JPH0368648B2 - - Google Patents

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、上部に果実取入口が形成された果実
収納空間を備える果実捕捉部を、アームの先端に
連設し、前記果実収納空間内に収納された果実か
ら伸びる果梗を支持するための果梗支持部材を、
出退操作自在に前記果実捕捉部に設け、前記果梗
支持部材にて支持された果梗を切断作用するカツ
タを、突出作動に伴つて果梗側に移動させるべく
出退操作自在に前記果実捕捉部に設けた果実収穫
用ロボツトハンドに関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a fruit trapping section that includes a fruit storage space in which a fruit intake port is formed in the upper part of the fruit trapping section, which is connected to the tip of an arm, and a fruit trapping section that includes a fruit storage space in which a fruit intake port is formed in the upper part of the fruit storage space. A stem support member for supporting the stem extending from the fruit stored in the
The cutter, which is provided in the fruit catching part so that it can be moved in and out, and which acts to cut the fruit stem supported by the stem support member, is moved to the fruit stem side with the protruding operation. The present invention relates to a fruit harvesting robot hand provided in a capturing section.

〔従来の技術〕[Conventional technology]

かかる果実収穫用ロボツトハンドは、一般に、
果実捕捉部を収穫対象果実の下方箇所に誘導し、
その後、果実捕捉部を上昇させて前記果実を果実
収納空間内に取り込むのである。そして、その状
態において、果梗支持部材を突出作動させて、前
記の如く取り込んだ果実から伸びる果梗を果実取
入口の中央箇所に支持させると共に、前記果梗切
断カツタを突出作動させて果梗を切断して、果実
を収穫することになる。 Such fruit harvesting robot hands generally include:
Guide the fruit trap to the lower part of the fruit to be harvested,
Thereafter, the fruit catching section is raised to take the fruit into the fruit storage space. In this state, the stem support member is operated to protrude to support the stem extending from the fruit taken in as described above at the center of the fruit intake port, and the stem cutting cutter is operated to protrude to support the stem extending from the fruit taken in as described above. The fruit will be harvested by cutting it.

ところで、果実収穫を行なうに、アームの伸縮
方向を枝が伸びる方向に一致させた状態で果実の
収穫を行なうことが多い。そして、第１０図イに
示す如く、前記枝から伸びる果梗Ｋは、一般に枝
先端側へ向つて伸びるものであるため、果実捕捉
部横巾方向視にて果梗Ｋが傾斜姿勢となつて果実
取入口Ｅでの果梗の位置が果実取入口の中央箇所
に対してアーム長手方向前方側へ位置しているこ
とが多い。従つて、その状態において果梗支持部
材１９を突出作動させると、前記傾斜姿勢となる
果梗Ｋに果梗支持部材１９が接当してその果梗Ｋ
を果実取入口Ｅの中央箇所に移動させることがで
きない不都合があつた。つまり、前記の如く、果
梗Ｋを果実取入口Ｅの中央箇所に移動させる際
に、果梗支持部材１９に大なる力が加わるため、
その果梗支持部材１９を変形損傷してしまう虞れ
があり、その結果、果梗Ｋを果実取入口Ｅの中央
箇所に適確に支持させることができないことに起
因して果梗Ｋの切断ミスを起こす虞れがある。
又、果梗支持部材１９が変形損傷しない場合に
は、前記果梗Ｋを無理に折り曲げて果実取入口Ｅ
の中央箇所に移動させるため、果梗支持部材１９
の突出作動中に果梗Ｋを引きちぎつてしまい、果
梗Ｋを所定位置で切断することができない虞れも
ある。 Incidentally, when harvesting fruit, the direction of extension and contraction of the arm is often aligned with the direction in which the branch extends. As shown in Fig. 10A, the fruit stalk K extending from the branch generally extends toward the tip of the branch, so the fruit stalk K assumes an inclined posture when viewed in the width direction of the fruit catcher. The position of the fruit stem at the fruit intake port E is often located forward in the longitudinal direction of the arm with respect to the center of the fruit intake port. Therefore, when the fruit stalk support member 19 is operated to protrude in this state, the fruit stalk support member 19 comes into contact with the fruit stalk K in the inclined position, and the fruit stalk K
There was an inconvenience that it was not possible to move the fruit to the center of the fruit intake port E. In other words, as mentioned above, when moving the fruit stalk K to the center of the fruit intake port E, a large force is applied to the fruit stalk support member 19.
There is a risk that the fruit stalk supporting member 19 may be deformed and damaged, and as a result, the fruit stalk K cannot be properly supported at the center of the fruit intake port E, resulting in cutting of the fruit stalk K. There is a risk of making a mistake.
In addition, if the fruit stem supporting member 19 is not damaged by deformation, the fruit stem K is forcibly bent to open the fruit intake port E.
In order to move the fruit stem support member 19 to the central location of
There is also a risk that the fruit stalk K may be torn off during the ejecting operation, and the fruit stalk K may not be cut at a predetermined position.

