JPH0653013B2 - Hands for harvesting fruits and vegetables - Google Patents
Hands for harvesting fruits and vegetablesInfo
- Publication number
- JPH0653013B2 JPH0653013B2 JP25160685A JP25160685A JPH0653013B2 JP H0653013 B2 JPH0653013 B2 JP H0653013B2 JP 25160685 A JP25160685 A JP 25160685A JP 25160685 A JP25160685 A JP 25160685A JP H0653013 B2 JPH0653013 B2 JP H0653013B2
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- vegetables
- cutter
- harvesting
- fruits
- 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 - Lifetime
Links
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- Harvesting Machines For Specific Crops (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、帯板状で且つ半円弧状の一対の刃体が重ね合
わせ状態で刃体長手方向の相対移動されて切断作用する
カッタを、捕捉した果菜類の柄に対する切断用位置と果
菜類の導入を許容すべく退避させる退避位置とに亘って
切換揺動自在に設け、帯板状で且つ半円弧状の柄支持部
材を、切断用位置の前記カッタに対向位置する切断用位
置と果菜類の導入を許容すべく退避させる退避位置とに
亘って切換揺動自在に設けた果菜類の収穫用ハンドに関
する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention provides a cutter that relatively moves in the blade longitudinal direction in a state where a pair of strip-shaped and semi-circular blades are superposed to perform a cutting action. , A cutting plate supporting member having a semi-arcuate arc shape, which is switchably provided between a cutting position for the handle of the captured fruit and vegetables and a retracting position for retracting to allow the introduction of the fruit and vegetables. The present invention relates to a fruit and vegetable harvesting hand provided so as to be swingably switchable between a cutting position which is opposed to the cutter in a use position and a retreat position which is retracted to allow introduction of fruit and vegetables.
かかる収穫用ハンドにおいて、前記カッタを構成する
に、従来では、第９図(イ),(ロ)に示すように、一対の刃
体(100a),(100b)夫々に、一個の刃部(101a),(101b)を刃
体長手方向中央部に形成させるようにしていた。In such a harvesting hand, in order to configure the cutter, conventionally, as shown in FIGS. 9 (a) and 9 (b), a pair of blades (100a) and (100b) has one blade ( 101a) and (101b) are formed in the central portion of the blade in the longitudinal direction.
そして、カッタ(100)及び柄支持部材(102)夫々を切断用
位置に揺動させる前に、果菜類の柄を切断用位置のカッ
タ(100)の刃部(101a),(101b)が位置すべき箇所に予め保
持させるべく、例えば半円弧状の一対の補助柄支持部材
(103),(103)を、刃体長手方向に沿って出退揺動自在に
設けるように構成していた。Then, before swinging the cutter (100) and the handle support member (102) to the cutting position, the blade portions (101a) and (101b) of the cutter (100) at the cutting position for the handle of fruit and vegetables are positioned. A pair of auxiliary handle support members, for example, in the shape of a semi-circle, so as to be held in advance at a desired location.
(103) and (103) are arranged so as to be movable back and forth along the longitudinal direction of the blade.
上記従来構造によると、果菜類の柄を予め支持する補助
柄支持部材を設けなければならないため、全体構造が複
雑で高価になる不利があるばかりでなく、全体重量が大
になる不利もあった。According to the above conventional structure, an auxiliary handle support member for supporting the handle of fruit and vegetables must be provided in advance, which is not only disadvantageous in that the overall structure is complicated and expensive, but also the overall weight is large. .
本発明は、上記実状に鑑みて為されたものであって、そ
の目的は、果菜類の柄を予め支持することなしに切断で
きるようにする点にある。The present invention has been made in view of the above situation, and an object thereof is to enable cutting of a fruit and vegetable handle without supporting it in advance.
本発明による果菜類の収穫用ハンドの特徴構成は、前記
一対の刃体夫々に、刃体長手方向に沿って刃部を並設し
てある点にあり、その作用及び効果は次の通りである。The characteristic configuration of the harvesting hand for fruit and vegetables according to the present invention is that each of the pair of blade bodies has blade portions arranged in parallel along the blade body longitudinal direction, and the action and effect thereof are as follows. is there.
刃体長手方向に沿って並設される刃部によって、果菜類
の柄が刃体長手方向のいずれの箇所にあっても、果菜類
の柄を切断できるものとなる。The blade portions arranged in parallel along the longitudinal direction of the blade body can cut the fruit vegetable handle regardless of where the fruit vegetable handle is located in the blade longitudinal direction.
