JPH0316429Y2 - - Google Patents
Info
- Publication number
- JPH0316429Y2 JPH0316429Y2 JP13731085U JP13731085U JPH0316429Y2 JP H0316429 Y2 JPH0316429 Y2 JP H0316429Y2 JP 13731085 U JP13731085 U JP 13731085U JP 13731085 U JP13731085 U JP 13731085U JP H0316429 Y2 JPH0316429 Y2 JP H0316429Y2
- Authority
- JP
- Japan
- Prior art keywords
- blade
- fruit
- blade body
- cylinder
- pivot pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000005520 cutting process Methods 0.000 claims description 28
- 235000020983 fruit intake Nutrition 0.000 claims description 14
- 238000003306 harvesting Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 description 50
- 238000001514 detection method Methods 0.000 description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000008093 supporting effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000025174 PANDAS Diseases 0.000 description 1
- 208000021155 Paediatric autoimmune neuropsychiatric disorders associated with streptococcal infection Diseases 0.000 description 1
- 240000000220 Panda oleosa Species 0.000 description 1
- 235000016496 Panda oleosa Nutrition 0.000 description 1
- 108010085603 SFLLRNPND Proteins 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
【考案の詳細な説明】
〔産業上の利用分野〕
本考案は、果実取入口から退避した退避位置と
前記果実取入口内に突出する果梗切断位置とに亘
つて揺動自在な帯板状の第１刃体を設けると共
に、その第１刃体の長手方向にスライド移動して
切断作用する帯板状の第２刃体を、前記第１刃体
にスライド自在に連結し、前記第２刃体をスライ
ド操作するシリンダを設けた果実収穫用ロボツト
ハンドにおける果梗切断カツタに関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a belt-like structure that can freely swing between a retracted position from the fruit intake port and a fruit stem cutting position that projects into the fruit intake port. a first blade body is provided, and a second blade body in the form of a band plate that performs cutting by sliding in the longitudinal direction of the first blade body is slidably connected to the first blade body, and the second blade body is slidably connected to the first blade body. This invention relates to a stem cutting cutter in a fruit harvesting robot hand equipped with a cylinder that slides the blade.
かかる果梗切断カツタにおいて、従来では、第
８図に示すように、第２刃体１１ｂをスライド移
動させるためのシリンダ１００と第２刃体１１ｂ
から連設された帯板状１０１とを、ピンＰを用い
て枢支連結して、果梗切断カツタ１１の揺動に伴
つて前記帯板材１０１をピンＰ軸芯周りで揺動さ
せるようにしていた。要するに、シリンダ１００
を固定配置した状態で果梗切断カツタ１１の揺動
を許容させるべく、ピンＰにて枢支連結させるよ
うにしていた（特開昭61−15616号参照）。
Conventionally, in such a stem cutting cutter, as shown in FIG. 8, a cylinder 100 for sliding the second blade 11b and a second blade 11b are used.
The strip material 101 connected to the strip material 101 is pivotally connected using a pin P, so that the strip material 101 is swung around the axis of the pin P as the stem cutting cutter 11 swings. was. In short, cylinder 100
In order to allow the stem cutting cutter 11 to swing in a fixed position, the stem cutting cutter 11 is pivotally connected by a pin P (see Japanese Patent Laid-Open No. 15616/1983).
しかしながら、上記従来構造によると、第１刃
体１１ａが外嵌する枢支ピン１０３とは別のピン
Ｐによつて第２刃体１１ｂの揺動枢支部を形成す
るものであるため、第１刃体１１ａの揺動軸芯Ｑ
と第２刃体１１ｂの揺動軸芯とを合致させようと
すると、第１刃体１１ａの揺動枢支部及び第２刃
体１１ｂの揺動枢支部夫々を精度良く製作する必
要があるが、製作誤差のために、第２刃体１１ｂ
の揺動軸芯を第１刃体１１ａの揺動軸芯に合致さ
せることができなくなつて、第２刃体１１ｂの枢
支部にコジレが生じる等、第１、第２刃体１１
ａ，１１ｂの夫々を円滑に揺動させることができ
なくなる虞れがあつた。
However, according to the above-mentioned conventional structure, since the pivot pin P of the second blade body 11b is formed by a pin P different from the pivot pin 103 fitted onto the first blade body 11a, the first blade body 11a Swing axis Q of the blade 11a
In order to match the pivot axis of the second blade body 11b with the swing axis of the second blade body 11b, it is necessary to manufacture each of the swing pivot part of the first blade body 11a and the swing pivot part of the second blade body 11b with high precision. , due to manufacturing errors, the second blade body 11b
The first and second blade bodies 11 may not be able to match the pivot axis of the first blade body 11a with the pivot axis of the first blade body 11a, and the pivot portion of the second blade body 11b may become twisted.