そこで、従来では、果実捕捉部Ｈを、アームの
長手方向に沿う軸芯周じで且つ果実捕捉部の横巾
方向に沿う軸芯周りで揺動自在に枢着して、果梗
Ｋが果梗支持部材１９に接当することにより、果
実捕捉部Ｈを回転させて、果梗Ｋを果実取入口Ｅ
の中央箇所に位置させるようにしていた。（第１
０図ロ参照） 〔発明が解決しようとする問題点〕 ところで、前記果実捕捉部に、果梗支持部材及
びカツタを突出作動させるための装置あるいはカ
ツタを切断させるための装置等を装備しなければ
ならないため、果実捕捉部の重量が増大すること
は、避けられないことである。 Therefore, conventionally, the fruit catching part H is pivotally mounted around the axis along the longitudinal direction of the arm and around the axis along the width direction of the fruit catching part, so that the fruit stem K is By coming into contact with the stalk support member 19, the fruit trapping part H is rotated and the fruit stalk K is placed in the fruit intake port E.
It was designed to be located at the center of the (1st
(See Figure 0B) [Problems to be Solved by the Invention] By the way, it is necessary to equip the fruit trapping section with a device for projecting the stem support member and the cutter, or a device for cutting the cutter, etc. Therefore, it is inevitable that the weight of the fruit trap increases.

そのため、上記従来構成によれば、果梗が果実
取入口の中央箇所から少し離れている場合には、
果梗と果梗支持部材との接当により果実捕捉部を
小範囲回転させながら果梗を支持させることを行
なえるものの、果梗が果実取入口の中央箇所から
大きく離れている場合においては、果梗と果梗支
持部材との接当により果実捕捉部を大きな範囲回
転させることができず、果梗支持部材に大なる力
が加わることにより果梗支持部材を損傷してしま
うあるいは果梗を引きちぎつてしまう虞れがあ
り、果梗を所望通り切断させることができない虞
れがあつた。 Therefore, according to the above-mentioned conventional configuration, if the fruit stalk is a little far from the center of the fruit intake,
Although it is possible to support the fruit stem while rotating the fruit trap within a small range by contacting the fruit stem with the fruit stem support member, if the fruit stem is far away from the center of the fruit intake port, Due to the contact between the fruit stem and the fruit stem support member, the fruit trap cannot be rotated over a large range, and a large force is applied to the fruit stem support member, which may damage the fruit stem support member or cause the fruit stem to be damaged. There was a risk that the fruit stem would be torn, and there was a risk that the stem could not be cut as desired.

本発明は、上記実状に鑑みてなされたものであ
つて、その目的は、果実収穫作業の形態及び果梗
の成育形態を有効利用した合理的な改造によつ
て、果梗の切断作業を適切に行なわせるようにす
る点にある。 The present invention has been made in view of the above-mentioned circumstances, and its purpose is to properly cut the fruit stems through rational modification that effectively utilizes the form of fruit harvesting work and the growth form of the fruit stems. The point is to make them do it.

〔問題点を解決するための手段〕[Means for solving problems]

本発明の特徴構成は、前記果実捕捉部を、前記
果実取入口が上方に向う姿勢に自重で復帰付勢し
た状態で、前記アームの長手方向に沿う軸芯周り
で揺動自在に前記アームに枢着し、前記果梗支持
部材を、果梗が捕捉部前後方向に移動することを
許容する状態で、捕捉部横巾方向中央箇所に果梗
を支持するように設け、前記カツタを、平面視に
おいて捕捉部前後方向に出退移動するように設
け、前記カツタに対する出退駆動機構を、前記カ
ツタの突出操作完了位置を果梗の位置に合わせて
変更できるように設けた点にあり、その作用及び
効果は次の通りである。 The characteristic configuration of the present invention is such that the fruit trap is attached to the arm so as to be able to swing freely around an axis along the longitudinal direction of the arm in a state where the fruit trap is biased by its own weight to return to a position in which the fruit intake port faces upward. The stem supporting member is provided to support the stem in the widthwise center of the catching part in a state where the cutting part is allowed to move in the front and back direction of the catching part, and the cutter is mounted on a flat surface. The catching part is provided so that it moves forward and backward in the front and back direction when viewed, and the ejection and retraction drive mechanism for the cutter is provided so that the position at which the protrusion operation of the cutter is completed can be changed in accordance with the position of the fruit stem. The action and effect are as follows.

