて前記ケースに設
けた果実収穫用ロボツトハンドに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a state in which the arm is retracted to the cylindrical case for taking in fruits connected to the tip of the arm, and a state in which it protrudes from the case so as to press and support the fruit stem in a predetermined position. The present invention relates to a fruit harvesting robot hand in which a plurality of fruit stem pressing members which can be switched and operated are arranged in the circumferential direction of the case and provided in the case.

かかるロボツトハンドは、蜜柑や林檎等の果実
を安全に、あるいは、能率良く収穫するために研
究開発されたものであるが、本出願人が既に提案
したロボツトハンドにおいて、果梗押圧用部材
を、基端部を中心に出退揺動自在に枢支される帯
板状に形成するようにしていたため、基端部を中
心に出退揺動している点に起因してその突出時に
隣り合う押圧用部材間の接触抵抗が大きくなつた
り、出退軌跡が一定しないために動作が不安定に
なる虞れがあり、そのために、カツタを果梗に適
正通り接触させることができなくなる虞れがあ
り、改善の余地が有つた。 Such robot hands have been researched and developed to safely and efficiently harvest fruits such as mandarin oranges and apples, but in the robot hand that the applicant has already proposed, the pedestal pressing member is Since it was formed in the form of a band plate that was pivoted so as to be able to move forward and backward around the base end, the two parts could be adjacent to each other when they were protruded due to the fact that they could swing forward and backward around the base end. There is a risk that the contact resistance between the pressing members will increase and the movement will become unstable due to an inconsistent egress and retraction trajectory, and as a result, the cutter may not be able to properly contact the fruit stalk. Yes, there was room for improvement.

又、果梗押圧用部材をケースに対して出退自在
な構造とする必要が有り、この押圧用部材をケー
スに対していわゆる片持ち支持の構成を採用する
と、出退軌跡の維持が不安定になつたり駆動機構
の構成が複雑になる欠点が有つた。 In addition, it is necessary to have a structure in which the member for pressing the fruit stalk can move in and out of the case, and if the pressing member is supported in a so-called cantilever manner with respect to the case, it becomes unstable to maintain the locus of movement in and out. This has the disadvantage that the structure of the drive mechanism becomes complicated.

本発明は、上記実状に鑑みて為されたものであ
つて、その目的は、簡単な改造によつて、果梗切
断を適確に行なえるようにする点にある。 The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable accurate cutting of fruit stems through simple modification.

上記目的を達成すべく、本発明による果実収穫
用ロボツトハンドは、前記果梗押圧用部材の両端
部に、前記ケース側に対して出退揺動自在に枢支
される一対の支持部を備えさせてある点に特徴を
有する。 In order to achieve the above object, the robot hand for fruit harvesting according to the present invention includes a pair of support parts at both ends of the pedestal pressing member, which are pivotally supported to be swingable in and out of the case side. It is characterized by certain points.

上記特徴故に下記の如き優れた効果が発揮され
るに至つた。 Because of the above characteristics, the following excellent effects have been achieved.

即ち、果梗押圧用部材をケースに対して出退さ
せるに、一対の支持部によつて枢支してあるか
ら、果梗押圧部材自体の強度を大きくする必要が
無くなるとともに、従来のように片持ち支持しな
いのでその構造も極めて簡素なものにできるに至
つた。 In other words, since the pedestal pressing member is pivoted by a pair of support parts to move it in and out of the case, there is no need to increase the strength of the pedestal pressing member itself, and it is not necessary to increase the strength of the pedestal pressing member itself, unlike the conventional case. Since there is no cantilever support, the structure can be made extremely simple.

つまり、一対の支持部によつていわゆる両持支
持しているので、この一対の枢支点を中心に果梗
押圧用部材を揺動あるいは回動させることによつ
てケースに対して出退駆動可能であり、従つてそ
の駆動機構の構成も簡素なものにできる。 In other words, since it is supported on both sides by a pair of supporting parts, it is possible to move it in and out of the case by swinging or rotating the pedestal pressing member around this pair of pivot points. Therefore, the configuration of the drive mechanism can be simplified.

以下本発明の実施例を図面に基づいて説明す
る。 Embodiments of the present invention will be described below based on the drawings.

