JPS6236626U - - Google Patents

Description

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

図面は考案に係る果実収穫機の実施例を示し、
第１図イ，ロは接触センサの装着部を示す正面図
及び側面図、第２図は収穫作動を示すフローチヤ
ート、第３図は制御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図イ，
ロはロボツトハンドの果実取込み動作の概略説明
図、第８図は近接センサの側面図、第９図及び第
１０図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１１図は制御構成を示す概略図で
ある。第１２図は接触センサの装置着部の別実施
例を示す正面図である。第１３図イ，ロはロボツ
トハンドの果実取込み動作の従来例を示す概略説
明図である。 １２……果実捕捉部、２８……果実検出用接触
センサ、Ｄ……果実収納空間、Ｅ……果実取入口
、Ｓ_１乃至Ｓ_６……水平位置検出手段。 The drawing shows an embodiment of the fruit harvesting machine according to the invention,
Figures 1A and 2B are front and side views showing the mounting part of the contact sensor, Figure 2 is a flowchart showing the harvesting operation, Figure 3 is a flowchart showing the control operation,
Figures 4 and 5 are plan views of the robot hand, Figure 6 is a vertical cross-sectional side view of the robot hand, and Figures 7A and 5A are top views of the robot hand.
Figure 8 is a side view of the proximity sensor, Figures 9 and 10 are side views showing the linkage structure between the cutter and the pneumatic cylinder, and Figure 11 is the control configuration. FIG. FIG. 12 is a front view showing another embodiment of the device mounting portion of the contact sensor. FIGS. 13A and 13B are schematic explanatory diagrams showing a conventional example of a fruit-taking operation of a robot hand. DESCRIPTION OF SYMBOLS 12... Fruit catching part, 28... Fruit detection contact sensor, D... Fruit storage space, E... Fruit intake port, _S1 to _S6 ... Horizontal position detection means.

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Ｄを備え、且つ、上部に果
実取入口Ｅを備える果実捕促部１２を設け、果実
検出用接触センサ２８を、前記取入口Ｅの形成箇
所と前記収納空間Ｄの底部側箇所とに亘つて昇降
操作自在に設け、前記果実捕促部１２を収穫対象
果実の下方箇所に誘導する誘導手段を設け、前記
接触センサ２８を取入口形成箇所に位置させた状
態で、収穫対象果実の下方箇所に誘導された前記
果実捕促部１２を前記接触センサ２８が検出作用
するまで上昇移動させる第１上昇移動手段を設け
、収穫対象果実に対する前記果実捕捉部１２の水
平方向での位置を検出する水平位置検出手段Ｓ_１
乃至Ｓ_６を設け、前記第１上昇移動手段による上
昇移動時において、前記水平位置検出手段Ｓ_１乃
至Ｓ_６による検出情報に基づいて前記果実捕捉部
１２を対象果実側へ水平移動させる水平位置調整
手段を設け、前記接触センサ２８を収納空間底部
側箇所に位置させた状態で、前記第１上昇移動手
段にて上昇された前記果実捕捉部１２を前記接触
センサ２８が検出作用するまで上昇移動させる第
２上昇移動手段を設けた果実収穫機であつて、前
記取入口形成箇所に位置させた状態での前記接触
センサ２８の位置を上下方向に変更調節する機構
を設けてある果実収穫機。 A fruit trapping part 12 is provided which has a fruit storage space D therein and a fruit intake port E on the upper part, and a fruit detection contact sensor 28 is installed between the location where the intake port E is formed and the bottom side of the storage space D. A guide means is provided for guiding the fruit trapping part 12 to a lower part of the fruit to be harvested, and with the contact sensor 28 located at the opening forming part, A first upward moving means is provided for upwardly moving the fruit trapping section 12 guided to a lower part of the fruit until the contact sensor 28 detects the fruit, and the horizontal position of the fruit trapping section 12 with respect to the fruit to be harvested is adjusted. Horizontal position detection means _S1 for detecting
Horizontal position adjustment that horizontally moves the fruit catching section ₁₂ toward the target fruit based on the detection information by the horizontal position detecting means S ₁ to S ₆ during the upward movement by the first upward moving means. means is provided, and with the contact sensor 28 positioned at the bottom side of the storage space, the fruit catching section 12 raised by the first lifting moving means is moved upward until the contact sensor 28 acts to detect it. A fruit harvesting machine provided with a second upward moving means, the fruit harvesting machine being provided with a mechanism for changing and adjusting the position of the contact sensor 28 in the vertical direction when it is located at the intake opening formation location.