JPH0411161B2 - - 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開口される果実
収納空間を備える果実捕捉部を設け、前記収納空
間内の果実から延びる果梗を所定位置に支持する
果梗支持部材を、前記果実取入口側に突出する支
持作用位置と前記果実取入口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
捉部に設け、収穫対象果実を前記果実収納空間内
に取入れるように前記果実捕捉部を誘導する果実
捕捉部誘導手段、取入れられた果実の果梗を支持
すべく前記果梗支持部材を支持作用位置側に操作
する果梗支持部材操作手段を夫々設けた果実収穫
装置に関する。Detailed Description of the Invention [Industrial Field of Application] The present invention provides a fruit trapping section having a fruit storage space in which a fruit intake port is opened at the upper part, and a fruit stem extending from the fruit in the storage space is held in a predetermined position. A fruit stem supporting member is provided in the fruit trapping part so as to be switchable between a supporting position in which it protrudes toward the fruit intake port and a retracted position in which it retires toward a side away from the fruit intake port. A fruit catching section guide means for guiding the fruit catching section so as to take the target fruit into the fruit storage space, and operating the fruit stem support member to a supporting action position to support the fruit stem of the taken fruit. The present invention relates to a fruit harvesting device each provided with means for operating fruit stem support members.

〔従来の技術〕[Conventional technology]

かかる果実収穫装置においては、果実収納空間
から延びる果梗を果梗支持部材にて所定位置に支
持した状態において、前記果梗をカツタにて切断
させる、あるいは、前記果梗を折り曲げるように
又は引張るように果実捕捉部を作動させることに
より果梗を切断させて、果実を収穫することにな
る。 In such a fruit harvesting device, while the fruit stem extending from the fruit storage space is supported in a predetermined position by the fruit stem support member, the fruit stem is cut with a cutter, or the fruit stem is bent or pulled. By operating the fruit trapping section, the fruit stalk is cut and the fruit is harvested.

ところで、従来では、上記の如く、例えば果梗
をカツタにて切断するに、前記果梗支持部材を支
持作用位置側へ操作した後に、ただちに切断作動
を行なうようにしていた。 By the way, conventionally, as described above, when cutting a fruit stem with a cutter, for example, the cutting operation was performed immediately after the fruit stem support member was operated to the supporting position side.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

しかしながら、上記従来手段によると、果梗支
持部材が支持作用位置に位置しているか否かを確
認せずに、次の果梗切断作動を行なわせるもので
あるため、次に述べる不都合があつた。つまり、
例えば第９図に示すように、小枝や葉等により果
梗支持部材１０の支持作用位置への操作が阻止さ
れて、果梗支持部材１０が支持作用位置に位置し
ていない場合において、果梗Ｋを切断しようとし
ても、果梗Ｋが支持作用位置に支持させることが
できないため切断ミスを起こす虞れがあつた。 However, according to the above-mentioned conventional means, the next stalk cutting operation is performed without confirming whether or not the stalk supporting member is located at the supporting action position, resulting in the following inconvenience. . In other words,
For example, as shown in FIG. 9, when the stalk support member 10 is not located at the supporting position because the operation of the stalk supporting member 10 to the supporting position is prevented by twigs, leaves, etc. Even if an attempt was made to cut K, there was a risk of cutting errors because the fruit stalk K could not be supported at the supporting position.

本発明は、上記実情に鑑みてなされたものであ
つて、その目的は、果梗を果梗支持部材にて適確
に支持させるようにして、果梗の切断ミスを抑制
する点にある。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to properly support the fruit stem with a fruit stem support member, thereby suppressing mistakes in cutting the fruit stem.

〔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、前記果梗支持部材を支持
作用位置側へ操作した後において、前記果梗支持
部材が支持作用位置に位置していない未完了操作
であることを検出する未完了操作検出手段を設け
ると共に、前記未完了操作が検出されるに伴つ
て、前記果実捕捉部の位置を上下方向あるいは水
平方向に動かす又は揺動させる補正手段を設けた
点にあり、その作用及び効果は次の通りである。 A characteristic configuration of the present invention is an incomplete operation detection that detects an incomplete operation in which the fruit stalk support member is not located at the support action position after the fruit stalk support member is operated toward the support action position. The present invention is characterized in that a correcting means is provided for moving or swinging the position of the fruit catching section vertically or horizontally as the uncompleted operation is detected, and its functions and effects are as follows. It is as follows.