第１図に示すように、左右一対の推進車輪１、
前後一対の遊転輪２、及び昇降自在なアウトリガ
ー３の複数個を備えた車体に、電動モータ４によ
つて駆動回転自在な旋回台５を取付け、上下に昇
降自在なリフト装置Ａを、旋回中心に位置させて
旋回台５に取付けると共に、果実収穫用ロボツト
ハンドＢを、リフト装置Ａの上端部に取付けて、
果実収穫機を構成してある。 As shown in FIG. 1, a pair of left and right propulsion wheels 1,
A swivel base 5 that is rotatably driven by an electric motor 4 is attached to a vehicle body equipped with a pair of front and rear idle wheels 2 and a plurality of outriggers 3 that can be raised and lowered, and a lift device A that can be raised and lowered is rotated. At the same time, the robot hand B for fruit harvesting is attached to the upper end of the lift device A,
A fruit harvesting machine is configured.

前記リフト装置Ａは、電動モータ等によつて回
転駆動されアーム６の基端部を昇降駆動するネジ
部材２４と昇降軌跡のガイド部材２５，２５を備
え、前記ネジ部材２４の正逆回転作動によりアー
ム６を昇降するように構成してある。 The lift device A includes a screw member 24 that is rotatably driven by an electric motor or the like and drives the base end of the arm 6 up and down, and guide members 25 and 25 for an up-and-down locus, and is driven by the forward and reverse rotation of the screw member 24. The arm 6 is configured to move up and down.

前記果実収穫用ロボツトハンドＢを構成する
に、第１図乃至第４図に示すように、リフト装置
Ａに対して上下揺動操作自在な第１アーム６ａ、
そのアーム６ａに対して上下揺動操作自在な第２
アーム６ｂ、そのアーム６ｂに対して上下揺動操
作自在な第３アーム６ｃを備えた多関節アーム６
を設け、果実取入用筒状ケース７を水平軸芯Ｘ周
りで自由揺動自在に枢支する二又状支持枠８を、
第３アーム６ｃの先端に、アーム長手方向に沿う
軸芯Ｙ周りで自由回動自在に枢支し、そして、筒
状ケース側に引退する状態と収穫対象果実を覆う
ようにケース７から突出する状態とに切換操作自
在な果梗押圧用部材９の複数個を、前記ケース７
の周方向に並べて設けると共に、収穫対象果実と
枝とを接続する柄状部分、いわゆる、果梗を切断
する円弧状のカツタ１０を、両端部を支点として
前記果梗押圧用部材９とともにケース７に対して
出退自在に枢着し、さらに、果実に接触すると果
実から離れる側にケース７を水平移動させるため
の情報を出力するケース誘導用接触センサー１２
の複数個を、ケース７の開口周縁部に並設してあ
る。 As shown in FIGS. 1 to 4, the fruit harvesting robot hand B includes a first arm 6a that can be vertically swung relative to the lift device A;
The second arm 6a can be freely swung up and down with respect to the arm 6a.
A multi-joint arm 6 including an arm 6b and a third arm 6c that can be vertically swung relative to the arm 6b.
A forked support frame 8 is provided, and supports the fruit intake cylindrical case 7 so as to be freely swingable around the horizontal axis X.
The third arm 6c is pivoted at the tip thereof so as to be freely rotatable around an axis Y along the arm's longitudinal direction, and protrudes from the case 7 so as to be retracted toward the cylindrical case side and to cover the fruit to be harvested. A plurality of pedestal pressing members 9, which can be freely switched between states, are mounted in the case 7.
A handle-like part connecting the fruit to be harvested and the branch, so-called an arc-shaped cutter 10 for cutting the fruit stalk, is arranged in the circumferential direction of the case 7, with both ends serving as fulcrums, together with the stalk pressing member 9. A case guiding contact sensor 12 is pivoted to be able to move in and out of the case, and further outputs information for horizontally moving the case 7 away from the fruit when it comes into contact with the fruit.
A plurality of these are arranged in parallel around the opening periphery of the case 7.

すなわち、果実取入用筒状ケース７は、自重に
よつて上向き姿勢に維持されることになる。そし
て、多関節アーム６の作動、あるいは、リフト装
置Ａの作動により、筒状ケース７を目標果実の下
方位置から果実収穫に適する高さに上昇動させ、
且つ、その上昇動時に、接触センサー１２の検出
情報に基づいて果実が筒状ケース７の開口部中央
箇所に位置するように修正し、その後、果梗押圧
用部材９およびカツタ１０を突出作動させて収穫
対象果実を覆つたのち、カツタ１０を作動させて
果梗を切断し、収穫果実を回収する作業を行なえ
るように構成してある。 That is, the fruit intake cylindrical case 7 is maintained in an upward position by its own weight. Then, by operating the multi-joint arm 6 or operating the lift device A, the cylindrical case 7 is moved upward from a position below the target fruit to a height suitable for harvesting the fruit,
In addition, during the upward movement, the fruit is corrected to be located at the center of the opening of the cylindrical case 7 based on the detection information of the contact sensor 12, and then the stem pressing member 9 and the cutter 10 are operated to protrude. After covering the fruit to be harvested, the cutter 10 is operated to cut the stem and collect the harvested fruit.