果菜類の柄を刃体長手方向での所定位置に予め支持する
必要がなくなるので、従来構造で述べた多数個の柄支持
部材が不要となって、構成の簡素化と軽量化とを図れる
ようになっていた。Since it is not necessary to previously support the handle of fruit and vegetables at a predetermined position in the longitudinal direction of the blade, a large number of handle support members described in the conventional structure are not required, and the structure can be simplified and the weight can be reduced. It was.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第６図に示すように、乗用車体(1)の前部に、果実収穫
装置(2)を設け、乗用車体(1)の横側脇に果実収納容器
(3)を設けると共に、果実収穫装置(2)からの果実を収納
容器(3)に搬送する搬送装置(4)を設けて、主としてリン
ゴ、ミカンの収穫に利用する果実収穫機を構成してあ
り、以下果実収穫装置(2)について詳述する。As shown in FIG. 6, a fruit harvesting device (2) is provided at the front of the passenger car body (1), and a fruit storage container is provided on the side of the passenger car body (1).
(3) is provided, and a conveyor device (4) for conveying the fruit from the fruit harvesting device (2) to the storage container (3) is provided to configure a fruit harvesting machine mainly used for harvesting apples and mandarins. Yes, the fruit harvesting device (2) will be described in detail below.
前記乗用車体(1)の前部に、ブーム取付台(5)を昇降自在
に案内するガイド枠(6)を付設し、昇降用電動モータ(7)
と前記ブーム取付台(5)とをチェーン(8)にて連動連結し
て、ブーム取付台(5)を昇降調節できるように構成して
ある。A guide frame (6) that guides the boom mount (5) to move up and down is attached to the front part of the passenger car body (1), and the lifting electric motor (7)
The boom mount (5) and the boom mount (5) are interlockingly connected by a chain (8) so that the boom mount (5) can be adjusted up and down.
前記ブーム取付台(5)に、板状ブーム(9)を縦軸芯(P1)周
りで水平揺動自在に枢着すると共に、ブーム揺動用電動
モータ(10)を設け、前記ブーム(9)の先端に、多関節型
の伸縮アーム(11)を縦軸芯(P2)で回動自在に枢着すると
共に、アーム回動用モータ(12)を設け、前記伸縮アーム
(11)の先端に、果菜類の収穫用ハンド(H)を設けてあ
る。A plate-shaped boom (9) is pivotally mounted on the boom mount (5) so as to be horizontally swingable around a vertical axis (P 1 ), and an electric motor (10) for swinging the boom is provided to the boom (9). ), The articulated telescopic arm (11) is rotatably pivoted about the vertical axis (P 2 ), and the arm pivoting motor (12) is provided.
A hand (H) for harvesting fruits and vegetables is provided at the tip of (11).
前記伸縮アーム(11)を構成するに、基端側の第１アーム
(11a)、その第１アーム(11a)の先端部に枢支される第２
アーム(11b)、及び、その第２アーム(11b)の先端部に枢
支される第３アーム(11c)の夫々を設け、そして、第１
アーム(11a)をブーム(5)に対して水平軸芯周りで揺動操
作する電動モータ(13a)、第２アーム(11b)を第１アーム
(11a)に対して水平軸芯周りで揺動操作する電動モータ
(13b)、第３アーム(11c)を第２アーム(11b)に対して水
平軸芯周りで揺動操作する電動モータ(13c)夫々を設け
てある。前記収穫用ハンド(H)を構成するに、第１図及
び第２図に示すように、平面視Ｕ字状の基枠(14)を、伸
縮アーム(11)の先端部にボルト止着し、その基枠(14)の
先端部に、捕捉部ケース(15)をボルト接続してある。The retractable arm (11) is composed of a first arm on the base end side.
(11a), a second arm pivotally supported at the tip of the first arm (11a)
Each of the arm (11b) and the third arm (11c) pivotally supported at the tip of the second arm (11b) is provided, and the first arm (11b) is provided.
The electric motor (13a) for swinging the arm (11a) with respect to the boom (5) around the horizontal axis, the second arm (11b) as the first arm
Electric motor that swings around the horizontal axis with respect to (11a)
(13b) and electric motors (13c) for swinging the third arm (11c) with respect to the second arm (11b) around the horizontal axis are respectively provided. To construct the harvesting hand (H), as shown in FIGS. 1 and 2, a U-shaped base frame (14) in plan view is bolted to the tip of the telescopic arm (11). The catch case (15) is bolted to the tip of the base frame (14).