〔作用〕[Effect]

すなわち、果梗支持部材を支持作用位置側へ操
作した後に、果梗支持部材が支持作用位置に位置
していない未完了操作であることを検出する未完
了操作検出手段により未完了操作が検出される
と、果実捕捉部の位置を上下方向あるいは水平方
向に動かし又は揺動させて、果梗支持部材から小
枝や葉等を離脱させるようにし、果梗支持部材を
支持作用位置へ位置させるようにするのである。
（第１図参照） 尚、第９図に示す場合においては、果実捕捉部
を下方側に動かすことにより、果実捕捉部から小
枝や葉等を離脱させることができるものとなる
が、小枝や葉が果梗支持部材の支持作用位置側へ
の移動を阻止する形態は種々有り、果実捕捉部を
上昇させるようにしたり、あるいは、前後や左右
に水平移動させても小枝や葉を離脱させるのに有
効となるものである。 That is, after operating the fruit stalk support member toward the support action position, the incomplete operation is detected by the incomplete operation detection means that detects an incomplete operation in which the fruit stalk support member is not located at the support action position. Then, the position of the fruit trapping section is moved or swung vertically or horizontally to release twigs, leaves, etc. from the stalk support member, and the fruit stalk support member is positioned at the supporting position. That's what I do.
(See Figure 1) In the case shown in Figure 9, by moving the fruit trapping part downward, the twigs, leaves, etc. can be removed from the fruit trapping part. There are various ways to prevent the fruit stem support member from moving toward the supporting position, such as by raising the fruit trapping part, or by moving it horizontally back and forth or left and right to release the twigs and leaves. It is valid.

〔発明の効果〕〔Effect of the invention〕

したがつて、未完了操作検出手段による検出情
報に基づいて、果実捕捉部の位置を上下方向ある
いは水平方向に動かす又は揺動させることによ
り、果梗支持部材に接当する小枝や葉等が存在す
ることがあつても、果梗支持部材にて果梗を適正
通り支持させることができるので、果梗の切断ミ
スを極力抑制することができるのであり、もつ
て、一層良好に果実を収穫することができる果実
収穫装置を得るに至つた。 Therefore, by moving or swinging the position of the fruit trap in the vertical direction or horizontal direction based on the detection information by the incomplete operation detection means, it is possible to detect the presence of twigs, leaves, etc. that come into contact with the fruit stem support member. Even if the fruit stem is damaged, the fruit stem can be properly supported by the fruit stem support member, so mistakes in cutting the fruit stem can be suppressed as much as possible, and the fruit can be harvested more efficiently. We have now achieved a fruit harvesting device that can do this.

〔実施例〕〔Example〕

第８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
た支持台６に果実捕捉部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. 8, 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 rotating base 5 which can be driven and rotated are provided on the upper part of the body frame 4, and a fruit catching unit H and its support arm 7 are mounted on a support base 6 attached to the rotating base 5.
A fruit harvesting machine is constructed by attaching a fruit harvesting robot B consisting of: However, A in the figure is a motor operation unit for the swivel base 5.

前記支持アーム７を構成するに、前記支持台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ｍ
１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、前記支持アーム７を支持台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。 In order to configure the support arm 7, the support stand 6
A square cylindrical first arm 7a is pivotally supported to be vertically swingable, a second arm 7b is removably fitted inside the first arm 7a, and a second arm 7b is connected to the tip of the arm 7b. Three arms 7c are respectively provided, and an electric motor m provided inside the first arm 7a.
The second arm 7b is slidable by one rotation, 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 support arm 7 up and down with respect to the support base 6.

第２図乃至第５図に示すように、前記果実捕捉
部Ｈを構成するに、有底筒状のケース８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８の上方周縁部に立設し、もつ
て、ケース８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Ｇ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Ｄを備えさせるよう
にしてある。 As shown in FIGS. 2 to 5, a bottomed cylindrical case 8 is provided to constitute the fruit catching section H, and first to sixth finger-like members F1 to F6 made of rubber are attached to the case. 8 and is provided with a fruit storage space G surrounded by the case 8 and the plurality of finger-like members F1 to F6, and at the tips of the plurality of finger-like members F1 to F6. A fruit intake port D is formed so as to be surrounded by the fruit intake port D.

そして、果実捕捉部Ｈを前記アーム７に取付け
るに、二又状支持枠９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、果実捕捉部Ｈを、前記二又状支持枠９の
先端部に水平軸芯Ｘ周りに回動自在に取付けて、
果実捕捉部Ｈを自重で上向姿勢に維持されるよう
に構成してある。 To attach the fruit catching part H to the arm 7, the forked support frame 9 is attached to the tip of the third arm 7c so as to be rotatable around the axis Y along the arm's longitudinal direction, and the fruit catching part H is It is attached to the tip of the forked support frame 9 so as to be rotatable around the horizontal axis X,
The fruit catching part H is configured to be maintained in an upward position by its own weight.