前記果梗押圧用部材９について詳述すれば、第
２図〜第４図に示すように、ワイヤ等の弾性線材
を円弧状に屈曲形成した各押圧用部材９の一端側
９ａを前記ケース７の内側面に軸支するととも
に、他端側９ｂをケース７を貫通して軸支してあ
り、前記果梗押圧用部材９の両端９ａ，９ｂを支
持部としてその支点を中心に回動させることによ
つて、ケース７に対して出退自在に構成してあ
る。 More specifically, as shown in FIGS. 2 to 4, one end 9a of each pressing member 9, which is formed by bending an elastic wire such as a wire into an arc shape, is connected to the case 7. The other end side 9b is pivotally supported through the case 7, and is rotated around its fulcrum using both ends 9a, 9b of the pedestal pressing member 9 as supporting parts. In particular, it is configured to be able to move in and out of the case 7 at will.

前記果梗押圧用部材９をケース７に対して出退
駆動するに、前記ケース７を内筒７ａと外筒７ｂ
とに２分割するとともに内筒７ａを外筒７ｂに対
して鉛直軸Ｚ周りに回転自在な状態で内嵌支持さ
せ、前記果梗押圧用部材９の他端９ｂから出退操
作用のＬ字状部９ｄを延設し、そのＬ字状部９ｄ
の先端部が係合する上下方向に沿うスリツト１１
を前記外筒７ｂの外面に形成し、さらに、リンク
１３によつて内筒７ａを回転駆動するエアシリン
ダ１４を設けて、前記内筒７ａの正逆転作動に伴
い果梗押圧用部材９をケース７に対して出退揺動
させるように構成してある。 In order to move the fruit stem pressing member 9 into and out of the case 7, the case 7 is moved between the inner cylinder 7a and the outer cylinder 7b.
The inner cylinder 7a is supported by being fitted into the outer cylinder 7b in a rotatable state around the vertical axis Z, and an L-shape for egress/retraction operation is formed from the other end 9b of the peduncle pressing member 9. The L-shaped portion 9d is extended.
A slit 11 along the vertical direction that the tip of the slit 11 engages with.
is formed on the outer surface of the outer cylinder 7b, and is further provided with an air cylinder 14 that rotationally drives the inner cylinder 7a by a link 13, so that the fruit stem pressing member 9 is moved into the case as the inner cylinder 7a rotates in the forward and reverse directions. It is configured to swing in and out relative to 7.

前記カツタ１０について説明すれば、第６図に
示すように、長手方向に中央部に凹形の刃部１
５，１５′を有し、且つ、長手方向相対移動され
て切断作用する一対の円弧帯板状刃体１６，１
６′を設けてある。そして、カツタ１０の両端部
を、ケース７の径方向に沿う軸芯Ｑ周りで揺動自
在に枢着するとともに、一端側に固定したリンク
１７およびこのリンク１７先端部に固着され前記
果梗押圧用部材９と同様にして前記スリツト１１
に係合する係合ピン１８を設け、前記内筒７ａの
回転駆動により、果梗押圧用部材９とともにケー
ス７に対して出退揺動させて、第３図および第４
図に示すように、各果梗押圧用部材９の押圧作用
部９ｃとこのカツタ１０が交差することによつて
ケース７上部中央に形成される間隙S₁に果梗を位
置決め保持させた後、前記刃部１５，１５′によ
つて果梗を切断するように構成してある。 To explain the cutter 10, as shown in FIG.
5, 15', and a pair of arcuate band-shaped blades 16, 1 that are moved relative to each other in the longitudinal direction to perform a cutting action.
6' is provided. Both ends of the cutter 10 are pivotally connected around an axis Q along the radial direction of the case 7, and a link 17 is fixed to one end side, and a link 17 is fixed to the tip of the link 17 to press the fruit stem. In the same manner as the member 9, the slit 11 is
An engaging pin 18 is provided which engages with the inner cylinder 7a, and the inner cylinder 7a is rotated to swing in and out of the case 7 together with the pedestal pressing member 9.
As shown in the figure, after the fruit stem is positioned and held in the gap _S1 formed at the center of the upper part of the case 7 by the intersecting of the pressing part 9c of each fruit stem pressing member 9 and this cutter 10, The blade portions 15, 15' are configured to cut the fruit stalk.