〔作用〕[Effect]

すなわち、捕捉部横巾方向視において果梗が枝
先端側へ向つて伸びる傾斜姿勢であり、そして、
アーム長手方向つまりアーム伸縮方向を枝の伸び
る方向と同一方向に向けながら収穫作業を行なう
ものであるために、取入れられた果実から伸びる
果梗はアーム長手方向視において果実取入口に対
して中央箇所付近に位置しているものであり、且
つ、捕捉部横巾方向視において捕捉部前後方向に
大きく位置変更しているものであることに着目
し、そのことを有効利用して、果実捕捉部をアー
ム長手方向に沿う軸芯周りで揺動自在にアームに
枢着して、アーム長手方向視において捕捉部横巾
方向に沿つて大きく離れて位置することがない果
梗に対しては従来通りアーム長手方向に捕捉部を
小範囲回転させることにより、果梗を捕捉部横巾
方向中央箇所に位置させることができるように
し、又、果梗支持部材を、捕捉部前後方向に移動
することを許容する状態で捕捉部横巾方向中央箇
所に果梗を支持するように設けると共に、カツタ
を平面視において捕捉部前後方向に出退移動させ
る出退駆動機構を、カツタの突出操作完了位置を
果梗の位置に合わせて変更できるようにすること
により、捕捉部前後方向中央箇所から捕捉部前後
方向に沿つて大きく離れて位置している果梗に対
してはカツタの突出操作完了位置を果梗の位置に
合わせて変更させるようにするのである。 That is, when viewed in the width direction of the trapping part, the peduncle is in an inclined posture extending toward the branch tip side, and,
Harvesting is carried out with the longitudinal direction of the arm, that is, the direction of extension and contraction of the arm, pointing in the same direction as the direction in which the branches grow, so the stem extending from the fruit taken in is located at the center of the fruit inlet when viewed in the longitudinal direction of the arm. By focusing on the fact that it is located nearby and has changed its position significantly in the front and back direction of the fruit trap when viewed in the width direction of the fruit trap, we effectively utilize this fact to move the fruit trap. The arm is pivoted to the arm so that it can swing freely around the axis along the arm's longitudinal direction, and the arm is attached to the arm in the same manner as before for fruit stems that are not located far apart along the width direction of the capture part when viewed from the arm's longitudinal direction. By rotating the catching part over a small range in the longitudinal direction, the fruit stem can be positioned at the center in the width direction of the catching part, and the fruit stem supporting member can be moved in the front-rear direction of the catching part. In addition, an ejection/retraction drive mechanism that moves the cutter in and out in the front and back direction of the catcher in a plan view is provided to support the fruit stalk at the center of the width direction of the catcher. By making it possible to change the position of the cutter in accordance with the position of the stem, the position at which the protrusion operation of the cutter is completed can be adjusted to the position of the stem, which is located far away from the center of the capturing part in the longitudinal direction of the capturing part. This allows it to be changed according to the position.

〔発明の効果〕〔Effect of the invention〕

したがつて、果梗支持部材と果梗との接当に伴
い果実捕捉部を大きな範囲に亘つて揺動させる場
合の不都合、つまり、果梗を引きちぎつてしまつ
たり、果梗支持部材を損傷させてしまう不都合を
抑制して、果梗を所望通りに適確に切断させるこ
とができるようになつた。 Therefore, there are disadvantages when the fruit catching part is swung over a large range due to contact between the fruit stem support member and the fruit stem. It has become possible to cut the fruit stem accurately as desired while suppressing the inconvenience of damage.

〔実施例〕〔Example〕

第９図に示すように、油圧モータｍにて各別に
駆動自在な左右一対の推進車輪２、その車輪２の
後方側に位置するキヤスター３、原動部Ｅを備え
た車体Ａを設けると共に、油圧シリンダ４にて昇
降自在なブーム１を、車体Ａに取付け、そして、
そのブーム１の先端に、果実捕捉部Ｈ及びその支
持アーム５からなる果実収穫用ロボツトＢを設け
て、果実収穫機を構成してある。 As shown in FIG. 9, a vehicle body A is provided with a pair of left and right propulsion wheels 2 that can be independently driven by a hydraulic motor m, a caster 3 located on the rear side of the wheels 2, and a driving part E. A boom 1 that can be raised and lowered by a cylinder 4 is attached to the vehicle body A, and
At the tip of the boom 1, a fruit harvesting robot B consisting of a fruit catching section H and its support arm 5 is provided to constitute a fruit harvesting machine.