通気管(16)を、前記捕捉部ケース(15)における筒状部(1
5a)にスライド自在に内嵌支持させ、軟質ゴム製のバキ
ュームパッド(17)を、通気管(16)の先端部に外嵌着し、
通気管(16)の基部に、通気用の分岐管(18)を外嵌着し、
その分岐管(18)に、伸縮自在な蛇腹式ホース(19)を接続
してあり、そして、第７図に示すように、そのホース(1
9)を吸気ポンプ(20)に配管接続してある。又、バキュー
ムパッド(17)に果実が吸着したことを感知する負圧セン
サ(21)を、前記分岐管(18)に付設してある。Connect the ventilation pipe (16) to the tubular part (1
5a) is slidably fitted and supported, and a soft rubber vacuum pad (17) is fitted on the tip of the ventilation pipe (16).
The branch pipe (18) for ventilation is externally attached to the base of the ventilation pipe (16),
A telescopic bellows-type hose (19) is connected to the branch pipe (18), and as shown in FIG.
9) is connected to the intake pump (20) by piping. Further, a negative pressure sensor (21) for detecting that the fruit has been adsorbed on the vacuum pad (17) is attached to the branch pipe (18).
収穫用ハンド(H)が収穫対象果実に接近したことを検出
するフォトセンサ(22)を設けてある。つまり、発光部、
受光部等を収納するセンサ本体(22a)を、分岐管(18)内
に保持させると共に、そのセンサ本体(22a)から繰出さ
れる投受光用の光ファイバーケーブル(22b)を、前記通
気管(16)の内部を通してバキュームパッド(17)の内部に
延出し、そして、その延出端を、ホルダ(23)にてバキュ
ームパッド(17)に支持させてある。A photo sensor (22) is provided for detecting that the harvesting hand (H) has approached the fruit to be harvested. That is, the light emitting part,
While holding the sensor body (22a) that houses the light receiving part and the like inside the branch pipe (18), the optical fiber cable (22b) for projecting and receiving light fed from the sensor body (22a) is connected to the ventilation pipe (16). ) Through the inside of the vacuum pad (17) to the inside of the vacuum pad (17), and the extended end is supported by the vacuum pad (17) by the holder (23).
前記バキュームパッド(17)に吸着された果実の柄、いわ
ゆる果梗を切断するバリカン型のカッタ(25)と、果梗が
カッタ(25)から離れることを阻止する果梗支持部材(26)
とからなる果梗切断装置を設けてある。The handle of the fruit adsorbed to the vacuum pad (17), a clipper-type cutter (25) that cuts so-called fruit pruning, and a fruit pruning support member (26) that prevents the fruit plucking from leaving the cutter (25).
It is equipped with a stem cutting device.
つまり、カッタ(25)及び果梗支持部材(26)の夫々を、円
弧状で且つ帯板状に構成すると共に、カッタ(25)及び果
梗支持部材(26)の両端夫々を、同軸芯周りで捕捉部ケー
ス(15)に枢着して、カッタ(25)及び果梗支持部材(26)の
夫々を、対象果実側に起立揺動した切断用位置と対象果
実から離れる側に倒伏揺動した退避位置とに切換えられ
るように構成してある。そして、バリカン型カッタ(25)
及び果梗支持部材(26)を揺動操作する電動モータ(27)を
設けると共に、バリカン型カッタ(25)の駆動用エアシリ
ンダ(28)を設け、もって、切断位置側への揺動、つま
り、起立作動に伴ってバリカン型カッタ(25)と果梗支持
部材(26)との間に果梗を支持し、支持した果梗をカッタ
(25)の作動により切断させるように構成してある。That is, each of the cutter (25) and the fruit pulp support member (26) is configured in an arc shape and a strip plate shape, and both ends of the cutter (25) and the fruit pulp support member (26) are provided around the coaxial core. Pivotally attaches to the capture part case (15) with the cutter (25) and the fruit-stalk supporting member (26) swaying to the cutting position where the target fruit side is oscillated and the side away from the target fruit. It is configured so that it can be switched to the retracted position. And clipper type cutter (25)
And an electric motor (27) for rocking the fruit pulp support member (26) and an air cylinder (28) for driving the hair clipper type cutter (25) are provided, so that rocking to the cutting position side, that is, Along with the stand-up operation, the fruit pulp is supported between the clipper type cutter (25) and the fruit pulp support member (26), and the supported fruit pulp is cut.
It is configured to be cut by the operation of (25).