前記一対の刃体１６，１６′を相対移動自在に
支持するに、外方側の刃体１６の両端部を軸支
し、内方側の刃体１６′の一端部に係合するリン
ク１７を設け、このリンク１７をエアシリンダ１
９によつて上下方向に駆動することによつて、前
記外方側の刃体１６に対して内方側の刃体１６′
をその長手方向に移動できるようにしてある。そ
して、第５図および第６図に示すように、前記エ
アシリンダ１９の作動によつて前記刃部１５，１
５′の凹部すなわち前記ケース７中央に形成され
た間隙S₁に位置決めされた果梗を切断するのであ
る。 To support the pair of blade bodies 16, 16' relatively movably, a link 17 pivotally supports both ends of the outer blade body 16 and engages with one end of the inner blade body 16'. This link 17 is connected to the air cylinder 1.
9 in the vertical direction, the inner blade 16' is moved relative to the outer blade 16.
can be moved in its longitudinal direction. As shown in FIGS. 5 and 6, the blade portions 15 and 1 are activated by the operation of the air cylinder 19.
The fruit stem positioned in the recess 5', that is, the gap _S1 formed in the center of the case 7, is cut.

尚、上記構成の果実収穫機を使用するに、例え
ば第１図に示すように、果実を検出するテレビカ
メラ２０を設けて、それの検出情報に基づいてロ
ボツトハンドＢを遠隔操縦するとよく、そして、
遠隔操縦するに、目標果実の位置を測距装置等を
用いて確認しながら、起動操作指令に基づいてロ
ボツトハンドＢを自動運転する制御装置を備えさ
せるようにすると一層便利である。 Incidentally, when using the fruit harvesting machine having the above configuration, it is preferable to install a television camera 20 for detecting fruits as shown in FIG. 1, and remotely control the robot hand B based on the detection information thereof. ,
For remote control, it would be more convenient to include a control device that automatically operates the robot hand B based on a starting operation command while confirming the position of the target fruit using a distance measuring device or the like.

更に、その場合、第２図に示すように、二又状
支持枠８を電磁クラツチおよび回転状況を検出す
るエンコーダを装備したモータ２１によつてアー
ム６ｃの軸芯Ｙ周りに回転駆動するとともに、同
様に電磁クラツチおよびエンコーダを装備したモ
ータ２２およびチエーン２３によつて前記ケース
７を軸芯Ｘ周りに回転駆動して、果実に対するケ
ース７の向きを調節して、対象果実に対してアプ
ローチを行なうようにするとよい。そして、目標
位置にケース７が到達した時点で前記モータ２
１，２２の各クラツチを切操作すると、前述した
ように、ケース７はその自重によつて自動的に上
向き姿勢に維持されることとなる。 Furthermore, in that case, as shown in FIG. 2, the bifurcated support frame 8 is rotationally driven around the axis Y of the arm 6c by a motor 21 equipped with an electromagnetic clutch and an encoder for detecting the rotational state, and Similarly, the case 7 is rotated around the axis X by a motor 22 and a chain 23 equipped with an electromagnetic clutch and an encoder, and the direction of the case 7 relative to the fruit is adjusted to approach the target fruit. It is better to do this. Then, when the case 7 reaches the target position, the motor 2
When the clutches 1 and 22 are disengaged, the case 7 is automatically maintained in an upward position by its own weight, as described above.

次に、別の実施例を説明する。 Next, another example will be described.

果梗押圧用部材９を構成するに、ワイヤ等の弾
性線材によつて円弧状に形成する他、曲面板状に
形成しても良い。さらに、その押圧作用部９ｃを
ゴム等の可撓性部材で被覆して果実を傷つけない
ように保護すべく構成しても良く、果梗押圧用部
材９の具体構成は各種変更できる。 The fruit stem pressing member 9 may be formed of an elastic wire such as a wire into an arc shape, or may be formed into a curved plate shape. Further, the pressing portion 9c may be covered with a flexible member such as rubber to protect the fruit from damage, and the specific configuration of the pedestal pressing member 9 can be modified in various ways.