There was a risk that each of a and 11b would not be able to swing smoothly.
ちなみに、上記従来構造においては、第２刃体
１１ｂに対するピンＰを、第１刃体１１ａが外嵌
する枢支ピン１０３に対して傾斜するように配置
し、揺動に伴つて、帯板材１０１のピンＰに対す
る外嵌位置をピン長手方向に自動的に変更させな
がら、両刃体１１ａ，１１ｂの揺動軸芯を極力合
致させるように工夫されているが、そのようにし
ても、両刃体１１ａ，１１ｂを円滑に揺動させる
ことができない虞れがあつた。 Incidentally, in the above conventional structure, the pin P for the second blade 11b is arranged so as to be inclined with respect to the pivot pin 103 to which the first blade 11a is externally fitted, and as it oscillates, the pin P for the second blade 11b is It is devised to match the swing axes of the double-edged bodies 11a and 11b as much as possible while automatically changing the external fitting position of the double-edged body 11a and 11b with respect to the pin P in the pin longitudinal direction. , 11b may not be able to swing smoothly.
尚、第２刃体操作用のシリンダ１００を、第１
刃体１１ａの揺動軸芯Ｑ周りに枢着すると共に、
第２刃体１１ｂとシリンダ１００とを固定連結し
て、第１刃体１１ａ，１１ｂとシリンダ１００と
を一体揺動させる手段が考えられるが、この場
合、シリンダ１００に対する配管構造に、シリン
ダ１００の揺動を許容できるようにするための融
通を設けなければならず、コスト上昇を抑制する
必要上実施し難いものである。 Note that the cylinder 100 for the second blade operation is replaced by the first cylinder 100.
It is pivotally mounted around the swing axis Q of the blade 11a, and
A possible method is to fixedly connect the second blade body 11b and the cylinder 100 to allow the first blade bodies 11a, 11b and the cylinder 100 to swing together, but in this case, the piping structure for the cylinder 100 is Flexibility must be provided to allow for swinging, which is difficult to implement due to the need to suppress cost increases.
本考案は、上記実情に鑑みてなされたものであ
つて、その目的は、簡単な改造によつて、第１刃
体及び第２刃体夫々の揺動をスムーズに行うこと
ができるようにする点にある。 The present invention was developed in view of the above circumstances, and its purpose is to enable smooth rocking of the first blade body and the second blade body by simple modification. At the point.
本考案の特徴構成は、前記第２刃体を、前記第
１刃体が外嵌する枢支ピンに、揺動自在に枢支す
ると共に、前記第２刃体の前記枢支ピンに対する
ボス部に、前記第１刃体を果梗切断位置に操作し
た状態において、前記第２刃体がスライド移動す
るに伴つて前記枢支ピンが係脱するピン係入用溝
を形成し、前記シリンダに連結される刃体操作部
材を、前記第２刃体のボス部に相対回転自在に外
嵌させると共に、その刃体操作部材に、それがシ
リンダにて移動操作されるに伴つて前記枢支ピン
が係脱するピン係入用溝を形成した点にあり、そ
の作用及び効果は次の通りである。
The characteristic configuration of the present invention is that the second blade body is pivotably supported on a pivot pin which the first blade body is fitted with, and a boss portion of the second blade body is connected to the pivot pin. A pin engagement groove is formed in which the pivot pin engages and disengages as the second blade slides when the first blade is operated to the stem cutting position, and a pin engagement groove is formed in the cylinder. A blade operating member to be connected is fitted onto the boss portion of the second blade so as to be relatively rotatable, and the pivot pin is attached to the blade operating member as it is moved by the cylinder. The feature is that a groove for engaging the pin is formed to engage and disengage the pin, and its functions and effects are as follows.
すなわち、第２刃体を、第１刃体が外嵌する枢
支ピンに揺動自在に枢支すると共に、シリンダに
連結される刃体操作部材を、前記第２刃体のボス
部に相対回転自在に外嵌させることにより第１刃
体及び第２刃体の夫々を、同一の枢支ピン周りで
揺動させるようにしてある。
That is, the second blade is swingably supported on a pivot pin on which the first blade is externally fitted, and the blade operating member connected to the cylinder is moved relative to the boss portion of the second blade. By rotatably fitting the first blade body and the second blade body, each of the first blade body and the second blade body is made to swing around the same pivot pin.