そして、前記収納空間Ｇ内の果実Ｍから延びる
果梗を果実取入口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、前記ケース８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補捉部側に設
けている。 Then, six of the fruit stem support members 10 that support the fruit stem extending from the fruit M in the storage space G at a predetermined position corresponding to the center of the fruit intake port D are supported so as to protrude toward the fruit intake port D side. It is provided in the case 8 so as to be switchable between an operating position and a retracted position where it retires away from the fruit intake port D, and
The arc-shaped sliding cutter 11 for cutting the fruit stalk supported by the fruit stalk supporting member 10 is compensated so as to be able to swing forward and backward so that it can be operated to project to the cutting position for the fruit stalk in the supporting position. It is provided on the capture part side.

つまり、前記果実捕捉部Ｈは、後述の果実捕捉
部誘導手段１０１によつて、収穫対象果実Ｍの下
方箇所に移動されると共に上方側に移動されて収
穫対象果実Ｍを前記果実収納空間Ｇ内に取入れる
ようにするのである。そして、収穫対象果実Ｍが
前記収納空間Ｇ内に取入れられた状態において、
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、カツタ１１にて果梗を切断して、果実
を収穫することになる。 That is, the fruit catching section H is moved to a lower part of the fruit M to be harvested and also moved upward by the fruit catching section guiding means 101, which will be described later, to move the fruit M to be harvested into the fruit storage space G. In other words, it should be incorporated into the system. Then, in a state where the fruit M to be harvested is taken into the storage space G,
The fruit stem support member 10 is operated to project to support the fruit stem, and the fruit stem is cut with the cutter 11 to harvest the fruit.

前記カツタ１１について説明を加えれば、２枚
の円弧帯板状刃体１１ａ，１１ｂを、上下に重ね
合わせた状態で長手方向に相対スライド自在にピ
ン連結し、各刃体１１ａ，１１ｂ夫々の長手方向
中央部には、果梗が入り込み自在な切断用凹部１
１ｃを形成してある。 To further explain the cutter 11, two arcuate band-shaped blade bodies 11a and 11b are connected with a pin so that they can be slid relative to each other in the longitudinal direction in a vertically overlapping state. In the central part of the direction, there is a cutting recess 1 into which the fruit stem can freely enter.
1c is formed.

そして、第２図及び第３図に示すように、各刃
体１１ａ，１１ｂ夫々の一端部を各別に係止する
一対のピン１２ａ，１２ｂを、筒状ケース８に回
転自在に貫通支承した筒状のカツタ操作部材１３
に設けると共に、その操作部材１３のケース外端
部に設けたピニオン１４に咬合するラツク１５
を、筒状ケース８に取付けた空気圧シリンダ１６
に付設し、もつて、空気圧シリンダ１６の作動に
より、両刃体１１ａ，１１ｂを切断のために相対
スライド駆動できるようにしてある。 As shown in FIGS. 2 and 3, a pair of pins 12a and 12b, each of which locks one end of each blade body 11a and 11b, is rotatably supported through the cylindrical case 8. shaped cutter operating member 13
and a rack 15 that engages with a pinion 14 provided at the outer end of the case of the operation member 13.
The pneumatic cylinder 16 attached to the cylindrical case 8
The blades 11a and 11b can be driven to slide relative to each other for cutting by operating a pneumatic cylinder 16.

但し、図中１７は、果梗支持部材１０の枢支ピ
ンを兼ねたカツタ支持ピンである。又、前記カツ
タ１１をケースに対して出退揺動させる際には、
前記空気圧シリンダ１７は外気連通状態に維持さ
れて、カツタ出退揺動に伴つて伸縮することにな
る。 However, numeral 17 in the figure is a cutter support pin that also serves as a pivot pin for the stem support member 10. Moreover, when the cutter 11 is moved in and out of the case,
The pneumatic cylinder 17 is maintained in a state of communicating with the outside air, and expands and contracts as the cutter moves in and out.