又、前記果梗押圧用部材９をケース７に対して
出退駆動する構造も、エアシリンダ１４とリンク
１３によりケース７の内筒７ａと外筒７ｂを相対
回転させる他、モータ等によつて直接回転駆動し
ても良い。さらに、果梗押圧用部材９の端部９ｂ
先端と外筒７ｂのスリツト１１との係合によつて
出退させる他、果梗押圧用部材９の各支持部９
ａ，９ｂの一方にそれと一体回転するギアを設
け、外筒７ｂに前記ギヤと咬合するラツク設け
て、直接押圧用部材９をその支持部を中心に回転
させて出退駆動するようにしても良く、各種変更
できる。 Furthermore, the structure for driving the fruit stem pressing member 9 in and out of the case 7 is also achieved by relatively rotating the inner cylinder 7a and the outer cylinder 7b of the case 7 by an air cylinder 14 and a link 13, or by using a motor or the like. Direct rotational drive may also be used. Furthermore, the end 9b of the member 9 for pressing the fruit stem
In addition to being moved in and out by the engagement of the tip with the slit 11 of the outer cylinder 7b, each support portion 9 of the pedestal pressing member 9 is
It is also possible to provide one of the a and 9b with a gear that rotates integrally with the gear, and provide a rack that engages with the gear on the outer cylinder 7b, so that the direct pressing member 9 can be moved in and out by rotating around its support. Good, you can make various changes.

又、カツタ１０としては、各種の構成のものが
使用でき、本実施例で示すような果梗押圧用部材
に兼用する他、独立して設けても良い。またその
駆動する構造もエアシリンダ１９のみならずモー
タとリンク等によつて駆動しても良く、各種変更
できる。 Further, the cutter 10 can be of various configurations, and may be provided independently in addition to being used as a member for pressing the fruit stem as shown in this embodiment. Further, the driving structure thereof may be driven not only by the air cylinder 19 but also by a motor, a link, etc., and various changes can be made.

【図面の簡単な説明】[Brief explanation of drawings]

図面は本発明に係る果実収穫用ロボツトハンド
の実施例を示し、第１図は果実収穫機の全体側面
図、第２図はハンドの平面図、第３図はハンドの
側断面図、第４図は果梗押圧用部材の突出時の平
面図、そして、第５図および第６図はカツターの
作動状態の説明図である。 ６……アーム、７……果実取入用筒状ケース、
９……果梗押圧用部材、９ｃ……押圧作用部、９
ａ，９ｂ……支持部。 The drawings show an embodiment of the fruit harvesting robot hand according to the present invention, in which Fig. 1 is an overall side view of the fruit harvesting machine, Fig. 2 is a plan view of the hand, Fig. 3 is a side sectional view of the hand, and Fig. 4 is a side view of the fruit harvesting machine. This figure is a plan view of the kerat pressing member when it is projected, and FIGS. 5 and 6 are explanatory diagrams of the operating state of the cutter. 6... Arm, 7... Cylindrical case for fruit intake,
9... Fruit stem pressing member, 9c... Pressing action part, 9
a, 9b...Support part.

Claims (1)

【特許請求の範囲】 １ アーム６の先端に連設した果実取入用筒状ケ
ース７側に引退される状態と果梗を所定位置に押
圧支持するように前記ケース７から突出する状態
とに切換操作自在な果梗押圧用部材９の複数個
を、前記ケース７の周方向に並べて前記ケース７
に設けた果実収穫用ロボツトハンドであつて、前
記果梗押圧用部材９の両端部に、前記ケース７側
に対して出退揺動自在に枢支される一対の支持部
９ａ，９ｂを備えさせてある果実収穫用ロボツト
ハンド。 ２ 前記果梗押圧用部材９を、半円弧状に形成し
てある特許請求の範囲第１項に記載の果実収穫用
ロボツトハンド。[Claims] 1. A state in which it is retracted to the side of a cylindrical case 7 for fruit intake connected to the tip of the arm 6, and a state in which it protrudes from the case 7 so as to press and support the fruit stem in a predetermined position. A plurality of switchable pedestal pressing members 9 are lined up in the circumferential direction of the case 7, and the case 7 is
The robot hand for fruit harvesting is provided with a pair of support parts 9a and 9b at both ends of the member 9 for pressing the fruit stem, which are pivotably supported to be swingable in and out of the case 7 side. A robotic hand for fruit harvesting. 2. The fruit harvesting robot hand according to claim 1, wherein the fruit stem pressing member 9 is formed in a semicircular arc shape.