JPS5995808A - Manipulator for harvesting fruit - Google Patents
Manipulator for harvesting fruitInfo
- Publication number
- JPS5995808A JPS5995808A JP20644582A JP20644582A JPS5995808A JP S5995808 A JPS5995808 A JP S5995808A JP 20644582 A JP20644582 A JP 20644582A JP 20644582 A JP20644582 A JP 20644582A JP S5995808 A JPS5995808 A JP S5995808A
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- arm
- manipulator
- shooter
- chute
- 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.)
- Pending
Links
Landscapes
- 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】
本発明けみかんやりんご等の果実を収穫するための果実
収穫用マニピュレータの（ｉ７ｉ造に関し、詳しくは、
先端に果実摘取部が設けられ基端が可動部に構成された
アーム部分金偏えた果実収穫用マニピュレータに関する
。[Detailed Description of the Invention] For details regarding the (i7i construction) of the fruit harvesting manipulator for harvesting fruits such as oranges and apples according to the present invention,
The present invention relates to a fruit harvesting manipulator with a biased arm part, the tip of which is provided with a fruit picking part, and the base end of which is configured as a movable part.
果実等の収穫作業は機械化が進んでいない現状に鑑みて
本出願人は先順である特願昭５７ ４８８６３９−等に
於てマニピュレータを応用した果実収穫装ｇを既に提案
しているが、この様な果実収′Ｐｉ装置に用いられるマ
ニピュレータでは、高い所や奥の方の枝に実った果実を
も摘み取ることが可能な様に、一般的な工業用マニピュ
レータと異なって長いアームが必要となる。 しかる
に単にアームを長くするとアームを運動させる駆動装置
が大損シになるという欠点が生じる。 才た、アーム先
端に設けられた摘み取９部からは果実搬送用のシュータ
−を延設して摘み取った果実をこのシュータ−によって
、収納部へ直送する様に構成することが作業能率向上の
ためには好ましいが、単にシュータ−を設けたのでは、
このシュータ−が枝などで損傷するという欠点が生じる
。In view of the current situation where mechanization of fruit harvesting work has not progressed, the present applicant has already proposed a fruit harvesting device g that applies a manipulator in the prior patent application No. 488639-1983. Unlike general industrial manipulators, manipulators used in various types of fruit harvesting devices require a long arm so that they can pick fruits grown in high places or on branches in the back. . However, if the arm is simply made longer, the driving device for moving the arm will be seriously damaged. A chute for transporting fruit is extended from the picking section 9 provided at the tip of the arm, and the picked fruit is directly delivered to the storage section by this chute, which improves work efficiency. Although it is preferable for this purpose, simply providing a shooter
A drawback arises in that the shooter can be damaged by branches or the like.
かかる欠点全解消するにはアーム部の軽量化とシュータ
−の保護を同時に解消する必要がある。In order to eliminate all of these drawbacks, it is necessary to reduce the weight of the arm and protect the shooter at the same time.
本発明はかかる必要性を満たすアームの構造を提供する
ことを目的とする。The present invention aims to provide an arm structure that meets such needs.
上記目的を達成するために、本発明の果実収穫用のマニ
ピュレータの構造は、前記先端摘み取り部から基端側に
延設された果実搬送用シュータ−を設けると共知、前記
アーム部分をｅＩ前記シュータ−′ｆｒ：覆う外骨格構
造に構成しであることを特徴とするものである。In order to achieve the above object, the structure of the fruit harvesting manipulator of the present invention includes a fruit conveying chute extending from the tip picking part to the proximal side, and Shooter'fr: It is characterized by being constructed with a covering exoskeletal structure.
かかる構成故に、アームの軽量化と外骨格によるシュー
タ−の保護が可能同時になり、駆動装置の大型化を伴な
うことなく作業能率の向上をもたらすことが出来るもの
である。Because of this configuration, it is possible to reduce the weight of the arm and protect the shooter with the exoskeleton at the same time, and it is possible to improve work efficiency without increasing the size of the drive device.
以下、図面に基づいて本発明の詳細な説明する。Hereinafter, the present invention will be described in detail based on the drawings.
第１図に示す様に、果実収穫用マニピュレータ（１）は
、アーム（２）の先端に果実摘み取シ用ハンド（３）が
取り付けられている。 このハンド（３）はアーム（２
）に対して姿勢変更制御可能に連結され、中空筒状の基
端部（４）、この基端部（４）の先端に設けられた果実
摘み取シ用の指（５）・・から成り、基端部（４）の下
端側から摘み取った果実を収納部（図示せず）へ搬送す
るだめのシュータ−（６）が延設されている。 このシ
ュータ−（６）は可撓性の材質によって構成されていて
、アーム（２）及びハンド（３）の自由な動きに支障が
ない様に構成はれている。As shown in FIG. 1, a fruit harvesting manipulator (1) has a fruit picking hand (3) attached to the tip of an arm (2). This hand (3) is the arm (2
), the fruit-picking finger (5) is connected to a hollow cylindrical base end (4), and is provided at the tip of the base end (4) so as to be able to control posture changes. A chute (6) for conveying picked fruit to a storage section (not shown) is extended from the lower end side of the base end (4). The shooter (6) is made of a flexible material and is designed so as not to hinder the free movement of the arm (2) and hand (3).