そして、第１刃体及び第２刃体の夫々を同一の
枢支ピン周りで揺動させながらも、第２刃体の枢
支ピンに対するボス部に、ピン係入用溝を形成
し、且つ、シリンダに連結させる刃体操作部材
に、ピン係入用溝を形成して、それらピン係入用
溝により、第２刃体をシリンダにてスライド操作
するための融通を設けることにより、第２刃体を
枢支ピンに対して刃体長手方向に移動させながら
所望通りの切断作用を行わせるようにしてある。
さらには、刃体操作部材を第２刃体のボス部に相
対回転自在に外嵌させるものであるから、シリン
ダを固定設置できる。 While each of the first blade body and the second blade body swings around the same pivot pin, a pin engagement groove is formed in the boss portion of the second blade body relative to the pivot pin, and , by forming pin engagement grooves in the blade operation member connected to the cylinder, and providing flexibility for sliding the second blade body with the cylinder through the pin engagement grooves, the second blade operation member is connected to the cylinder. The desired cutting action is performed while the blade is moved in the longitudinal direction of the blade relative to the pivot pin.
Furthermore, since the blade operating member is externally fitted onto the boss portion of the second blade so as to be relatively rotatable, the cylinder can be fixedly installed.
したがつて、第２刃体を第１刃体に対する枢支
ピンに外嵌させ、且つ、刃体操作部材を第２刃体
のボス部に相対回転自在に外嵌させるようにしな
がら、ピン係入用溝を形成するだけの簡単な改造
によつて、第２刃体をスライド操作するシリンダ
を固定設置する利点を活かしながらも、第１刃体
及び第２刃体夫々の揺動をスムーズに行わせるこ
とができるようになつた。
Therefore, while the second blade body is externally fitted onto the pivot pin for the first blade body, and the blade operation member is externally fitted onto the boss portion of the second blade body so as to be relatively rotatable, the pin engagement is made. By making a simple modification by just forming the required groove, it is possible to smoothly swing the first and second blades while taking advantage of the fixed installation of the cylinder that slides the second blade. Now I can make it work.
第７図に示すように、各別に正逆転が切換操作
自在な油圧モータ１ａ，１ｂにより駆動自在な左
右一対の推進車輪２ａ，２ｂを車体前方側に設
け、車体後方側にキヤスター３を設け、機体フレ
ーム４の上部に原動部Ｅ及び駆動回転自在な旋回
台５を夫々設けると共に、前記旋回台５に取付け
た支持枠６にハンドＨ及びその支持アーム７から
なる果実収穫用ロボツトＢを取付けて、果実収穫
機を構成してある。但し、図中Ａは、旋回台５に
対するモータ操作部である。
As shown in FIG. 7, a pair of left and right propulsion wheels 2a, 2b, which can be driven by hydraulic motors 1a, 1b which can be independently switched between forward and reverse directions, are provided on the front side of the vehicle body, and a caster 3 is provided on the rear side of the vehicle body. A driving unit E and a rotatable rotating base 5 are respectively provided on the upper part of the body frame 4, and a fruit harvesting robot B consisting of a hand H and its support arm 7 is attached to a support frame 6 attached to the rotating base 5. , constitutes a fruit harvesting machine. However, A in the figure is a motor operation unit for the swivel base 5.
前記ハンド支持アーム７を構成するに、前記支
持枠６に上下揺動自在に枢支される角筒状の第１
アーム７ａ、その第１アーム７ａの内側に挿脱可
能に内嵌される第２アーム７ｂ、そのアーム７ｂ
の先端に接続される第３アーム７ｃを夫々設け、
もつて、第１アーム７ａの内部に備えてある電動
モータm1の回転により第２アーム７ｂをスライ
ド作動させる、直線スライド伸縮式に構成してあ
る。但し、図中m2は、ハンド支持アーム７を支
持枠６に対して上下揺動操作する制動装置付電動
モータである。 The hand support arm 7 includes a first rectangular cylindrical arm that is pivotally supported on the support frame 6 so as to be vertically swingable.
An arm 7a, a second arm 7b that is removably fitted inside the first arm 7a, and an arm 7b.
A third arm 7c connected to the tip of each is provided,
The second arm 7b is slidably operated by the rotation of an electric motor m1 provided inside the first arm 7a, and is configured to be a linear sliding telescopic type. However, m2 in the figure is an electric motor with a braking device that swings the hand support arm 7 up and down with respect to the support frame 6.
前記ハンドＨについて説明すれば、第２図乃至
第４図に示すように、二又状支持枠８を、第３ア
ーム７ｃの先端にアーム長手方向に沿う軸芯Ｙ周
りに回転自在に取付け、上部に果実取入口Ｄが開
口される果実収納空間Ｇを備える果実捕捉部９
を、前記二又状支持枠８の先端部に水平軸芯Ｘ周
りに回動自在に取付けて、ハンド全体を自重で上
向姿勢に維持されるように構成してある。 To explain the hand H, as shown in FIGS. 2 to 4, a bifurcated support frame 8 is attached to the tip of the third arm 7c so as to be rotatable around an axis Y along the arm's longitudinal direction. A fruit trap 9 having a fruit storage space G in which a fruit intake port D is opened at the upper part.
is attached to the distal end of the forked support frame 8 so as to be rotatable about the horizontal axis X, so that the entire hand is maintained in an upward position by its own weight.