前記ブーム１を構成するに、上下一対のリンク
１ａ，１ｂを平行四連リンクを構成するように設
けて、ロボツトＢの支持部１ｃを昇降に拘らず所
定姿勢に維持できるようにしてある。 In constructing the boom 1, a pair of upper and lower links 1a and 1b are provided to constitute a parallel quadruple link, so that the support part 1c of the robot B can be maintained in a predetermined posture regardless of whether it is raised or lowered.

前記支持アーム５を構成するに、第６図乃至第
８図に示すように、基端側第１アーム５ａ、その
アーム５ａにスライドレール６を用いて伸縮自在
に支持される第２アーム５ｂ、そのアーム５ｂに
スライドレール７を用いて伸縮自在に支持される
第３アーム５ｃの夫々を設け、前記第１アーム５
ａの回転自在に支承した螺軸８と伸縮操作用電動
モータ９とをギヤ連動連結し、その螺軸８に外嵌
するコマ部材１０を第２アーム５ｂに取付け、前
記第２アーム５ｂに支承された一対のプーリー１
１に亘つて巻回される環状ワイヤ１２の２箇所
を、ピン１３ａ，１３ｂによつて第１アーム５ａ
と第３アーム５ｃとに夫々連結し、もつて、電動
モータ９の正逆回転により伸縮させるように構成
してある。 The support arm 5 includes, as shown in FIGS. 6 to 8, a first arm 5a on the proximal end side, a second arm 5b that is telescopically supported by the arm 5a using a slide rail 6, Each arm 5b is provided with a third arm 5c that is telescopically supported using a slide rail 7.
A rotatably supported screw shaft 8 and an electric motor 9 for telescopic operation are connected in a gear-coupled manner, and a piece member 10 externally fitted onto the screw shaft 8 is attached to the second arm 5b, and is supported on the second arm 5b. A pair of pulleys 1
The two parts of the annular wire 12 that are wound over the first arm 5a are connected to the first arm 5a by pins 13a and 13b.
and the third arm 5c, respectively, and are configured to be expanded and contracted by forward and reverse rotation of the electric motor 9.

前記果実収穫用ロボツトＢを前記支持部１ｃに
取付けるに、第６図に示すように、基端側第１ア
ーム５ａを、二又状連結枠１４に水平軸芯Ｘ周り
で回転自在に内嵌支承すると共に、その連結枠１
４を、支持部１ｃに縦軸芯Ｙ周りで回転自在に内
嵌支承し、もつて、上下揺動操作用モータ１５の
駆動により前記ブーム１の昇降に拘らず、ロボツ
トＢを水平姿勢に維持できるようにすると共に、
左右揺動操作用モータ１６の駆動により車体Ａの
向きを変更することなくロボツトＢの伸縮方向を
変更できるようにしてある。 To attach the fruit harvesting robot B to the support part 1c, as shown in FIG. Supporting and connecting frame 1
4 is internally supported in the support part 1c so as to be rotatable around the vertical axis Y, and the robot B is maintained in a horizontal position by driving the vertical swing operation motor 15 regardless of the raising and lowering of the boom 1. In addition to making it possible,
The direction of expansion and contraction of the robot B can be changed without changing the direction of the vehicle body A by driving the left-right swing operation motor 16.

第１図乃至第３図に示すように、前記果実捕捉
部Ｈを構成するに、筒状ケース１７を設けると共
に、ゴム製の第１乃至第６指状部材（F₁乃至F₆）
を、ケース１７の上方周縁部に立設し、もつて、
ケース１７及び複数の指状部材（F₁乃至F₆）に
て囲まれる果実収納空間Ｄを備えさせ、且つ、複
数の指状部材（F₁乃至F₆）の先端部にて囲まれ
る状態で形成される果実取入口Ｅを備えさせるよ
うにしてある。 As shown in FIGS. 1 to 3, the fruit catching portion H is provided with a cylindrical case 17 and first to sixth finger-like members (F ₁ to F ₆ ) made of rubber.
is erected on the upper peripheral edge of the case 17, and
Provided with a fruit storage space D surrounded by a case 17 and a plurality of finger-like members (F ₁ to F ₆ ), and surrounded by the tips of the plurality of finger-like members (F ₁ to F ₆ ). A fruit inlet E is provided to be formed.

そして、果実捕捉部Ｈを前記アーム５に取付け
るに、二又状支持枠１８を、第３アーム５ｃの先
端にアーム５の長手方向に沿う軸芯Ｐ周りで揺動
自在に取付け、果実捕捉部Ｈを前記二又状支持枠
１８の先端部に固定し、且つ、果実捕捉部Ｈを、
前記果実取入口Ｅが上方に向う姿勢に自重で復帰
付勢させるように構成してある。 To attach the fruit catching section H to the arm 5, the forked support frame 18 is attached to the tip of the third arm 5c so as to be swingable around the axis P along the longitudinal direction of the arm 5. H is fixed to the tip of the forked support frame 18, and the fruit trapping part H is
The fruit intake port E is configured to be biased back to the upward position by its own weight.