尚、後で詳述するように、バリカン型カッタ(25)及び果
梗支持部材(26)を、差動機構(29)を介して電動モータ(2
7)に連動連結して、バリカン型カッタ(25)及び果梗支持
部材(26)のいずれかが先に果梗に接当した場合におい
て、先に接当した果梗支持部材(26)あるいはバリカン型
カッタ(25)の起立作動を停止させた状態で他方側の果梗
支持部材(26)あるいはバリカン型カッタ(25)を引続き起
立作動させることができるようにしてある。As will be described in detail later, the hair clipper type cutter (25) and the fruit pulp support member (26) are connected to the electric motor (2) via the differential mechanism (29).
In interlocking connection with 7), when either the clipper type cutter (25) and the fruit pruning support member (26) come into contact with the fruit prune first, the fruit pimple support member (26) that comes into contact first or With the clipper-type cutter (25) in a state where the standing-up operation is stopped, the fruit-stalk-supporting member (26) or the clipper-type cutter (25) on the other side can be continuously started-up.
又、起立作動完了検出用のリミットスイッチ(30)、及
び、倒伏作動完了検出用のリミットスイッチ(31)を、前
記差動機構(29)の入力ギヤ(29A)に付設の突片(32)にて
操作されるように設けてある。Further, a limit switch (30) for detecting the completion of the standing operation and a limit switch (31) for detecting the completion of the fall operation are provided on the protrusion (32) attached to the input gear (29A) of the differential mechanism (29). It is provided so that it can be operated at.
前記バキュームパッド(17)を出退操作するエアシリンダ
(24)を、捕捉部ケース(15)と通気管(16)との間に介装し
てある。つまり、バキュームパッド(17)を退避位置のカ
ッタ(25)よりも対象果菜類側に突出させた捕捉用位置と
その位置よりもカッタ(25)側に後退させた柄切断用位置
とに切換えることができるようにしてある。An air cylinder for operating the vacuum pad (17)
(24) is interposed between the trap case (15) and the ventilation pipe (16). In other words, the vacuum pad (17) is switched between the catching position in which the vacuum pad (17) is projected to the target fruit and vegetables side from the cutter (25) in the retracted position and the handle cutting position in which it is retracted to the cutter (25) side from that position. You can do it.
さらに、前記カッタ(25)及び前記果梗支持部材(26)を、
その揺動軸芯方向視にて、バキュームパッド(17)の移動
方向と直交する位置よりも対象果実から離れる側に大き
く揺動させて退避させるように設けてある。Furthermore, the cutter (25) and the fruit pimple supporting member (26),
When viewed from the direction of the swing axis, the swing pad (17) is swung to a side farther from the target fruit than the position orthogonal to the moving direction of the vacuum pad (17), and is retracted.
第６図に示すように、収穫対象果実を撮像する撮像手段
としてのテレビカメラ(33)を、前記伸縮アーム(11)にお
ける第１アーム(11a)の内部に設けてある。ちなみに、
このテレビカメラ(33)の撮像範囲を、乗用車体(1)の移
動、ブーム取付台(5)の昇降、ブーム(9)の水平揺動、伸
縮アーム(11)のブーム(9)に対する水平揺動や前後揺動
によって設定することになる。As shown in FIG. 6, a television camera (33) as an image pickup means for picking up the fruit to be harvested is provided inside the first arm (11a) of the telescopic arm (11). By the way,
This TV camera (33) can be used to move the passenger car body (1), raise and lower the boom mount (5), horizontally swing the boom (9), and horizontally swing the telescopic arm (11) with respect to the boom (9). It will be set by movement or back and forth swing.
第７図に示すように、マイクロコンピュータを用いて構
成される制御装置(34)に、前記テレビカメラ(33)の撮像
情報、前記フォトセンサ(22)の検出情報、負圧センサ(2
1)の検出情報、起立作動完了検出用のリミットスイッチ
(30)の検出情報、引退作動完了検出用のリミットスイッ
チ(31)の検出情報夫々を入力し、そして、それら情報、
及び、予め記憶させた情報に基づいて、伸縮アーム駆動
用モータ(13a),(13b),(13c)の操作回路(35)、バリカン
型カッタ(25)や果梗支持部材(26)の起伏操作用電動モー
タ(27)の操作回路(36)、バリカン型カッタ(25)の操作用
エアシリンダ(28)に対する制御弁(37)、バキュームパッ
ド(17)の出退操作用エアシリンダ(24)に対する制御弁(3
8)、及び、バキュームパッド(17)に対する制御弁(39)夫
々に、制御装置(33)からの作動指々を与えて、収穫用ハ
ンド(H)を収穫対象果実に誘導すること、及び、収穫対
象果実を収穫すること夫々を自動的に行わせるようにし
てある。つまり、前記制御装置(H)を利用して、第６図
に示すように、前記バキュームパッド(17)の吸引口を収
穫対象果実(M)側に向ける状態で前記収穫用ハンド(H)を
収穫対象果実(M)に向けて自動的に誘導するハンド誘導
手段、及び、誘導した収穫用ハンド(H)を自動的に作動
させて収穫対象果実の果梗を切断して収穫するハンド駆
動手段の夫々を構成してあり、次に、それら手段につい
て、第５図のフローチャートに基づいて説明する。As shown in FIG. 7, a control device (34) configured by using a microcomputer is provided with an image pickup information of the television camera (33), detection information of the photosensor (22), and a negative pressure sensor (2).