そして、前記収納空間Ｇから延びる果梗を前記
果実取入口Ｄの中央箇所に相当する所定位置に支
持する果梗支持部材１０の６個を、前記果実取入
口Ｄ側に突出する支持作用位置と前記果実取入口
Ｄから離れる側に引退する退避位置とに亘つて切
換自在に、前記果実捕捉部９に設けると共に、そ
れら果梗支持部材１０にて支持された果梗を切断
するための果梗切断カツタ、つまり円弧状スライ
ド式カツタ１１を、前記支持作用位置にある果梗
に対する切断位置に突出作動できるように出退揺
動自在に捕捉側に設けている。 Then, six of the fruit stem support members 10 that support the fruit stem extending from the storage space G at a predetermined position corresponding to the center of the fruit intake port D are set at supporting action positions that protrude toward the fruit intake port D side. A pedestal is provided in the fruit catching section 9 and is configured to be switchable between a retracted position and a retracted position in which the pedestal is retracted away from the fruit intake port D, and for cutting the pedestal supported by the pedestal support member 10. A cutting cutter, that is, an arc-shaped sliding cutter 11, is provided on the catching side so as to be able to swing forward and backward so that it can be projected to a cutting position for the fruit stem in the supporting position.
つまり、前記果実捕捉部９は、後述の如く、収
穫対象果実Ｍの下方箇所に移動され、その後、上
方側に移動されて前記果実捕捉部９内に前記果実
Ｍを取り入れるようにし、そして、その状態にお
いて、上述の如く、果梗支持部材１０を突出作動
させて果梗を支持すると共に、果梗切断カツタ１
１にて果梗を切断して、果実Ｍを収穫することに
なる。 That is, as will be described later, the fruit trapping section 9 is moved to a position below the fruit M to be harvested, and then moved upward to take the fruit M into the fruit trapping section 9. In this state, as described above, the stem support member 10 is operated to protrude to support the stem, and the stem cutting cutter 1
In step 1, the fruit M is harvested by cutting the stem.
前記果実捕捉部９を構成するに、果実取入用筒
状ケース９ａを設けると共に、それの開口周縁部
にゴム製の指状部材F1乃至F6の６固を並置して
ある。 The fruit catching section 9 is constructed by providing a cylindrical case 9a for taking in fruit, and six rubber finger-like members F1 to F6 are arranged side by side around the opening periphery of the case 9a.
前記果梗支持部材１０及び果梗切断カツタ１１
を出退作動させる構造について説明すれば、往復
回動自在な筒状部材１２を、前記果実取入用筒状
ケース９ａに内嵌支承し、前記筒状部材１２を操
作する電動モータ１３を前記筒状ケース９ａ側に
設け、前記果梗支持部材１０を、前記筒状ケース
９ａにピン（但しカツタ１１を枢支するためのピ
ンに一部を兼用）２０に枢支すると共に、前記果
梗支持部材１０及び第１刃体１１ａに形成の長孔
１０ａ，１０ｂに係入する係止ピン１４ａを前記
筒状部材１２に付設し、もつて、後述の中央セン
サ２７の検出信号に基づいて電動モータ１３を作
動させることにより筒状部材１２を回転させて果
梗支持部材１０並びにカツタ１１を揺動させるよ
うに構成してある。 The fruit stem support member 10 and the fruit stem cutting cutter 11
To explain the structure for moving the cylindrical member 12 in and out, a cylindrical member 12 that can freely rotate back and forth is fitted and supported in the fruit intake cylindrical case 9a, and an electric motor 13 for operating the cylindrical member 12 is moved into the cylindrical case 9a. The fruit stem supporting member 10 is supported on the tubular case 9a by a pin 20 (a part of which also serves as a pin for pivotally supporting the cutter 11), and A locking pin 14a that engages with long holes 10a and 10b formed in the support member 10 and the first blade 11a is attached to the cylindrical member 12, and the electric The cylindrical member 12 is rotated by operating the motor 13, and the stem support member 10 and the cutter 11 are oscillated.