前記果梗支持部材１０及びカツタ１１を出退駆
動する構造について詳述すれば、第２図及び第３
図に示すように、前記ケース８に内嵌支承される
筒状部材１８を回転させて前記果梗支持部材１０
を支持作用位置側に操作する果梗支持部材操作手
段としての電動モータ１９をケース側に設けると
共に、前記果梗支持部材１０に形成の長孔１０ａ
に係入する係止ピン２０ａ、及びカツタ１１にお
けるスライドのための構造が連係される側とは反
対側の端に形成の長孔１１Ａに係入する係止ピン
（但し果梗支持部材用操作ピン兼用）２０ｂ夫々
を、前記筒状部材１８に付設し、もつて、電動モ
ータ１９の作動により筒状部材１８を回転させて
果梗支持部材１０並びにカツタ１１を突出作動さ
せるように構成してある。 The structure for driving the stem support member 10 and the cutter 11 in and out will be described in detail in FIGS. 2 and 3.
As shown in the figure, by rotating the cylindrical member 18 that is internally supported by the case 8, the stem support member 10 is
An electric motor 19 is provided on the case side as a means for operating the stalk support member for operating the stalk support member 10 to the support action position side, and a long hole 10a formed in the stalk support member 10 is provided.
A locking pin 20a that engages with the long hole 11A formed at the end of the cutter 11 opposite to the side where the sliding structure is linked (however, the locking pin 20a engages with the elongated hole 11A formed at the end of the cutter 11 opposite to the side where the sliding structure is linked (however, the locking pin 20a engages with the long hole 11A) The pins (also used as pins) 20b are attached to the cylindrical member 18, so that the cylindrical member 18 is rotated by the operation of the electric motor 19, and the stem support member 10 and the cutter 11 are operated to protrude. be.

前記電動モータ１９と前記筒状部材１２とを連
動連結する構造について説明すれば、第３図及び
第４図に示すように、前記電動モータ１９のウオ
ーム１９ａが咬合するウオームホイール２１及び
第１ギヤ２２夫々を、ケース側に取付けたピン２
３に一体回転するように外嵌着し、前記第１ギヤ
２２と咬合する第２ギヤ２４を前記筒状部材１８
の外周部の所定範囲に形成し、もつて、電動モー
タ１９の駆動により、筒状部材１８を回転するよ
うにしてある。又、第２図に示すように、前記筒
状部材１８の回転範囲を制限するための一対のリ
ミツトスイツチ２５を前記果実筒状ケース９ａの
下端部２箇所に取付けて、前記第２ギヤ２４の回
転に伴つて前記第２ギヤ２４の両端部いずれかが
前記リミツトスイツチ２５に接当することにより
リミツトスイツチ２５がONすると、前記電動モ
ータ１９の駆動を停止するようにしてある。 To explain the structure for interlocking and connecting the electric motor 19 and the cylindrical member 12, as shown in FIGS. 3 and 4, the worm wheel 21 and the first gear engage with the worm 19a of the electric motor 19. 22 respectively, pin 2 attached to the case side.
A second gear 24 is fitted onto the outside of the cylindrical member 18 so as to rotate integrally with the second gear 24 and meshes with the first gear 22.
The cylindrical member 18 is formed in a predetermined range on the outer periphery of the cylindrical member 18, and the cylindrical member 18 is rotated by driving the electric motor 19. Further, as shown in FIG. 2, a pair of limit switches 25 for limiting the rotation range of the cylindrical member 18 are attached to two locations at the lower end of the fruit cylindrical case 9a, and the second gear 24 is rotated. Accordingly, when either end of the second gear 24 comes into contact with the limit switch 25 and the limit switch 25 is turned on, the drive of the electric motor 19 is stopped.

次に、果実捕捉部Ｈを収穫対象果実Ｍの下方箇
所に移動させ、その後に、前記果実捕捉部Ｈを上
昇移動させて前記収穫対象果実Ｍを果実収納空間
Ｇ内に取入れるように前記果実捕捉部Ｈを誘導す
る果実捕捉部誘導手段１０１について詳述する。 Next, the fruit catching section H is moved to a position below the fruit M to be harvested, and then the fruit catching section H is moved upward to take the fruit M to be harvested into the fruit storage space G. The fruit trap guiding means 101 for guiding the trap H will be described in detail.

第８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２６
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２６の
撮像を写し出すモニター２７を設け、モニター２
７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２８を設け、果実捕捉部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２９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２９からの検出情報、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. 8, a television camera 26 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 27 is provided to display the image captured by the camera 26.
A light pen 28 is provided to select the fruit M to be harvested from among the fruits shown in 7, and an infrared proximity sensor 29 is provided to detect when the fruit capture unit H approaches the fruit M to be harvested within a set distance. 3 provided at the upper end of the arm 7c, and based on fruit selection information, detection information from the proximity sensor 29, rotation information of the arm drive motors m1 and m2 and the swivel base 5, and pre-stored control information. A control device C is provided for outputting operation commands.

又、対象果実Ｍに対する果実捕捉部Ｈの水平方
向での位置を検出する水平位置検出手段として、
第５図に示すように、前記第１乃至第６指状部材
Ｆ１乃至Ｆ６夫々の先端部に、接触式の果実検出
用第１乃至第６指センサＳ１乃至Ｓ６を設けてあ
る。 Further, as a horizontal position detection means for detecting the horizontal position of the fruit catching part H with respect to the target fruit M,
As shown in FIG. 5, contact type first to sixth finger sensors S1 to S6 for fruit detection are provided at the tips of the first to sixth finger members F1 to F6, respectively.