Limit switch for detection information of 1) and stand-up operation completion
Input the detection information of (30), the detection information of the limit switch (31) for detecting the completion of the withdrawal operation, and then input those information,
And, based on the information stored in advance, the operation circuit (35) of the expansion / contraction arm drive motors (13a), (13b), (13c), the ups and downs of the clipper type cutter (25) and the fruit pulp support member (26). Operation circuit (36) of electric motor for operation (27), control valve (37) for air cylinder (28) for operation of hair clipper type cutter (25), air cylinder (24) for operation of moving back and forth of vacuum pad (17) Control valve for (3
8) and, to each of the control valve (39) to the vacuum pad (17), by giving an operating finger from the control device (33), to guide the harvesting hand (H) to the fruit to be harvested, and Each of the harvesting of the fruits to be harvested is automatically performed. That is, by using the control device (H), as shown in FIG. 6, the harvesting hand (H) is moved in a state in which the suction port of the vacuum pad (17) is directed toward the fruit (M) to be harvested. Hand guiding means for automatically guiding the harvest target fruit (M), and hand driving means for automatically operating the guided harvesting hand (H) to cut the fruit prunes of the harvest target fruit and harvest Respectively, and the means will be described with reference to the flowchart of FIG.
つまり、前記テレビカメラ(23)により収穫対象果実の位
置する範囲の画像を取込み、枝や葉等を除去して収穫対
象果実のみを抽出すべく画像処理を行い、抽出された対
象果実の位置する方向を演算処理する。That is, the TV camera (23) captures an image of the area where the harvested fruit is located, removes branches and leaves, and performs image processing to extract only the harvested fruit, and the location of the extracted target fruit is determined. Compute the direction.
その演算された方向に基づいて、バキュームパッド(17)
の吸引口が収穫対象果実側に向かう状態を維持しながら
伸縮アーム(11)を伸長作動させて、収穫用ハンド(H)を
収穫対象果実に向けてアプローチさせる。Vacuum pad (17) based on its calculated direction
The expansion hand (H) is approached toward the fruit to be harvested by extending and retracting the telescopic arm (11) while maintaining the state in which the suction port of is toward the fruit to be harvested.
上記アプローチ作動後、フォトセンサ(22)の検出情報を
チェックし、収穫用ハンド(H)が収穫対象果実に接近し
たことが判別されると、バキュームパッド(17)の吸引作
動を開始させる。そして、収穫用ハンド(H)が収穫対象
果実に接近していないことが判別された場合には、アプ
ローチ距離が設定値以上であるか否かが判別され、設定
値未満であることが判別されるとアプローチが続行さ
れ、且つ、設定値以上であることが判別されると、アプ
ローチが停止されて伸縮アーム(11)が短縮され、収穫用
ハンド(H)がアプローチ前の位置に戻される。After the approach operation described above, the detection information of the photo sensor (22) is checked, and when it is determined that the harvesting hand (H) approaches the harvest target fruit, the suction operation of the vacuum pad (17) is started. Then, when it is determined that the harvesting hand (H) is not close to the fruit to be harvested, it is determined whether or not the approach distance is the set value or more, and it is determined that the approach distance is less than the set value. Then, the approach is continued, and when it is determined that the value is equal to or larger than the set value, the approach is stopped, the telescopic arm (11) is shortened, and the harvesting hand (H) is returned to the position before the approach.