又、前記果実収納空間Ｄ内に収納された果実か
ら伸びる果梗を捕捉部横巾方向中央箇所に、つま
り、果実取入口Ｅの捕捉部横巾方向中央箇所に相
当する位置に支持するための果梗支持部材１９の
２個を、出退操作自在に前記筒状ケース１７に設
けてある。これら果梗支持部材１９を、果梗が捕
捉部前後方向に移動することを許容する状態で、
前記捕捉部横巾方向中央箇所に果梗を支持するよ
うに形成してある。そして、前記果梗支持部材１
９の２個にて支持された果梗を切断作用するカツ
タ２０及びそのカツタ２０に対向配置する補助果
梗支持部材１９Ａの夫々を、平面視において、捕
捉部前後方向に出退移動するように設けてある。 Further, for supporting the fruit stem extending from the fruit stored in the fruit storage space D at the center in the width direction of the catching part, that is, at a position corresponding to the center part in the width direction of the catching part of the fruit intake port E. Two fruit stem support members 19 are provided in the cylindrical case 17 so as to be freely operable to move in and out. These fruit stalk support members 19 are placed in a state that allows the fruit stalk to move in the front and back direction of the capture portion,
The trapping portion is formed at the center in the width direction to support the fruit stem. And the fruit stem support member 1
The cutter 20 which acts to cut the fruit stem supported by the two pieces of 9 and the auxiliary fruit stem support member 19A disposed opposite to the cutter 20 are moved forward and backward in the front and back direction of the catching part, respectively, in a plan view. It is provided.

前記果梗支持部材１９の２個、補助果梗支持部
材１９Ａ、及びカツタ２０を出退操作する構造に
ついて説明する。 A structure for moving the two stalk support members 19, the auxiliary stalk support member 19A, and the cutter 20 in and out will be described.

第４図及び第５図に示すように、電動モータ２
１にて往復回転操作される筒状部材２２を、前記
筒状ケース１７に外嵌支承し、果梗支持部材１９
を支持するためのピン２３を、前記筒状ケース１
７に回転自在に支承し、果梗支持部材操作用ピン
２４を、前記筒状部材２２に形成の長孔２２ａに
係合すると共に、前記ピン２３と前記操作用ピン
２４とを板体２５により接続し、もつて、筒状部
材２２の回転により果梗支持部材１９の２個を、
果梗を果実取入口Ｅの果実捕捉部横巾方向中央箇
所に支持する支持作用位置と果実取入口Ｅから離
れる側へ退避する退避位置とに亘つて出退操作で
きるようにしてある。 As shown in FIGS. 4 and 5, the electric motor 2
A cylindrical member 22 which is reciprocally rotated at 1 is externally supported by the cylindrical case 17, and a pedestal supporting member 19
The pin 23 for supporting the cylindrical case 1
The pin 24 for operating the stem support member is engaged with the elongated hole 22a formed in the cylindrical member 22, and the pin 23 and the operation pin 24 are connected by the plate 25. By connecting and holding the cylindrical member 22, the two stem support members 19 are
It is possible to move in and out between a supporting position where the fruit stem is supported at the center of the width direction of the fruit trapping part of the fruit intake port E and a retreat position where the fruit stem is retreated to the side away from the fruit intake port E.

