JPS6210724U - - Google Patents

Description

【図面の簡単な説明】[Brief explanation of the drawing]

図面は本考案に係る果実収穫用ロボツトハンド
の実施例を示し、第１図はバキユーム装置の装着
部を示す果実捕捉部の概略縦断側面図、第２図は
制御作動を示すフローチヤート、第３図は収穫作
動を示すフローチヤート、第４図及び第５図はロ
ボツトハンドの平面図、第６図はロボツトハンド
の縦断側面図、第７図は接触センサの装着部を示
す縦断側面図、第８図イ、ロはカツタと空気圧シ
リンダとの連係構造を示す側面図、第９図は距離
センサの平面図、第１０図は制御構成を示す概略
図である。第１１図はバキユーム装置の装着部の
別実施例を示す果実捕捉部の概略縦断側面図であ
る。 ８……果実捕捉部、９……果梗支持部材、Ｄ…
…バキユーム装置、Ｋ……果実収納空間、Ｔ……
果実取入口。 The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, FIG. 1 is a schematic longitudinal sectional side view of the fruit catching section showing the mounting section of the vacuum device, FIG. 2 is a flowchart showing the control operation, and FIG. The figure is a flowchart showing the harvesting operation, Figures 4 and 5 are a plan view of the robot hand, Figure 6 is a vertical side view of the robot hand, Figure 7 is a vertical side view showing the mounting part of the contact sensor, 8A and 8B are side views showing the interlocking structure between the cutter and the pneumatic cylinder, FIG. 9 is a plan view of the distance sensor, and FIG. 10 is a schematic diagram showing the control configuration. FIG. 11 is a schematic longitudinal sectional side view of a fruit catching section showing another embodiment of the mounting section of the baquium device. 8...Fruit catching part, 9...Fruit support member, D...
... Bakyum device, K... Fruit storage space, T...
Fruit intake.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 内部に果実収納空間Ｋを備え、且つ、上部に果
実取入口Ｔを備える果実捕捉部８を設け、前記収
納空間Ｋ内に収納された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９を、前記果実取
入口Ｔ側に突出する支持作用位置と前記果実取入
口Ｔから離れる側に引退する退避位置とに亘つて
切換操作自在に設けた果実収穫用ロボツトハンド
であつて、前記収納空間Ｋ内の果実が前記取入口
Ｔ側へ移動することを阻止するように、果実を前
記収納空間Ｋの底部側に吸引するバキユーム装置
Ｄを備えさせてある果実収穫用ロボツトハンド。 A fruit stem support member that has a fruit storage space K inside and a fruit trapping part 8 with a fruit intake port T at the top, and supports the fruit stem extending from the fruit stored in the storage space K at a predetermined position. The robot hand for fruit harvesting is provided with a robot hand 9 that can be freely switched between a supporting position protruding toward the fruit intake port T and a retracted position retiring toward the side away from the fruit intake port T, The robot hand for fruit harvesting is equipped with a vacuum device D that sucks the fruit to the bottom side of the storage space K so as to prevent the fruit in the space K from moving toward the intake port T side.