前記電動モータ１３と前記筒状部材１２とを連
結連動する構造について説明すれば、第４図に示
すように、前記電動モータ１３のウオーム１３ａ
が咬合するウオームホイール１５と第１ギヤ１６
とが一体回転するように、それら１５，１６を、
ケース側に取付けたピン１７に外嵌着し、前記第
１ギヤ１６と咬合する第２ギヤ１８を前記筒状部
材１２の外周部の所定範囲に形成し、もつて、電
動モータ１３の駆動により、筒状部材１２を回転
するようにしてある。 To explain the structure of connecting and interlocking the electric motor 13 and the cylindrical member 12, as shown in FIG.
The worm wheel 15 and the first gear 16 engage with each other.
15 and 16 so that they rotate together,
A second gear 18 that is externally fitted onto a pin 17 attached to the case side and engages with the first gear 16 is formed in a predetermined range of the outer periphery of the cylindrical member 12, and is then driven by the electric motor 13. , the cylindrical member 12 is rotated.
又、前記果梗支持部材１０並びにカツタ１１の
突出作動後においてカツタ１１を切断作動させる
ための構造について説明する。 Further, a structure for operating the cutting operation of the cutter 11 after the protruding operation of the fruit stem support member 10 and the cutter 11 will be explained.
第１図乃至第３図に示すように、果実取入口Ｄ
から退避した退避位置と前記果実取入口Ｄ内に突
出する果梗切断位置とに亘つて揺動自在な帯板状
の第１刃体１１ａを設けると共に、その第１刃体
１１ａの長手方向にスライド移動して切断作用す
る帯板状の第２刃体１１ｂを、前記第１刃体１１
ａにスライド自在に連結して、円弧状スライド式
カツタ１１を構成すると共に、前記第２刃体１１
ｂをスライド操作するエアシリンダ１９を前記ケ
ース９ａの外壁に取付けてある。 As shown in Figures 1 to 3, the fruit intake port D
A band-shaped first blade 11a is provided which is swingable between a retracted position and a stem cutting position protruding into the fruit intake port D, and a first blade 11a is provided in the longitudinal direction of the first blade 11a. A band-shaped second blade 11b that slides and performs cutting is attached to the first blade 11.
a to form an arc-shaped sliding cutter 11, and the second blade body 11
An air cylinder 19 for slidingly operating the case 9a is attached to the outer wall of the case 9a.
そして、前記第２刃体１１ｂを、前記第１刃体
１１ａが外嵌する枢支ピン２０に、揺動自在に枢
支すると共に、前記第２刃体１１ｂの前記枢支ピ
ン２０に対するボス部２１に、前記第１刃体１１
ａを果梗切断位置に操作した状態において、前記
第２刃体１１ｂがスライド移動するに伴つて前記
枢支ピン２０が係脱するピン係入用溝２１ａを形
成し、前記エアシリンダ１９のロツド１９ａの先
端部に螺合連結される刃体操作部材２２を、前記
第２刃体１１ｂのボス部２１に相対回転自在に外
嵌させると共に、その刃体操作部材２２に、それ
が前記エアシリンダ１９にて移動操作されるに伴
つて前記枢支ピン２０が係脱するピン係入用溝２
２ａを形成し、もつて、両刃体１１ａ，１１ｂが
果梗切断位置に操作された（第１図ロ参照）後、
エアシリンダ１９を短縮作動させることにより刃
体操作部材２２を下方側へ操作して第２刃体１１
ｂをスライド移動させて果梗を切断するのであ
る。 The second blade body 11b is swingably supported on a pivot pin 20 on which the first blade body 11a is fitted, and a boss portion of the second blade body 11b is connected to the pivot pin 20. 21, the first blade body 11;
A pin engagement groove 21a is formed in which the pivot pin 20 engages and disengages as the second blade body 11b slides when the stem a is operated to the stem cutting position, and the rod of the air cylinder 19 A blade operating member 22, which is threadedly connected to the tip of the second blade 19a, is fitted onto the boss portion 21 of the second blade 11b so as to be relatively rotatable, and the blade operating member 22 is connected to the air cylinder. A pin engagement groove 2 in which the pivot pin 20 engages and disengages as the pivot pin 20 is moved at 19.
2a, and then the double-edged blades 11a and 11b are operated to the stem cutting position (see FIG. 1B),
By shortening the air cylinder 19, the blade operating member 22 is operated downward and the second blade 11 is moved downward.
The stem is cut by sliding b.
尚、図中１１ｃは、各刃体１１ａ，１１ｂ夫々
の長手方向中央部に形成した果梗が入り込み自在
な切断用凹部である。又、前記枢支ピン２０は、
果梗支持部材１０の枢支ピンを兼用している。 In addition, 11c in the figure is a cutting recess formed in the longitudinal center of each of the blades 11a and 11b, into which the fruit stalk can freely enter. Further, the pivot pin 20 is
It also serves as a pivot pin for the fruit stem support member 10.
