JPS59210826A - Tenon cutting method of robot hand for harvesting fruit - Google Patents
Tenon cutting method of robot hand for harvesting fruitInfo
- Publication number
- JPS59210826A JPS59210826A JP8392383A JP8392383A JPS59210826A JP S59210826 A JPS59210826 A JP S59210826A JP 8392383 A JP8392383 A JP 8392383A JP 8392383 A JP8392383 A JP 8392383A JP S59210826 A JPS59210826 A JP S59210826A
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- tenon
- robot hand
- cutting method
- harvesting
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、例えば特願昭５７−１４００２１号において
本出願人が既に提案しているような果実収穫装置に用い
られる果実収穫用ロボットハンドのホゾ切断方法に関す
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tenon cutting method for a fruit harvesting robot hand used in a fruit harvesting device, such as the one already proposed by the applicant in Japanese Patent Application No. 57-140021.
この種のロボットハンドにおいては、果実のホゾを切断
する必要が有り、各種の切断手段が提案されているがい
ずれもカッター等により実際にホゾを切り収る構成であ
った。In this type of robot hand, it is necessary to cut the tenon of the fruit, and various cutting means have been proposed, but all of them are configured to actually cut the tenon with a cutter or the like.
しかし々がら、リンゴ、梨等の果実にあっては、ホゾを
切断しないである程度残して収穫することが行なわれて
いる。However, in the case of fruits such as apples and pears, the tenons are left uncut to some extent when harvested.
そして、上記種類の果実にあっては、第１図に示すよう
に、そのホゾ（Ａ）の先端が枝（Ｂｌ先端を覆うように
なっていて、卯に果実（Ｃ）を下方へ引くだけでは収れ
ないが、ホゾ囚と枝（Ｂ）との接合部（Ｐ）を中心にひ
ねるようにホゾ囚を上方へ持ち上げると簡単にホゾ囚が
枝（Ｂ＋よりけずれるという特性があり、実１祭の人手
による作業もこの特性に基いてハサミやカッター等を用
いることなく収穫作業を行なっている。As shown in Figure 1, for the above types of fruit, the tip of the tenon (A) covers the tip of the branch (Bl), and the rabbit simply pulls the fruit (C) downward. However, if you lift the tenon upward by twisting around the joint (P) between the tenon and the branch (B), the tenon will easily dislodge from the branch (B+). Based on this characteristic, the manual harvesting work at Matsuri is carried out without using scissors or cutters.
本発明は、上記実情に鑑みてなされたものであって、そ
の目的は、ホゾを切断するにカッター等のホゾ切断用具
を用いることなくホゾを適当に残した壕まで確実に切断
する方法を提供することにある。The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a method for reliably cutting the tenon to the groove where the tenon is left properly without using a tenon cutting tool such as a cutter. It's about doing.
上記目的を達成すべく、本発明による果実収穫用ロボッ
トハンドのホゾ切断方法は、複数木の揺動開閉自在な指
から成る果実捕捉部を備えだ果医収穫用ロボットノ・ン
ドを果実に向けて移ｍｈさせ、前記指によって果実を把
持させた後、この果実の把持中心より上方所定距離隔て
た位置を中心に前記捕捉部を上方に回転させることによ
って果実のホゾを切断することを特徴とする。In order to achieve the above object, the present invention provides a tenon cutting method using a robot hand for fruit harvesting. After the fruit is gripped by the fingers, the tenon of the fruit is cut by rotating the gripping part upward about a position a predetermined distance above the gripping center of the fruit. do.
上記方法故に、下記の如き優れた効果が発揮されるに至
った。Because of the above method, the following excellent effects have been achieved.
即ち、カッター等のホゾ切断用共を用いることなく、適
当な長さのホゾを伐した状態で、ホゾを自動的に切断で
き、特にリンゴや梨類の果実の収穫に好適なロボットノ
・ンドを提供できるＶこ至った。In other words, the robot can automatically cut the tenon after cutting the tenon to an appropriate length without using a cutter or other equipment for cutting the tenon, and is particularly suitable for harvesting apples and pears. We have created a V that can provide the following.
以下本発明の実施例を図面に基いて説明する。Embodiments of the present invention will be described below based on the drawings.
第２図に示すように、果実収穫装置は移動自在な本体（
図示せず）の関節（２）を有するアーム（１）に収り付
けられ、その先端に果実捕捉用ロボットハンド（３）が
関節（４）により向き変更自在に設けられて構成されて
いる。As shown in Figure 2, the fruit harvesting device has a movable main body (
It is housed in an arm (1) having a joint (2) (not shown), and a fruit-catching robot hand (3) is provided at the tip of the arm (3) so that the direction can be changed freely by the joint (4).
前記ロボットハンド（３）は、その果実捕捉部（５）の
一端側を果実導入口（６）に構成され、他端側には果実
搬送用シュータ−（７）が連設されていて、このシュー
タ−（７）で捕み収った果実を収能都（図示せず）へ搬
送すべく構成しである。The robot hand (3) is configured such that one end of its fruit catching portion (5) is a fruit introduction port (6), and the other end is connected with a fruit conveying chute (7). The structure is such that the fruit caught by the shooter (7) is transported to a harvesting center (not shown).