さらに、対象果実Ｍが果実取入口Ｅの直上方箇
所に位置することや対象果実Ｍが果実捕捉部Ｈ内
に取り込まれたことを検出する対象果実検出手段
として、第２図に示すように、収穫対象果実Ｍを
検出するための接触式の中央センサ３０を、果実
捕捉部Ｈの果実取入口Ｄの直上方箇所と前記捕捉
部Ｈの内方側に引退した箇所とに亘つて位置変更
操作するパンタグラフ式リンク機構Ｒの上部に設
け、そのパンタグラフ式リンク機構Ｒを前記ハン
ドＨの底壁９ｂに設けると共に、そのパンタグラ
フ式リンク機構Ｒと一体形成されるギヤ３１と咬
合するラツク３２を、前記底壁９ｂに固定された
空気圧シリンダ３３のロツド３３ａの先端部にボ
ルト固定し、もつて、中央センサ３０の検出信号
に基づいて、空気圧シリンダ３３を伸張作動させ
ることにより、ギヤ３１を回転させてパンタグラ
フ式リンク機構Ｒを短縮させ、果実取入口Ｄの直
上方箇所に位置する中央センサ３０を捕捉部Ｈの
内方側に引退した箇所に位置変更できるようにし
てある。 Furthermore, as shown in FIG. 2, as a target fruit detection means for detecting that the target fruit M is located directly above the fruit intake port E and that the target fruit M is taken into the fruit trap H, The contact type central sensor 30 for detecting the fruit M to be harvested is operated to change the position between a location directly above the fruit intake port D of the fruit trapping section H and a location retracted to the inside of the trapping section H. The pantograph link mechanism R is provided on the bottom wall 9b of the hand H, and the rack 32 engages with the gear 31 formed integrally with the pantograph link mechanism R. A bolt is fixed to the tip of the rod 33a of the pneumatic cylinder 33 fixed to the bottom wall 9b, and the gear 31 is rotated by extending the pneumatic cylinder 33 based on the detection signal of the central sensor 30. The pantograph link mechanism R is shortened so that the central sensor 30 located directly above the fruit intake port D can be moved to a position retracted to the inside of the trap H.

そして、第６図のフローチヤートにて示すよう
に、テレビカメラ２６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２８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、その結果に基づいてアー
ム７の伸縮方向を対象果実Ｍに向けるように、旋
回台５、アーム上下揺動操作用モータｍ２を作動
させて方向（角度）調整を行なわせ、次に、アー
ム７の伸張作動により果実捕捉部Ｈを対象果実側
に移動させることになる。そして、近接センサ２
９が検出作用すると、対象果実側に設定距離減速
移動させ、その後、果実捕捉部Ｈを設定量（５
mm）上昇させる毎に中央センサ３０の検出情報を
チエツクし、果実取入口Ｄの直上方箇所に位置す
る中央センサ３０が検出作用すると、対象果実Ｍ
が果実取入口Ｅの直上方箇所に位置したと判断し
て、その中央センサ３０を果実捕捉部Ｈの内方側
に引退した箇所に位置変更させ、その後さらに果
実捕捉部Ｈを設定量（５mm）上昇させる毎に中央
センサ３０の検出情報をチエツクし、その中央セ
ンサ３０が再度検出作用すると、対象果実Ｍが果
実捕捉部Ｈ内に取り込まれたと判断して、捕捉部
Ｈの上昇を停止させて、後述の収穫作動を開始す
ることになる。 As shown in the flowchart of FIG. 6, when the target fruit M among the fruits imaged by the television camera 26 is indicated by the light pen 28, the direction in which the target fruit M is located is indicated by the light pen 28. (angle) is calculated and detected, and based on the result, the direction (angle) is adjusted by operating the swivel base 5 and the motor m2 for vertically swinging the arm so that the direction of extension and contraction of the arm 7 is directed toward the target fruit M. Then, by extending the arm 7, the fruit catching section H is moved toward the target fruit. And proximity sensor 2
9 is detected, it is decelerated and moved a set distance to the target fruit side, and then the fruit trap H is moved by a set amount (5
mm) The detection information of the central sensor 30 is checked each time the target fruit M
is located directly above the fruit intake port E, the central sensor 30 is repositioned to the inner side of the fruit trap H, and then the fruit trap H is further moved by a set amount (5 mm). ) Every time the fruit is raised, the detection information of the central sensor 30 is checked, and when the central sensor 30 detects it again, it is determined that the target fruit M has been taken into the fruit trap H, and the raising of the trap H is stopped. Then, the harvesting operation, which will be described later, will begin.