又、第１図、第２図、第３図及び第５図に示す
ように、前記筒状ケース１７の底壁１７ａに電動
モータ２６を取付け、そのモータ２６の操作軸２
６ａに、上下方向に間隔を隔てる３枚の円盤状板
体２７の下方の板体２７を取付けると共に、その
下方の板体２７に、中間の板体２７を一対のロー
ラ２９ａ，２９ｂを介して取付け、さらに、その
中間の板体２７に、上方の板体２７を一対のロー
ラ２８ａ，２８ｂを介して取付けてある。そし
て、補助果梗支持部材１９Ａ及びカツタ２０夫々
の一端を、ピン３１を用いて筒状ケース１７に枢
支すると共に、補助果梗支持部材１９Ａ及びカツ
タ２０夫々の他端に取付けた支持ピン３３を、筒
状ケース１７に回転自在に支承してある。それら
支持ピン３３，３３の夫々に、プーリ３２ａ，３
２ｂを一体回転自在に取付けると共に、前記各ロ
ーラ２８ａ，２８ｂ，２９ａ，２９ｂと前記両プ
ーリ３２ａ，３２ｂとに亘つて、環状に形成され
た１本のレリーズワイヤ３０を巻回させ、もつ
て、モータ２６を正転及び逆転させることによ
り、補助果梗支持部材１９Ａ及びカツタ２０夫々
を突出作動及び引退作動させ、且つ、カツタ２０
及び補助果梗支持部材１９Ａの突出操作完了位置
を果梗の位置に合わせて変更できる出退駆動機構
を構成してある。 Further, as shown in FIGS. 1, 2, 3, and 5, an electric motor 26 is attached to the bottom wall 17a of the cylindrical case 17, and the operating shaft 2 of the motor 26 is attached to the bottom wall 17a of the cylindrical case 17.
6a, the lower plate 27 of the three disc-shaped plates 27 spaced apart in the vertical direction is attached, and the intermediate plate 27 is attached to the lower plate 27 via a pair of rollers 29a, 29b. Furthermore, the upper plate 27 is attached to the intermediate plate 27 via a pair of rollers 28a and 28b. One end of each of the auxiliary kerat support member 19A and the cutter 20 is pivotally supported on the cylindrical case 17 using a pin 31, and a support pin 33 is attached to the other end of each of the auxiliary kerat support member 19A and the cutter 20. is rotatably supported in a cylindrical case 17. Pulleys 32a, 3 are attached to the support pins 33, 33, respectively.
2b so as to be integrally rotatable, and one release wire 30 formed in an annular shape is wound around each of the rollers 28a, 28b, 29a, 29b and both the pulleys 32a, 32b. By rotating the motor 26 in the normal and reverse directions, the auxiliary fruit stalk support member 19A and the cutter 20 are operated to protrude and retract, respectively, and the cutter 20
Also, an ejection/retraction drive mechanism is configured that can change the position at which the protruding operation of the auxiliary fruit stalk support member 19A is completed in accordance with the position of the fruit stalk.

つまり、前記レリーズワイヤ３０のインナーワ
イヤ３０ｂが、モータ２６が正転するに伴い上方
側のローラ２８ａ，２８ｂにて引張られてプーリ
３２ａ，３２ｂを突出側に回転操作し、且つ、モ
ータ２６が逆転するに伴い下方側のローラ２９
ａ，２９ｂに引張られてプーリ３２ａ，３２ｂを
引退側に回転操作するように巻回されることにな
り、そして、前記補助果梗支持部材１９Ａ及び前
記カツタ２０の突出作動中において、果梗に補助
果梗支持部材１９Ａ及びカツタ２０のうちのいず
れかが接当すると、接当した側のプーリ３２ａあ
るいは３２ｂがインナーワイヤ３０ｂに対してス
リツプすると共に、接当していない側のプーリ３
２ａあるいは３２ｂの回転により補助果梗支持部
材１９あるいはカツタ２０を引続き突出させるよ
うにしてある。尚、図中３４は、アウターワイヤ
３０ａを筒状ケース１７に固定するための部材で
ある。 That is, as the motor 26 rotates in the normal direction, the inner wire 30b of the release wire 30 is pulled by the upper rollers 28a, 28b to rotate the pulleys 32a, 32b to the projecting side, and the motor 26 rotates in the reverse direction. As the roller 29 on the lower side
a, 29b so as to rotate the pulleys 32a, 32b toward the retracting side. When either the auxiliary kerat support member 19A or the cutter 20 comes into contact, the pulley 32a or 32b on the side that is in contact slips against the inner wire 30b, and the pulley 3 on the side that is not in contact slips.
The rotation of 2a or 32b causes the auxiliary fruit stem support member 19 or the cutter 20 to continue to protrude. Note that 34 in the figure is a member for fixing the outer wire 30a to the cylindrical case 17.

前記カツタ２０及びそれを切断作動させるため
の構造について説明する。 The cutter 20 and the structure for operating the cutter will be explained.

第３図に示すように、２枚の円弧帯板状刃体２
０ａ，２０ｂを上下に重ね合わせてカツタ２０を
構成すると共に、上部側の刃体２０ａをスライド
させるための空気圧シリンダ３５を設け、もつ
て、空気圧シリンダ３５の伸縮作動により下方側
の刃体２０ｂに対して上方側の刃体２０ａをスラ
イドさせてカツタ２０を切断作動させるようにし
てある。尚、図中２０ｃは、カツタ２０の切断用
凹部である。 As shown in Fig. 3, two circular arc strip-shaped blade bodies 2
The cutter 20 is constructed by overlapping the upper and lower blades 0a and 20b, and a pneumatic cylinder 35 is provided for sliding the upper blade 20a. On the other hand, the cutter 20 is operated to cut by sliding the upper blade 20a. Note that 20c in the figure is a cutting recess of the cutter 20.