このロボットハンド（３）の構造を詳述すると、前記開
口部（６）の周縁に複数本の屈曲自在な指部材（８）・
・を立設するとともに、これら指部材（８）―・の先端
部を遊嵌状に貫通するワイヤ（９）を設け、かつ、その
ワイヤ（９）を引張ることによって前記各指部材（８）
・・を内方側へ屈曲させるとともに、ワイヤ（９）をゆ
るめることによって指部材（８）”が自動的に伸張すべ
く構成しである。To explain the structure of this robot hand (3) in detail, a plurality of bendable finger members (8) are provided at the periphery of the opening (6).
, and by providing wires (9) that loosely fit through the tips of these finger members (8) and pulling the wires (9), each of the finger members (8)
The finger member (8)'' is configured to automatically extend by bending the finger member (8)'' inwardly and loosening the wire (9).
更に又、前記各指部材（８）ψ・の内側には圧力センサ
ーとしての歪ゲージ（１０１・・を設けてあり、この歪
ゲージ（ｌＯ）・・が所定圧力以上を検出、すなわち、
果実を指部材（８）・・が捕捉したことを検出すると、
この果実をもぎ収るべく捕捉部（５）を回転させる。Furthermore, a strain gauge (101...) as a pressure sensor is provided inside each finger member (8) ψ, and this strain gauge (lO)... detects a predetermined pressure or more, that is,
When it is detected that the finger member (8)... has captured the fruit,
The catching part (5) is rotated to pick the fruit.
即ち、第３図に示すように、前記第１図に示したホゾ■
）と枝（Ｂｌとの接合部（Ｐ）を中心にノ・ンド（３）
を上方へ回転させるべく、果実の把持中心すなわち指部
材＋８１’−で囲まれた空間の中心（Ｘ）より上方に所
定距離（Ｚ）隔てた位置である前記接合部（Ｐ）を中心
に上方へ所定角度（θ）回転させるのである。That is, as shown in FIG. 3, the tenon shown in FIG.
) and branch (centering on the junction (P) with Bl) (3)
In order to rotate the fruit upwardly, the gripping center of the fruit, ie, the center (X) of the space surrounded by the finger members +81'-, is rotated upwardly around the joint (P), which is a predetermined distance (Z) above the center (X) of the space surrounded by the finger members +81'-. The object is rotated by a predetermined angle (θ).
図面は本発明に係る果実収穫用ロポントノ・ンドのホゾ
切断方法の実施例を示シフ、第１図は果実のホゾの説明
図、第２図はロボットハンドの全体斜視図、そして、第
３図はホゾ切断の説明図である。
（５）・・・・・・果実捕捉部、（８）・・・・・・指
、（Ｘ）・・・・・・果実の把持中心、（１）・・・・
・・所定距離、（Ｐｌ・・・・・・ホゾと枝の接合部。The drawings show an embodiment of the method for cutting the tenon of a robot hand for fruit harvesting according to the present invention; FIG. 1 is an explanatory diagram of the tenon of a fruit; FIG. is an explanatory diagram of tenon cutting. (5)... Fruit catching part, (8)... Finger, (X)... Center of grasping the fruit, (1)...
...Predetermined distance, (Pl...joint of tenon and branch.
Claims (1)
部（５）を備えた果実収穫用ロボットノ・ンドを果実に
向けて移動させ、前記指（８）・＠によって果実を把持
させた後、この果実の把持中心（Ｘｌより上方に所定距
１１ｔ（１）隔てだ位置（Ｐｉを中心に前ロボットハン
ドのホゾ切断方法。A fruit harvesting robot equipped with a fruit catching section (5) consisting of a plurality of fingers (8) that can be swung open and closed is moved toward the fruit, and the fruit is picked up by the fingers (8). After gripping the fruit, the front robot hand cuts the fruit at a predetermined distance 11t(1) above the gripping center (Xl) (Pi).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392383A JPS59210826A (en) | 1983-05-12 | 1983-05-12 | Tenon cutting method of robot hand for harvesting fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392383A JPS59210826A (en) | 1983-05-12 | 1983-05-12 | Tenon cutting method of robot hand for harvesting fruit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59210826A true JPS59210826A (en) | 1984-11-29 |
| JPH0223131B2 JPH0223131B2 (en) | 1990-05-23 |
Family
ID=13816117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8392383A Granted JPS59210826A (en) | 1983-05-12 | 1983-05-12 | Tenon cutting method of robot hand for harvesting fruit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59210826A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555898A (en) * | 2018-04-25 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of fruit sorting manipulator |
| CN113016356A (en) * | 2021-03-04 | 2021-06-25 | 佛山科学技术学院 | Hybrid actuator of fruit stringing and picking robot and control method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3725148A4 (en) * | 2018-03-28 | 2021-02-24 | Honda Motor Co., Ltd. | Fruit and vegetable harvesting device |
| JP7111656B2 (en) * | 2019-06-03 | 2022-08-02 | 本田技研工業株式会社 | Vegetable harvesting equipment |
-
1983
- 1983-05-12 JP JP8392383A patent/JPS59210826A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555898A (en) * | 2018-04-25 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of fruit sorting manipulator |
| CN108555898B (en) * | 2018-04-25 | 2020-08-21 | 安徽省砀山兴达罐业食品有限公司 | Fruit sorting manipulator |
| CN113016356A (en) * | 2021-03-04 | 2021-06-25 | 佛山科学技术学院 | Hybrid actuator of fruit stringing and picking robot and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0223131B2 (en) | 1990-05-23 |
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