さて、アーム（２）は関節（７）で屈伸可能なものであ
って、これらの屈伸機構は従来構成同様であり、制御信
号に基づいて駆動されるべく構成されている。 このア
ーム（２）の下腕部（８）は左右のメインフレーム＋９
１ 、 ＋９） ｋ ｍ 助フレームＧＯ）・・で連結
した外骨格構造を有し、この補助フレーム００）・・の
下ＩＩにシュータ（６）が配設されていて枝等によって
シュータ（６）が鎖傷するのを防止する。Now, the arm (2) can be bent and extended at the joint (7), and these bending and extension mechanisms are similar to the conventional structure and are configured to be driven based on a control signal. The lower arm (8) of this arm (2) is the left and right main frame +9
1, +9) km It has an exoskeletal structure connected by an auxiliary frame GO)..., and a chute (6) is arranged at the bottom II of this auxiliary frame 00)..., and the chute (6) is connected by branches etc. Prevent chain injuries.
また、この下腕部（８）はフレーム開成であるので非常
に軽くでき特にｍ前記関節部の駆動装置を小型化できる
ものである。Furthermore, since the lower arm section (8) is an open frame structure, it can be very light, and in particular, the drive device for the joint section can be downsized.
第２図は別実施例のアームであって、補助フレーム（１
１）が環状に構成されると共にその内部にシュータ（６
）を設けたものである。FIG. 2 shows an arm of another embodiment, and shows an auxiliary frame (1
1) is configured in an annular shape and has a chute (6
).
更に別実施例としては、アームの内部に中空部分を設け
、この内にシュータを配して、シュータ全完全に覆う様
に構成してもよい。In yet another embodiment, a hollow portion may be provided inside the arm, and the chute may be disposed within the hollow portion so as to completely cover the chute.
またアームは屈伸するものに限らず伸縮するものでもよ
い。Further, the arm is not limited to one that bends and extends, but may be one that expands and contracts.
図面は本発明に係る采実収穫用マニピュレータの実施例
を示し、第１図はマニピュレータの全体斜視図、第２図
は別実施例の要部ｆ〆斜視図である。
（３）・・・・・・果実摘み取シ部、（６）・・・・・
・シュータ、（７）・・・・・・可動部（関節） 、
＋８１・・・・・・アーム部分。
３０The drawings show an embodiment of the manipulator for harvesting the seedlings according to the present invention, and FIG. 1 is an overall perspective view of the manipulator, and FIG. 2 is a perspective view of the main part of another embodiment. (3)... Fruit picking department, (6)...
・Shooter, (7)...Movable part (joint),
+81...Arm part. 30
Claims (1)
部（７）に購成をれたアーム部分（８）ヲ備えた果実収
穫用マニピュレータであって、ｎｔｌ記先端摘み取り部
（３）から基端側に延設ざｈ５た果実搬送用シュータ−
（６）を設けると共に、ｔ３Ｔｌ肥アーム部分（８）を
前記シュータ−（６）を覆う外骨格ＷＩｔ造に購成しで
あること全特徴とする果実収穫用マニピュレータ。 ■ １）１［記アーム部分（８）の外骨格１１青造はシ
ュータ−（６）の上面を覆うフレーム（苗造であること
を特徴とする特許請求の節回第■項Ｖｃ記載の果実収Ｉ
ｆ 用マニピュレータ。[Scope of Claims] ■ A manipulator for fruit harvesting, comprising an arm portion (8) having a fruit picking portion (3) at the tip and a movable portion (7) at the base end, A chute for fruit conveyance extending from the tip picking part (3) to the proximal end side.
(6), and the t3Tl fertilizer arm portion (8) is made of an exoskeletal structure that covers the shooter (6). ■ 1) Exoskeleton 11 of the arm portion (8) is a frame (sapling) that covers the upper surface of the shooter (6). Collection I
Manipulator for f.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20644582A JPS5995808A (en) | 1982-11-24 | 1982-11-24 | Manipulator for harvesting fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20644582A JPS5995808A (en) | 1982-11-24 | 1982-11-24 | Manipulator for harvesting fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5995808A true JPS5995808A (en) | 1984-06-02 |
Family
ID=16523490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20644582A Pending JPS5995808A (en) | 1982-11-24 | 1982-11-24 | Manipulator for harvesting fruit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5995808A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4954135A (en) * | 1972-06-16 | 1974-05-25 |
-
1982
- 1982-11-24 JP JP20644582A patent/JPS5995808A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4954135A (en) * | 1972-06-16 | 1974-05-25 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
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