上記バキュームパッド(17)の吸引作動後、収穫用ハンド
(H)を設定距離（例えば30〜50mm）だけ収穫対象果実側
へ前進移動させる。その後、負圧センサ(21)の検出情報
に基づいて収穫対象果実がバキュームパッド(17)に吸着
されたか否かを判別し、所望通り吸着されている場合に
は、バキュームパッド(17)を引退作動させると共にそれ
と同時に、収穫用ハンド(H)をバキュームパッド出退方
向に沿って前進移動させて、収穫対象果実を取込む。
又、所望通り吸着されていない場合には、バキュームパ
ッド(17)の吸引作動を停止させた後、伸縮アーム(11)を
短縮させて収穫用ハンド(H)をアプローチ前の位置に戻
す。After the suction operation of the vacuum pad (17), the harvesting hand
(H) is moved forward to the harvested fruit side by a set distance (for example, 30 to 50 mm). After that, based on the detection information of the negative pressure sensor (21), it is determined whether or not the fruit to be harvested is adsorbed to the vacuum pad (17), and if adsorbed as desired, the vacuum pad (17) is retired. At the same time as the operation, the harvesting hand (H) is moved forward along the vacuum pad moving direction to take in the fruits to be harvested.
If the suction is not performed as desired, the suction operation of the vacuum pad (17) is stopped, and then the telescopic arm (11) is shortened to return the harvesting hand (H) to the position before the approach.
上記の如く収穫対象果実を取込んだ後、バリカン型カッ
タ(25)及び果実梗支持部材(26)を起立作動させる。そし
て、起立作動完了検出用のリミットスイッチ(30)の検出
情報に基づいて、起立作動が完了したか否かを判別し、
完了していない場合には、枝等の他物が挟みこまれる等
のトラブル発生であると判断させて、バリカン型カッタ
(25)及び果梗支持部材(26)を倒伏作動させた後、伸縮ア
ーム(11)を短縮させて捕捉部(H)をアプローチ前の位置
に戻す。After the fruits to be harvested have been taken in as described above, the clipper type cutter (25) and the fruit pruning support member (26) are activated. Then, based on the detection information of the limit switch (30) for the stand-up operation completion detection, it is determined whether or not the stand-up operation is completed,
If it is not completed, it is judged that there is a problem such as other things such as branches being caught, and the clipper type cutter
After laying down the (25) and the calyx support member (26), the telescopic arm (11) is shortened to return the capturing part (H) to the position before the approach.
又、起立作動が完了している場合には、バキュームパッ
ド(17)の吸引作動を停止させ、その状態で捕捉部(H)を
後退させて、果梗の基部側にバリカン型カッタ(25)を位
置させるようにした後、バリカン型カッタ(25)を駆動さ
せて果梗を切断させる。切断後直ちにバキュームパッド
(17)の吸引作動を開始させて、果梗切断後の果実を再び
吸着し、その後、バリカン型カッタ(25)及び果梗支持部
材(26)を倒伏作動させ、伸縮アーム(11)をアプローチ前
の位置に戻し、バキュームパッド(17)を突出させ、次
に、バキュームパッド(17)の吸引作動を停止させて、収
穫果実を搬送装置(4)に供給する。Also, when the standing up operation is completed, the suction operation of the vacuum pad (17) is stopped, the catching section (H) is retracted in that state, and the clipper type cutter (25) is located on the base side of the fruit stem. After positioning, the hair clipper type cutter (25) is driven to cut the peduncle. Vacuum pad immediately after cutting
(17) starts the suction operation to re-adsorb the fruit after cutting of the rachis, then the clipper type cutter (25) and the rachis supporting member (26) are laid down, and the telescopic arm (11) is approached. Returning to the previous position, the vacuum pad (17) is projected, then the suction operation of the vacuum pad (17) is stopped, and the harvested fruits are supplied to the conveying device (4).
尚、上記如く収穫対象果実の位置する方向を演算処理す
るに、１回の撮像情報に基づいて複数個の果実が抽出さ
れた場合には、下方側の抽出果実から上方側の抽出果実
を収穫する順序で作業を続行させることになる。従っ
て、１個の果実に対する収穫作動が完了する毎に未収穫
の果実の存否を判別し、存否する場合には、上述の作動
で収穫作動を行わせることになる。In addition, when a plurality of fruits are extracted based on the imaging information of one time when calculating the direction in which the target fruits are located as described above, the upper extracted fruits are harvested from the lower extracted fruits. The work will be continued in the order of Therefore, each time the harvesting operation for one fruit is completed, the presence or absence of the unharvested fruit is determined, and when it is present, the harvesting operation is performed by the above-described operation.
次に、カッタ(25)及び果梗支持部材(26)の揺動操作構
成、カッタ(25)の構成について説明する。Next, the rocking operation structure of the cutter (25) and the fruit pulp support member (26) and the structure of the cutter (25) will be described.