次に、前記果実捕捉部９、つまり果実収穫用ハ
ンドＨを収穫対象果実Ｍの下方箇所に誘導する手
段について説明する。 Next, the means for guiding the fruit catching section 9, that is, the fruit harvesting hand H, to the lower part of the fruit M to be harvested will be explained.
第７図に示すように、収穫対象果実Ｍの有る方
向を認識する撮像手段としてのテレビカメラ２３
を第３アーム７ｃの上端部に、光軸がアーム伸縮
方向と平行な状態で取付け、このカメラ２３の撮
像を写し出すモニター２４を設け、モニター２４
に写し出される果実のうちの収穫対象果実Ｍを選
択するライトペン２５を設け、果実収穫用ハンド
Ｈが収穫対象果実Ｍに対して設定距離以内に接近
したことを検出する赤外線近接センサ２６を第３
アーム７ｃの上端部に設け、そして、果実選択情
報、近接センサ２６の検出情報、アーム駆動用モ
ータm1，m2や旋回台５の回転情報、及び、予め
記憶された制御情報に基づいて作動指令を出力す
る制御装置Ｃを設けてある。 As shown in FIG. 7, a television camera 23 serves as an imaging means for recognizing the direction of the fruit M to be harvested.
is attached to the upper end of the third arm 7c with its optical axis parallel to the direction of extension and contraction of the arm, and a monitor 24 is provided to display the image taken by this camera 23.
A third light pen 25 is provided to select the fruit M to be harvested from among the fruits shown in the image, and a third infrared proximity sensor 26 is provided to detect when the fruit harvesting hand H approaches the fruit M to be harvested within a set distance.
It is provided at the upper end of the arm 7c and operates based on fruit selection information, detection information of the proximity sensor 26, rotation information of the arm drive motors m 1 and m 2 and the swivel base 5, and pre-stored control information. A control device C is provided to output commands.
つまり、第５図のフローチヤートに示すよう
に、テレビカメラ２３によつて撮像された果実の
うちの収穫対象果実Ｍがライトペン２５によつて
指示されると、収穫対象果実Ｍの有る方向（角
度）を演算検出処理し、ハンド支持アーム７の伸
縮方向を対象果実Ｍに向けるように、旋回台５、
アーム揺動操作用モータm2を作動させて方向
（角度）調節を行わせ、次にアーム伸張作動によ
りハンドＨを対象果実Ｍの下方箇所側に移動させ
ることになる。そして、前記アーム７の伸張作動
中に近接センサ２６が検出作用すると、ハンドＨ
が収穫対象果実Ｍに対して設定距離以内に接近し
たと判断して対象果実側へ設定距離減速移動させ
るのである。 In other words, as shown in the flowchart of FIG. angle) is calculated and detected, and the swivel base 5 is configured to direct the expansion and contraction direction of the hand support arm 7 toward the target fruit M.
The arm swing operation motor m2 is operated to adjust the direction (angle), and then the arm is extended to move the hand H to the lower part of the target fruit M. When the proximity sensor 26 acts to detect the arm 7 while it is being extended, the hand H
It is determined that the fruit M to be harvested has approached within a set distance, and the fruit is decelerated and moved by a set distance toward the target fruit.
以下、上述の如く、ハンドＨを対象果実Ｍの下
方箇所に誘導した後、ハンドＨを上昇させて前記
果実Ｍを取り入れる手段について説明する。 Hereinafter, as described above, a means for guiding the hand H to the lower part of the target fruit M and then raising the hand H to take in the fruit M will be explained.
第３図に示すように、前記指状部材F1乃至F6
夫々の先端部に、接触式の果実検出用指センサS1
乃至S6を設けてある。 As shown in FIG. 3, the finger-like members F 1 to F 6
Contact-type fruit detection finger sensor S 1 on each tip
to S6 are provided.