尚、前記中央センサ３０を、前記果実取入口Ｄ
の直上方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３０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
設定距離（例えば20mm）捕捉部Ｈを水平移動させ
て、果実捕捉部Ｈの水平方向での位置を調整する
ことにより果実取入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３０が検出作用しない時には、収穫不
能であると判断して、果実捕捉部Ｈを所期位置に
復帰作動させることになる。 Note that the central sensor 30 is connected to the fruit intake port D.
When the central sensor 30 is in a non-detecting state, the 6
When any of the finger sensors S1 to S6 performs a detection action, the catching part H is horizontally moved by a set distance (for example, 20 mm) in the direction of the finger sensor that has performed the detection action, and the position of the fruit catching part H in the horizontal direction is adjusted. By adjusting this, the fruit is reliably taken into the fruit intake port. Further, when the central sensor 30 does not detect the fruit even after performing the raising operation by a predetermined amount, it is determined that the fruit cannot be harvested, and the fruit catching section H is operated to return to the desired position.

次に、収穫作動のための構成及び制御作動につ
いて詳述する。 Next, the configuration and control operation for the harvesting operation will be explained in detail.

すなわち、果梗支持部材１０を支持作用位置側
へ操作した後において、前記果梗支持部材１０が
支持作用位置に位置していない未完了操作である
ことを検出する未完了操作検出手段としてのリミ
ツトスイツチ２５を、制御作動のための情報とし
て前記制御装置Ｃに入力すると共に、前記未完了
操作検出手段１８により未完了操作が検出される
に伴つて、アーム７を作動させながら果実捕捉部
Ｈの位置を上下方向あるいは水平方向に動かす又
は揺動させる補正手段１０２、及び、果梗支持部
材１０の操作完了後において前記シリンダ１６を
作動させてカツタ１１を切断作動させる果梗切断
手段の夫々を、前記制御装置Ｃを利用しながら構
成してある。尚、本実施例においては、前記補正
手段１０２の作動前に前記電動モータ１９を停止
して前記果梗支持部材１０の支持作用位置側への
操作を一旦停止させる操作停止手段、及び、前記
補正手段１０２の作動後に前記電動モータ１９を
作動して前記果梗支持部材１０を支持作用位置側
へ再び操作する再操作手段の夫々を設けている。
以下、収穫制御作動のための前記各手段を、第７
図のフローチヤートに基づいて説明する。 That is, after operating the fruit stem support member 10 toward the support action position, the limit switch serves as an incomplete operation detection means that detects an incomplete operation in which the fruit stem support member 10 is not located at the support action position. 25 is input to the control device C as information for control operation, and as the uncompleted operation is detected by the uncompleted operation detection means 18, the position of the fruit catcher H is determined while operating the arm 7. the correction means 102 that moves or swings the stem vertically or horizontally, and the stem cutting means that operates the cylinder 16 to cut the cutter 11 after the operation of the stem support member 10 is completed. It is configured using a control device C. In the present embodiment, operation stopping means for stopping the electric motor 19 and temporarily stopping the operation of the fruit stem support member 10 toward the support action position side before the correction means 102 is activated; Re-operation means are provided for operating the electric motor 19 after the operation of the means 102 to again operate the fruit stem support member 10 toward the support action position.
Hereinafter, each of the above-mentioned means for harvest control operation will be explained in the seventh section.
The explanation will be based on the flowchart shown in the figure.

前記果梗支持部材１０を支持作用位置側へ、且
つ、前記カツタ１１を突出作動側へ操作されるよ
うにモータ１９を設定時間駆動した後において、
前記リミツトスイツチ２５がONすると、果梗支
持部材１０が支持作用位置に位置していると判断
して、前記中央センサ３０を捕捉部Ｈの内方側に
引退させた位置に位置させて上昇させた量（上昇
回数×５mm）だけ果実捕捉部Ｈを下降させ、その
後、果実捕捉部Ｈを切断用凹部１１ｃの奥部が果
梗に対して接近する方向に移動させてからカツタ
１１をシリンダ１６にて作動させて、果梗を切断
するのである。 After driving the motor 19 for a set time so that the fruit stem support member 10 is operated to the support action position side and the cutter 11 is operated to the protrusion action side,
When the limit switch 25 is turned on, it is determined that the fruit stem support member 10 is located at the supporting action position, and the central sensor 30 is moved to a position where it is retracted to the inside of the trap H and raised. The fruit catching part H is lowered by the amount (number of times of rise x 5 mm), and then the fruit catching part H is moved in a direction in which the inner part of the cutting recess 11c approaches the fruit stalk, and the cutter 11 is moved into the cylinder 16. It is activated to cut the stem.