第１図乃至第５図に示すように、果梗支持部材(26)の一
端部が外嵌着される支持ピン(40)に、第１入力用ピニオ
ン(41)を取付け、その入力用ピニオン(41)に咬合する第
１ラック(42)を設けてある。前記支持ピン(40)に相対回
転自在に外嵌される筒部材(43)に、カッタ(26)の一端部
を外嵌着し、前記筒部材(43)に第２入力用ピニオン(44)
を外嵌着すると共に、そのピニオン(44)に咬合する第２
ラック(45)を設けてある。そして、前記果梗支持部材(2
6)側の第１ラック(42)が咬合する第１出力用ピニオン(4
6)、及び、前記カッタ(25)側の第２ラック(45)が咬合す
る第２出力用ピニオン(47)の夫々を、前記差動機構(29)
に備えさせるようにしてある。As shown in FIG. 1 to FIG. 5, the first input pinion (41) is attached to the support pin (40) to which one end of the fruit pimple supporting member (26) is externally fitted, and the input pinion is attached. A first rack (42) that engages with (41) is provided. A second input pinion (44) is attached to the tubular member (43) by externally fitting one end of a cutter (26) to the tubular member (43) which is relatively rotatably externally fitted to the support pin (40).
The second to fit the pinion (44) with the outer fitting
A rack (45) is provided. Then, the fruit pulp support member (2
6) side first rack (42) bites the 1st output pinion (4
6) and the second output pinion (47) with which the second rack (45) on the cutter (25) side engages, respectively, the differential mechanism (29)
To prepare for.
つまり、前記差動機構(29)の入力ギヤ(29A)と一体回転
するデフケース(48)を設け、そのケース(48)に支承した
遊転ベベルギヤ(49)に咬合する一対の第１及び第２出力
用ベベルギヤ(50),(51)を設け、第１出力用ベベルギヤ
(50)が外嵌着され、且つ、第２出力用ベベルギヤ(51)が
相対回転自在に外嵌される支軸(52)に、前記第１出力用
ピニオン(46)を外嵌着し、前記第２出力用ベベルギヤ(5
1)に、第２出力用ピニオン(47)を外嵌着してある。That is, a differential case (48) that rotates integrally with the input gear (29A) of the differential mechanism (29) is provided, and a pair of first and second gears that engage with the free-moving bevel gear (49) supported by the case (48). Bevel gears for output (50), (51) are provided, and bevel gear for first output
The pinion (46) for the first output is externally attached to the support shaft (52) to which the (50) is externally attached and the bevel gear (51) for the second output is relatively rotatably externally attached, The second output bevel gear (5
A second output pinion (47) is externally fitted to 1).
前記カッタ(25)を構成するに、円弧状で且つ帯板状の一
対の刃体(25a),(25b)を、ピン(53)と長孔(54)とを用い
て、重ね合わせ状態に、且つ、刃体長手方向に相対スラ
イド自在に連結してある。又、一対の刃体(25a),(25b)
夫々に、刃体長手方向に沿って刃部(Ka),(Kb)を並設し
てある。To configure the cutter (25), a pair of arc-shaped and strip-shaped blade bodies (25a), (25b) are placed in a superposed state by using the pin (53) and the long hole (54). In addition, the blades are connected so as to be slidable relative to each other in the longitudinal direction. Also, a pair of blades (25a), (25b)
Blade portions (Ka) and (Kb) are arranged in parallel along the longitudinal direction of the blade body.
前記果梗支持部材(26)の他端部が相対回転自在に外嵌さ
れる支持ピン(55)に、カッタ駆動用ピニオン(56)を外嵌
着してある。そして、前記一対の刃体(25a),(25b)のう
ちの一方側の刃体(25b)を、ピニオン(56)に相対回転自
在に外嵌させると共に、他方側の刃体(25a)の端部に、
前記ピニオン(56)に咬合自在なフェイスギヤ(57)を設け
てある。そして、前記ピニオン(56)に咬合するラック(5
8)を、中継部材(59)を用いてカッタ操作用エアシリンダ
(28)に接続してある。A cutter driving pinion (56) is externally attached to a support pin (55) to which the other end of the fruit-bearing support member (26) is externally fitted so as to be relatively rotatable. Then, the blade body (25b) on one side of the pair of blade bodies (25a), (25b) is fitted to the pinion (56) so as to be relatively rotatable, and the blade body on the other side (25a). At the end,
The pinion (56) is provided with a face gear (57) which can be occluded. The rack (5) that engages with the pinion (56)
8) is an air cylinder for cutter operation using the relay member (59)
It is connected to (28).