又、第４図に示すように、収穫対象果実Ｍを検
出するために果実検出用中央センサ２７を前記果
実捕捉部９の果実取入口Ｄに形成箇所と前記捕捉
部９の果実収納空間Ｇの底部側箇所とに亘つて昇
降操作するための流体圧シリンダとしてのエアシ
リンダ２８を、前記果実捕捉部９の底部としての
底壁９ｂに設け、そのリンダ２８にて上下方向に
伸縮操作されるパンダグラフ式のリンク機構Ｒの
先端部に前記中央センサ２７を設けてある。そし
て、前記パンタグラフ式のリンク機構Ｒと一体形
成される一対のギヤ２９ａ，２９ｂを、そのギヤ
同士が咬合する状態で前記底壁９ｂに連設のブラ
ケツト３０に取付け、それらギヤ２９ａ，２９ｂ
のうちの一方のギヤ２９ｂと咬合するラツク３１
を、前記エアシリンダ２８のロツド２８ａの先端
部に連設の板体３２にボルト固定し、もつて、中
央センサ２７の検出信号に基づいて、エアシリン
ダ２８を伸縮作動させることによりギヤ２９ａ，
２９ｂを回転させて、パンタグラフ式のリンク機
構Ｒを伸縮操作するように構成してある。 Further, as shown in FIG. 4, in order to detect the fruit M to be harvested, a central sensor 27 for fruit detection is formed at the fruit intake port D of the fruit trapping section 9 and in the fruit storage space G of the trapping section 9. An air cylinder 28 as a fluid pressure cylinder for raising and lowering the fruit catching part 9 is provided on the bottom wall 9b as the bottom of the fruit catching part 9, and the panda is operated to expand and contract in the vertical direction by the cylinder 28. The central sensor 27 is provided at the tip of the graphical link mechanism R. Then, a pair of gears 29a and 29b integrally formed with the pantograph link mechanism R are attached to a bracket 30 connected to the bottom wall 9b in a state where the gears mesh with each other, and the gears 29a and 29b are attached to the bracket 30 connected to the bottom wall 9b.
The rack 31 engages with one of the gears 29b.
are bolted to a plate 32 connected to the tip of the rod 28a of the air cylinder 28, and then the air cylinder 28 is telescopically operated based on the detection signal of the central sensor 27, so that the gears 29a,
29b is rotated to extend and retract the pantograph type link mechanism R.
そして、第６図のフローチヤートに示すよう
に、前記の如く、ハンドＨを上昇させるに伴つ
て、前記中央センサ２７が検出作用すると、その
中央センサ２７をエアシリンダ２８の伸張作動に
より下方へ移動させ、その後、さらにハンドＨを
揺動させながら上昇させるに伴つて、前記中央セ
ンサ２７が再度検出作用すると、ハンドＨの上昇
作動を停止させ、その状態において、果梗支持部
材１０及びカツタ１１を突出作動させ、且つ、カ
ツタ１１を切断作動させることになる。 As shown in the flowchart of FIG. 6, when the central sensor 27 performs a detection operation as the hand H is raised as described above, the central sensor 27 is moved downward by the expansion operation of the air cylinder 28. Then, as the hand H is further raised while rocking, when the central sensor 27 detects it again, the raising operation of the hand H is stopped, and in this state, the stem support member 10 and the cutter 11 are This causes the cutter 11 to perform a protruding operation and a cutting operation.
前記中央センサ２７を、前記果実取入口Ｄの形
成箇所に位置させて上昇作動させる際において、
前記中央センサ２７の非検出状態で前記６個の指
センサS1乃至S6のいずれかが検出作用すると、そ
の検出作用した指センサの有る方向にハンドＨを
水平移動させて、指状部材F1乃至F6にて形成さ
れる開口内に果実を確実に取入れるようにしてあ
る。又、上昇作動を所定量行つても中央センサ２
７が検出作用しない時には、収穫不能であると判
断して、ハンドＨを所期位置に復帰作動させるこ
とになる。 When the central sensor 27 is located at the location where the fruit intake port D is formed and is operated to rise,
When any of the six finger sensors S 1 to S 6 performs a detection operation while the central sensor 27 is in a non-detection state, the hand H is horizontally moved in the direction of the finger sensor that performed the detection operation, and the finger-like member F It is designed to ensure that the fruit is taken into the openings formed at points 1 to F6 . Also, even if the rising operation is performed by a predetermined amount, the central sensor 2
When 7 does not detect, it is determined that harvesting is impossible, and the hand H is operated to return to the desired position.
又、前記ハンドＨを所期位置に復帰させて収穫
した果実を入為的に取除いた後、前記エアシリン
ダ２８を伸長作動させることによつて、前記中央
センサ２７を上昇させて果実取入口Ｄの直上方箇
所に復帰させるのである。 Further, after returning the hand H to the desired position and artificially removing the harvested fruit, the air cylinder 28 is extended and the central sensor 27 is raised to open the fruit intake port. It returns to the position directly above D.
本考案を実施するに、果実収穫用ハンドＨの具
体構成、撮像手段の具体構成、アーム７の具体構
成、及び、ハンド誘導のための制御手段の具体構
成夫々は、各種変更できる。
In carrying out the present invention, the specific configuration of the fruit harvesting hand H, the specific configuration of the imaging means, the specific configuration of the arm 7, and the specific configuration of the control means for guiding the hand can be changed in various ways.
前記実施例では、カツタ１１をエアシリンダ１９
にて切断作動させるようにしたが、油圧シリンダ
でもよい。In the above embodiment, the cutter 11 is connected to the air cylinder 19.