次に、前記果実捕捉部Ｈを、収穫対象果実Ｍの
下方箇所に誘導した後、上方側に移動して果実捕
捉部Ｈ内に果実を導入し、その状態において、果
梗支持部材１９を突出作動させて果梗を支持する
と共に、カツタ２０にて果梗を切断して果実を収
穫する収穫作動について説明する。 Next, after guiding the fruit trap H to a lower part of the fruit M to be harvested, the fruit is moved upward to introduce the fruit into the fruit trap H, and in this state, the stem support member 19 is protruded. A harvesting operation in which the fruit is harvested by supporting the fruit stem and cutting the fruit stem with the cutter 20 will be described.

すなわち、先ず車体Ａの走行によつて果樹の近
くに移動した後、第１アーム５ａの上部に取付け
たテレビカメラ３６の撮像を写し出すモニター
（図示せず）に写し出した果実のうちの収穫対象
果実Ｍを選択し、それらテレビカメラ３６の検出
情報及び果実選択情報が入力される制御装置（図
示せず）によつて、ブーム１及びアーム５を自動
作動させて収穫対象果実Ｍの下方箇所に果実捕捉
部Ｈを移動させた後、その果実捕捉部Ｈを上昇移
動させて果実Ｍを果実捕捉部Ｈ内に取り込み、そ
して、取り込んだ果実から延びる果梗を果実捕捉
部横巾方向中央箇所に位置させるように果梗支持
部材１９の２個を突出作動させながら、果梗に果
梗支持部材１９が接当すると、果実捕捉部Ｈをア
ーム長手方向に回転させることにより果梗を捕捉
部横巾方向中央箇所に位置させると共に、捕捉部
前後方向に果梗支持部材１９及びカツタ２０を果
梗に接当する位置まで突出作動させた後、カツタ
２０を空気圧シリンダ３５にて切断作動させて、
果梗を切断して果実収穫を終了するのである。 That is, after the vehicle body A moves close to the fruit trees, fruits to be harvested among the fruits are displayed on a monitor (not shown) that displays images taken by the television camera 36 attached to the upper part of the first arm 5a. A control device (not shown) into which the detection information of the television camera 36 and fruit selection information are input automatically operates the boom 1 and the arm 5 to place the fruit at a location below the fruit M to be harvested. After moving the catching part H, the fruit catching part H is moved upward to take the fruit M into the fruit catching part H, and the fruit stem extending from the taken fruit is positioned at the center in the width direction of the fruit catching part. When the fruit stem support member 19 comes into contact with the fruit stem while protruding the two fruit stem support members 19 so as to move the fruit stem, the fruit stem is rotated in the longitudinal direction of the arm so that the fruit stem is held in the width of the capture part. After locating it at the central point in the direction and protruding the stalk support member 19 and the cutter 20 in the longitudinal direction of the catching portion to a position where they contact the stalk, the cutter 20 is operated to cut with the pneumatic cylinder 35,
The fruit harvest is completed by cutting the stem.

尚、第６図及び第７図に示すように、果実捕捉
部Ｈに備える各種アクチユエータ９，１５，１
６，２１，２６，F₁…に対する電源供給は車体
側に備えるバツテリ等から複数本の電線３７を束
ねた状態でブーム１を通して支持部１ｃに通し、
その電線３７をアーム５の枢支部５ａからアーム
５内部に通すと共に、第２アーム５ｂの後端に設
けたローラ３８に巻回させた後、アーム５前方側
に設けた端子板３９に接続し、その端子板３９か
ら捕捉部の各アクチユエータに接続するのであ
る。 In addition, as shown in FIGS. 6 and 7, various actuators 9, 15, 1 provided in the fruit catching section H
6, 21, 26, F ₁ . . . power is supplied from a battery or the like provided on the vehicle body by connecting a plurality of wires 37 bundled together through the boom 1 and through the support portion 1c.
The electric wire 37 is passed through the inside of the arm 5 from the pivot portion 5a of the arm 5, and is wound around a roller 38 provided at the rear end of the second arm 5b, and then connected to a terminal plate 39 provided on the front side of the arm 5. , the terminal board 39 is connected to each actuator of the capture section.

〔別実施例〕[Another example]

本発明を実施するに、果実捕捉部Ｈの具体構
成、アーム５の具体構成、及び、果実収穫におけ
る果実捕捉部Ｈの誘導のための具体構成夫々は、
各種変更できる。 In carrying out the present invention, the specific configuration of the fruit catching section H, the specific configuration of the arm 5, and the specific configuration for guiding the fruit catching section H during fruit harvesting are as follows:
Various changes can be made.