前記リミツトスイツチ２５がONしない場合、
つまり果梗支持部材１０が支持作用位置に位置し
ていない未完了操作である場合には、モータ１９
を停止させたのち、果実捕捉部Ｈの位置を上下方
向に設定量変更させた後に果梗支持部材１０を電
動モータ１９にて支持作用位置側へ再び操作する
ようにするのである。つまり、リミツトスイツチ
２５がONしていない場合には、モータ１９を停
止した後、果実捕捉部Ｈを水平方向あるいは上下
方向に揺動し、その後、果梗支持部材１０及びカ
ツタ１１を突出作動側にモータ１９により駆動し
て、再度リミツトスイツチ２５がONしているか
どうかを判定するのである。そして、そのリミツ
トスイツチ２５がまだONしていない場合には、
前記同様、モータ１９を停止した後、果実捕捉部
Ｈを設定量上昇して揺動し、その後、果梗支持部
材１０及びカツタ１１を突出作動側にモータ１９
により駆動して、再度リミツトスイツチ２５が
ONしているかどうかを判定するのである。さら
に、そのリミツトスイツチ２５がまだONしてい
ない場合には、前記同様、モータ１９を停止した
後、果実捕捉部Ｈを設定量下降して揺動し、その
後、果梗支持部材１０及びカツタ１１を突出作動
側にモータ１９により駆動して、再度リミツトス
イツチ２５がONしているかどうかを判定するの
である。尚、そのリミツトスイツチ２５がまだ
ONしていない場合には、収穫不能であると判断
して、果梗支持部材１０及びカツタ１１を引退作
動側にモータ１９により駆動した後、果実捕捉部
Ｈを所期位置に復帰させることになる。そして、
果実捕捉部Ｈを所期位置に復帰させた後、空気圧
シリンダ３３を短縮側に作動させることにより中
央センサ３０を上昇させて果実捕捉部Ｈの果実取
入口Ｄの直上方箇所に復帰させるのである。又、
収穫された果実は、果実捕捉部Ｈを所期位置に復
帰させた状態において、人為的に取除くことにな
る。 If the limit switch 25 is not turned on,
In other words, in the case of an incomplete operation in which the fruit stem support member 10 is not located at the supporting action position, the motor 19
After stopping, the position of the fruit catching part H is changed in the vertical direction by a set amount, and then the fruit stalk support member 10 is operated again toward the supporting action position by the electric motor 19. In other words, if the limit switch 25 is not turned on, after stopping the motor 19, the fruit catching section H is swung horizontally or vertically, and then the fruit stem support member 10 and the cutter 11 are moved to the ejecting operation side. It is driven by the motor 19 to determine again whether the limit switch 25 is on. If the limit switch 25 is not turned on yet,
Similarly to the above, after stopping the motor 19, the fruit catching part H is raised by a set amount and swung, and then the motor 19 is moved to the protruding operation side of the fruit stem support member 10 and the cutter 11.
The limit switch 25 is activated again.
It determines whether it is ON or not. Furthermore, if the limit switch 25 is not yet turned on, after stopping the motor 19, the fruit catching part H is lowered and swung by a set amount, and then the fruit stem support member 10 and the cutter 11 are turned on. It is driven by the motor 19 to the ejection operation side, and it is determined again whether the limit switch 25 is turned on. In addition, the limit switch 25 is still
If it is not turned on, it is determined that it is impossible to harvest, and after driving the stalk support member 10 and cutter 11 to the retracting side by the motor 19, the fruit trap H is returned to the intended position. Become. and,
After returning the fruit catching part H to the desired position, the central sensor 30 is raised by operating the pneumatic cylinder 33 in the shortening direction, and is returned to the position directly above the fruit intake port D of the fruit catching part H. . or,
Harvested fruits are artificially removed while the fruit trap H is returned to its intended position.

〔別実施例〕[Another example]

本発明を実施するに、果実捕捉部Ｈや果梗支持
部材９の具体構成、並びに、果実捕捉部Ｈを誘導
できるように支持するアーム７の具体構成は、各
種変更できるものである。 In carrying out the present invention, various changes may be made to the specific configurations of the fruit catching section H and the stem support member 9, as well as the specific configuration of the arm 7 that supports the fruit catching section H so that it can be guided.

前記実施例では、果実捕捉部Ｈの位置を上下方
向についてのみ動かし揺動させたが、水平方向に
ついても同様に行なつてもよい。 In the embodiment described above, the position of the fruit catching part H was moved and swung only in the vertical direction, but the same movement may be made in the horizontal direction as well.