Although the cutting operation is performed using a hydraulic cylinder, a hydraulic cylinder may also be used.
図面は本考案に係る果実収穫用ロボツトハンド
における果梗切断カツタの実施例を示し、第１図
イ，ロはカツタの突出状態を示す説明図、第２図
はロボツトハンドの縦断面図、第３図はロボツト
ハンドの平面図、第４図はロボツトハンドの縦断
面図、第５図は制御作動を示すフローチヤート、
第６図は収穫作動を示すフローチヤート、第７図
は制御構成の概略図である。第８図はロボツトハ
ンドの従来例を示す縦断面図である。
１１ａ…第１刃体、１１ｂ…第２刃体、１９…
シリンダ、２０…枢支ピン、２１…ボス部、２１
ａ…ピン係入用溝、２２…刃体操作部材、２２ａ
…ピン係入用溝。
The drawings show an embodiment of the stem cutting cutter in the robot hand for fruit harvesting according to the present invention. 3 is a plan view of the robot hand, FIG. 4 is a longitudinal sectional view of the robot hand, and FIG. 5 is a flowchart showing the control operation.
FIG. 6 is a flowchart showing the harvesting operation, and FIG. 7 is a schematic diagram of the control configuration. FIG. 8 is a longitudinal sectional view showing a conventional example of a robot hand. 11a...first blade body, 11b...second blade body, 19...
Cylinder, 20... Pivot pin, 21... Boss part, 21
a... Pin engagement groove, 22... Blade operation member, 22a
...Groove for pin engagement.
Claims (1)
取入口Ｄ内に突出する果梗切断位置とに亘つて揺
動自在な帯板状の第１刃体１１ａを設けると共
に、その第１刃体１１ａの長手方向にスライド移
動して切断作用する帯板状の第２刃体１１ｂを、
前記第１刃体１１ａにスライド自在に連結し、前
記第２刃体１１ｂをスライド操作するシリンダ１
９を設けた果実収穫用ロボツトハンドにおける果
梗切断カツタであつて、前記第２刃体１１ｂを、
前記第１刃体１１ａが外嵌する枢支ピン２０に、
揺動自在に枢支すると共に、前記第２刃体１１ｂ
の前記枢支ピン２０に対するボス部２１に、前記
第１刃体１１ａを果梗切断位置に操作した状態に
おいて、前記第２刃体１１ｂがスライド移動する
に伴つて前記枢支ピン２０が係脱するピン係入用
溝２１ａを形成し、前記シリンダ１９に連結され
る刃体操作部材２２を、前記第２刃体１１ｂのボ
ス部２１に相対回転自在に外嵌させると共に、そ
の刃体操作部材２２に、それがシリンダ１９にて
移動操作されるに伴つて前記枢支ピン２０が係脱
するピン係入用溝２２ａを形成してある果実収穫
用ロボツトハンドにおける果梗切断カツタ。 A band-shaped first blade 11a is provided which is swingable between a retracted position retracted from the fruit intake port D and a stem cutting position protruding into the fruit intake port D, and the first blade 11a is provided. A band-shaped second blade 11b that slides in the longitudinal direction of the blade to perform a cutting action,
A cylinder 1 that is slidably connected to the first blade 11a and slides the second blade 11b.
9, the second blade body 11b is
The first blade body 11a is fitted onto the pivot pin 20,
The second blade body 11b is pivotally supported so as to be swingable.
When the first blade body 11a is operated to the stem cutting position, the pivot pin 20 is engaged and disengaged from the boss portion 21 for the pivot pin 20 as the second blade body 11b slides. The blade operating member 22 connected to the cylinder 19 is fitted onto the boss portion 21 of the second blade 11b so as to be relatively rotatable. 22, a pin-engaging groove 22a in which the pivot pin 20 engages and disengages as the cutter is moved by the cylinder 19; a stem cutting cutter for a fruit-harvesting robot hand;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13731085U JPH0316429Y2 (en) | 1985-09-06 | 1985-09-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13731085U JPH0316429Y2 (en) | 1985-09-06 | 1985-09-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6245926U JPS6245926U (en) | 1987-03-20 |
| JPH0316429Y2 true JPH0316429Y2 (en) | 1991-04-09 |
Family
ID=31041243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13731085U Expired JPH0316429Y2 (en) | 1985-09-06 | 1985-09-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0316429Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3838117A1 (en) * | 1988-11-10 | 1990-05-17 | Happich Gmbh Gebr | SUN VISOR FOR VEHICLES |
-
1985
- 1985-09-06 JP JP13731085U patent/JPH0316429Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6245926U (en) | 1987-03-20 |
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