前記実施例では、果実捕捉部Ｈをアーム長手方
向軸芯周りでのみ回転できるようにアーム５に設
けたが、捕捉部横巾方向軸芯周りで回転できるよ
うに設けてもよい。 In the embodiment described above, the fruit catching part H is provided on the arm 5 so as to be rotatable only around the axis in the longitudinal direction of the arm, but it may be provided so as to be rotatable around the axis in the width direction of the catching part.

又、前記実施例では、補助果梗支持部材１９Ａ
を設けたが、これを省略してもよい。 In addition, in the above embodiment, the auxiliary fruit stem support member 19A
is provided, but it may be omitted.

【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図は果梗支持部材及びカツ
タの出退駆動構造を示す斜視図、第２図は果実捕
捉部の平面図、第３図及び第４図は果実捕捉部の
縦断面図、第５図は果梗支持部材及びカツタの突
出状態を示す平面図、第６図はアームの支持部を
示す切欠き正面図、第７図はアームの切欠き側面
図、第８図はアームの概略平面図、第９図は果実
収穫機の側面図である。第１０図イ，ロは果実の
取込み状態の従来例を示す説明図である。 ５……アーム、１９……果梗支持部材、２０…
…カツタ、Ｄ……果実収納空間、Ｅ……果実取入
口、Ｈ……果実捕捉部、Ｐ……軸芯。 The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, in which FIG. 1 is a perspective view showing a stem support member and a structure for driving the cutter in and out, FIG. 2 is a plan view of the fruit catching section, and FIG. 4 and 4 are longitudinal cross-sectional views of the fruit catching section, FIG. 5 is a plan view showing the protruding state of the stem support member and the cutter, FIG. 6 is a cutaway front view showing the arm support section, and FIG. 7 8 is a schematic plan view of the arm, and FIG. 9 is a side view of the fruit harvesting machine. FIGS. 10A and 10B are explanatory diagrams showing a conventional example of the state of taking in fruit. 5... Arm, 19... Fruit stem support member, 20...
...Cut, D...Fruit storage space, E...Fruit intake port, H...Fruit catcher, P...Shaft core.

Claims (1)

【特許請求の範囲】[Claims] １ 上部に果実取入口Ｅが形成された果実収納空
間Ｄを備える果実捕捉部Ｈを、アーム５の先端に
連設し、前記果実収納空間Ｄ内に収納された果実
から伸びる果梗を支持するための果梗支持部材１
９を、出退操作自在に前記果実捕捉部Ｈに設け、
前記果梗支持部材１９にて支持された果梗を切断
作用するカツタ２０を、突出作動に伴つて果梗側
に移動させるべく出退操作自在に前記果実捕捉部
に設けた果実収穫用ロボツトハンドであつて、前
記果実捕捉部Ｈを、前記果実取入口Ｅが上方に向
う姿勢に自重で復帰付勢した状態で、前記アーム
５の長手方向に沿う軸芯Ｐ周りで揺動自在に前記
アーム５に枢着し、前記果梗支持部材１９を、果
梗が捕捉部前後方向に移動することを許容する状
態で、捕捉部横巾方向中央箇所に果梗を支持する
ように設け、前記カツタ２０を、平面視において
捕捉部前後方向に出退移動するように設け、前記
カツタ２０に対する出退駆動機構を、前記カツタ
２０の突出操作完了位置を果梗の位置に合わせて
変更できるように設けてある果実収穫用ロボツト
ハンド。1. A fruit trap H having a fruit storage space D with a fruit intake port E formed in the upper part is connected to the tip of the arm 5, and supports the fruit stalk extending from the fruit stored in the fruit storage space D. Fruit stem support member 1 for
9 is provided in the fruit catching part H so as to be freely operable to move in and out;
A robot hand for fruit harvesting is provided in the fruit catching part so as to be able to move in and out of the cutter 20 that cuts the fruit stem supported by the fruit stem support member 19 toward the fruit stem side with the protruding operation. The arm is configured to swing freely around an axis P along the longitudinal direction of the arm 5 in a state in which the fruit catching portion H is urged back by its own weight to a position in which the fruit intake port E faces upward. 5, and the stalk support member 19 is provided to support the stalk at the center in the width direction of the trapping portion in a state that allows the stalk to move in the front and back direction of the trapping portion. 20 is provided so as to move in and out in the front and back direction of the catching portion in a plan view, and a drive mechanism for moving the cutter 20 in and out is provided so that the position at which the protruding operation of the cutter 20 is completed can be changed in accordance with the position of the fruit stem. A robot hand for fruit harvesting.