又、前記実施例では、果実捕捉部Ｈの位置を上
下方向に動かし且つ揺動させる補正手段１０２を
用いて果梗支持部材１０を支持作用位置に位置さ
せるようにしたが、揺動を省略して上下方向にの
み動かす補正手段１０２を用いて行なつてもよ
い。 Further, in the embodiment described above, the correcting means 102 for vertically moving and swinging the position of the fruit catching part H was used to position the fruit stem support member 10 at the supporting action position, but the swinging is omitted. The correction means 102 that moves only in the vertical direction may also be used.

さらに、前記実施例では、果梗をカツタ１１に
て切断するようにしたが、果梗を果梗支持部材１
０にて支持させた状態でアーム７あるいは果実捕
捉部Ｈ等を作動させて、果梗を折り曲げるように
又は引張るようにして、果梗を切断してもよい。 Furthermore, in the above embodiment, the fruit stem is cut by the cutter 11, but the fruit stem is cut by the fruit stem supporting member 11.
The fruit stem may be cut by operating the arm 7 or the fruit catching part H or the like while the fruit stem is supported at 0 to bend or pull the fruit stem.

【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装置の実施例を示
し、第１図は本発明の全体構成を示すブロツク
図、第２図はロボツトハンドの一部切欠き縦断面
図、第３図はモータの駆動構造を示す縦断面図、
第４図はギヤの駆動構造を示す底面図、第５図は
ロボツトハンドの平面図、第６図は制御作動を示
すフローチヤート、第７図は収穫作動を示すフロ
ーチヤート、第８図は制御構成を示す概略図であ
る。第９図は果実の取込み状態の従来例を示す概
略説明図である。 １０…果梗支持部材、１４…果梗支持部材操作
手段、１８…未完了操作検出手段、１０１…果実
捕捉部誘導手段、１０２…補正手段、Ｄ…果実取
入口、Ｇ…果実収納空間、Ｈ…果実捕捉部。 The drawings show an embodiment of the fruit harvesting device according to the present invention, FIG. 1 is a block diagram showing the overall configuration of the present invention, FIG. 2 is a partially cutaway longitudinal sectional view of the robot hand, and FIG. A vertical cross-sectional view showing the drive structure,
Figure 4 is a bottom view showing the gear drive structure, Figure 5 is a plan view of the robot hand, Figure 6 is a flowchart showing control operation, Figure 7 is a flowchart showing harvesting operation, and Figure 8 is control. FIG. 2 is a schematic diagram showing the configuration. FIG. 9 is a schematic explanatory diagram showing a conventional example of a state in which fruit is taken in. DESCRIPTION OF SYMBOLS 10... Fruit stem support member, 14... Fruit stem support member operating means, 18... Uncompleted operation detection means, 101... Fruit trap guiding means, 102... Correction means, D... Fruit intake port, G... Fruit storage space, H ...Fruit trapping part.

Claims (1)

【特許請求の範囲】[Claims] １ 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Ｈを設け、前記収納空間
Ｇ内の果実から延びる果梗を所定位置に支持する
果梗支持部材１０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わたつて切換自在に、
前記果実捕捉部Ｈに設け、収穫対象果実を前記果
実収納空間Ｇ内に取入れるように前記果実捕捉部
Ｈを誘導する果実捕捉部誘導手段１０１、取入れ
られた果実の果梗を支持すべく前記果梗支持部材
１０を支持作用位置側に操作する果梗支持部材操
作手段１４を夫々設けた果実収穫装置であつて、
前記果梗支持部材１０を支持作用位置側へ操作し
た後において、前記果梗支持部材１０が支持作用
位置に位置していない未完了操作であることを検
出する未完了操作検出手段１８を設けると共に、
前記未完了操作が検出されるに伴つて、前記果実
捕捉部Ｈの位置を上下方向あるいは水平方向に動
かす又は揺動させる補正手段１０２を設けてある
果実収穫装置。1. A fruit trap H having a fruit storage space G in which a fruit intake port D is opened is provided at the upper part, and a fruit stalk support member 10 that supports a fruit stalk extending from the fruit in the storage space G in a predetermined position is installed. Switchable between a supporting position where the fruit intake port D protrudes and a retracted position where the fruit intake port D is retracted away from the fruit intake port D;
A fruit trap guiding means 101 provided in the fruit trap H to guide the fruit trap H so as to take the fruit to be harvested into the fruit storage space G; A fruit harvesting device provided with a fruit stalk support member operating means 14 for operating the fruit stalk support member 10 to the support action position side,
An incomplete operation detection means 18 is provided for detecting an incomplete operation in which the fruit stem support member 10 is not located at the support action position after the fruit stem support member 10 is operated toward the support action position. ,
The fruit harvesting device is provided with a correction means 102 that moves or swings the position of the fruit trap H vertically or horizontally as the incomplete operation is detected.