上記実施例では、果実を収穫する場合について例示した
が、トマト等の野菜の収穫にも適用できるものである。In the above-mentioned embodiment, the case of harvesting fruits is illustrated, but the invention can be applied to harvesting vegetables such as tomatoes.
本発明を実施するに、収穫用ハンド(H)の具体構成は各
種変更できる。例えば有底筒状の捕捉部ケースに、カッ
タ(25)を揺動自在に枢着してもよい。In practicing the present invention, the specific configuration of the harvesting hand (H) can be changed in various ways. For example, the cutter (25) may be pivotally attached to the bottomed tubular capture portion case.
又、カッタ(25)を揺動操作する構成、カッタ(25)の各刃
体(25a),(25b)を相対移動操作する構成は各種変更でき
る。Further, the configuration for swinging the cutter (25) and the configuration for relatively moving the blades (25a), (25b) of the cutter (25) can be variously changed.
図面は本発明に係る果菜類の収穫用ハンドの実施例を示
し、第１図は収穫用ハンドの切欠き平面図、第２図は同
切欠き側面図、第３図は果梗切断装置の駆動構造を示す
縦断正面図、第４図は同縦断背面図、第５図はカッタの
スライド駆動構成を示す概略平面図、第６図は果実収穫
機の側面図、第７図は制御構成を示すブロック図、第８
図は制御作動を示すフローチャートである。第９図(イ),
(ロ)は従来例の平面図である。 (25)……カッタ、(25a),(25b)……刃体、(Ka),(Kb)……
刃部。The drawings show an embodiment of a hand for harvesting fruits and vegetables according to the present invention. Fig. 1 is a plan view of a notch of the harvesting hand, Fig. 2 is a side view of the notch, and Fig. 3 is a fruit cutting device. Fig. 4 is a vertical sectional front view showing the driving structure, Fig. 4 is a longitudinal sectional rear view of the same, Fig. 5 is a schematic plan view showing the slide driving structure of the cutter, Fig. 6 is a side view of the fruit harvester, and Fig. 7 is a control structure. Shown in Block Diagram, No. 8
The figure is a flow chart showing the control operation. Figure 9 (a),
(B) is a plan view of a conventional example. (25) …… Cutter, (25a), (25b) …… Blade, (Ka), (Kb) ……
Blade.
Claims (1)
(25b)が重ね合わせ状態で刃体長手方向に相対移動され
て切断作用するカッタ(25)を、捕捉した果菜類の柄に対
する切断用位置と果菜類の導入を許容すべく退避させる
退避位置とに亘って切換揺動自在に設け、帯板状で且つ
半円弧状の柄支持部材(26)を、切断用位置の前記カッタ
(25)に対向位置する切断用位置と果菜類の導入を許容す
べく退避させる退避位置とに亘って切換揺動自在に設け
た果菜類の収穫用ハンドであって、前記一対の刃体(25
a),(25b)夫々に、刃体長手方向に沿って刃部(Ka),(Kb)
を並設してある果菜類の収穫用ハンド。1. A pair of blades (25a) having a strip shape and a semicircular arc shape,
(25b) the cutter (25) that is relatively moved in the blade longitudinal direction in the overlapping state to perform a cutting action, a cutting position for the handle of the captured fruit and vegetables and an evacuation position for withdrawing to allow the introduction of the fruit and vegetables. The handle supporting member (26) having a strip plate shape and a semi-arcuate shape is provided so as to be swingably switchable over the cutter at the cutting position.
(25) A harvesting hand for fruits and vegetables, which is swingably provided between a cutting position opposed to (25) and a retracting position for retracting to allow introduction of fruits and vegetables, wherein the pair of blades ( twenty five
a) and (25b) respectively, the blade portions (Ka) and (Kb) along the blade longitudinal direction.
Hands for harvesting fruits and vegetables arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25160685A JPH0653013B2 (en) | 1985-11-08 | 1985-11-08 | Hands for harvesting fruits and vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25160685A JPH0653013B2 (en) | 1985-11-08 | 1985-11-08 | Hands for harvesting fruits and vegetables |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62111612A JPS62111612A (en) | 1987-05-22 |
| JPH0653013B2 true JPH0653013B2 (en) | 1994-07-20 |
Family
ID=17225316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25160685A Expired - Lifetime JPH0653013B2 (en) | 1985-11-08 | 1985-11-08 | Hands for harvesting fruits and vegetables |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0653013B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7337636B2 (en) * | 2019-10-03 | 2023-09-04 | 株式会社スマートロボティクス | robot hand |
-
1985
- 1985-11-08 JP JP25160685A patent/JPH0653013B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62111612A (en) | 1987-05-22 |
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