JP2002233229A - Fruit picking apparatus and implement equipped with the apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fruit picking apparatus, with which fruits are readily harvested while preventing fruits from dropping unexpectedly. SOLUTION: A fruit picking attachment 40 is fixed to an implement and used. The attachment 40 is equipped with grips 46 for holding a fruit and opening and closing type scissors 48. The grips 46 and the scissors 48 are supported by supporting members 42-44 so that the boundary of the fruit and a fruit tree or a part in the vicinity of the boundary can be cut by the scissors 48 in a state of a fruit gripped by the grips 46.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fruit tree collecting apparatus for cutting fruits from fruit trees such as palms using a working machine, and a working machine equipped with the same.

[0002]

2. Description of the Related Art Heretofore, the extraction of fruit from a fruit tree has been directly performed manually by an operator.

[0003]

Some of the above-mentioned fruit trees, such as palms, have fruits at a considerably high position (a position where the back cannot reach). In order to collect such fruits, conventionally, for example, a sickle was fixed to the tip of a long stick, and the leaves and fruits were cut with this sickle. Working with tools requires considerable skill and is inefficient. Furthermore, since the fruit suddenly falls upon completion of cutting, it is difficult to ensure safety. In addition, if the head is large, the fruit may be scattered or damaged by the impact of landing.

SUMMARY OF THE INVENTION [0004] In view of such circumstances, an object of the present invention is to provide a fruit tree collecting apparatus and a working machine equipped with the same, which can easily collect the fruits while preventing the fruits from unexpectedly dropping. And

[0005]

Means for Solving the Problems As means for solving the above problems, the present invention is a fruit collecting apparatus attached to a work machine for cutting the fruit from a fruit tree,
An openable / closable grip for gripping the fruit, gripping drive means for driving the grip to open / close, openable / closable scissors for cutting a boundary between the fruit tree and the fruit or a portion in the vicinity thereof, and Cutting drive means for opening and closing, and a supporting member for supporting the grip and scissors at a position where the scissors can cut the boundary between the fruit and the fruit tree gripped by the grip and attached to the working machine. Things.

[0006] This device is attached to, for example, the tip of an arm of a working machine, transported to a position near the fruit, and the grip is closed by the grip driving means, and the fruit is gripped by the grip (that is, the position of the fruit is fixed). By cutting the boundary between the fruit and the fruit tree or the vicinity thereof by driving the scissors by the cutting drive means, the fruit can be easily cut from the fruit tree. In addition, since the fruit is gripped by the grip at the time of cutting, there is no possibility that the fruit will suddenly fall from a high place when the cutting is completed. For example, it is possible to gently drop the fruit to the ground while holding it with the grip.

[0007] Regardless of the specific relative positional relationship between the grip and the scissors, it is sufficient that the fruit is close to the fruit tree with the scissors cutting the fruit with the scissors while holding the fruit with the grip.

For example, if the grip and the scissors are supported so that they open in substantially the same direction, the grip and the scissors can approach the fruit smoothly from the same direction. . Further, if the grip and the scissors are supported at positions close to each other in a direction in which the opening and closing direction of the grip and the opening and closing direction of the scissors are substantially parallel to each other, the fruit tree is naturally held while the fruit is gripped by the grip. Can be cut.

The relative positional relationship between the grip and the scissors may be fixed, but by making the relative position variable, fruits of various sizes can be collected with a common device. The nature increases. Specifically, a transfer means for supporting the grip and scissors by a support member so that they can be relatively moved in a direction orthogonal to the direction in which the grips and scissors are arranged, and for moving the grip and scissors relative to the support member May be provided.

Further, when the grip and the scissors are opened in substantially the same direction, the support member supports the body attached to the working machine and the grip, and can be displaced in the opening direction of the grip. A grip support portion attached to the main body portion so as to support the scissors,
A scissor support attached to the main body so as to be displaceable in the opening direction of the scissors; a grip transfer means for displacing the grip support; and scissors for displacing the scissor support; By adopting a configuration in which the transport means is provided, the work machine can individually approach the grip and scissors to the fruit without particularly moving the fruit, so that the fruit trees can be collected more smoothly by finer movements. Can be.

It is more preferable that the maximum opening angle of the scissors is smaller than the maximum opening angle of the grip. With this configuration, it is possible to prevent the fruit from being accidentally cut off by the scissors, while enabling the grip to hold a large fruit.

Further, by setting the position of the open / close rotation center axis of the scissors so that the tip of the scissors is retracted as the scissors are closed, the tip of the scissors is erroneously set when the scissors are closed. Such a situation can be prevented.

Although the shape of the cutting blade of the scissors can be variously set, by making it into a saw blade shape, a target cutting site (for example, a root portion of a fruit or a branch surrounding the fruit) is surely not escaped. It becomes possible to bite and cut.

The present invention also includes a main body capable of traveling, a boom connected to the main body so as to be able to move up and down, and an arm rotatably connected to a tip of the boom. A work machine in which a support member of any one of the above-mentioned fruit collecting apparatuses is attached to the work machine.

According to this working machine, the fruit collecting device can be easily transferred to a position where the fruit can be gripped and cut by the movement of the boom and the arm.

Here, at least one of the boom and the arm can be extended and contracted, and the telescopic drive means for extending and contracting the boom and the arm expands the transfer range of the fruit collecting device. It becomes possible to collect.

For example, if the boom is configured to be extendable and contractable and is supported by the main unit so that the boom can be erected, the fruit tree collecting apparatus can be easily performed without using complicated operation and control. Can be raised and lowered in a substantially vertical direction, and height adjustment in a narrow place can be easily performed.

That is, in a structure in which the boom is pivotally supported at the rear of the main unit and extends forward from the pivot point, for example, as in a self-propelled crane, the boom must be raised and lowered to adjust the height. The distance between the fruit tree collecting device and the fruit tree is kept almost constant while performing the undulating operation (that is, the fruit tree collecting device is raised almost vertically).
For this purpose, complicated operations and controls are required, but if the boom is kept upright from the main unit as described above, the height adjustment of the fruit tree collecting device can be easily performed simply by expanding and contracting the boom in this state. You can do it.

Further, the transfer range of the fruit collecting device is further expanded by providing both the boom and the arm with extendable and contractible drive means for performing the respective extension and contraction.

[0020] Further, in a device in which a support member of the fruit tree collecting device is rotatably attached to a tip of the arm and is provided with a rotation driving means for performing the rotation.
For example, even if the fruit is leaning on the fruit tree,
The rotation of the support member can freely adjust the direction of the grip and scissors without making the boom and the arm perform large movements, and the harvesting of fruits becomes easier.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described with reference to the drawings.

The working machine shown in FIGS. 1 to 3 includes a lower traveling body 12 having left and right crawlers 10,
An upper revolving body 14 that revolves around a vertical axis on 2
The lower traveling unit 12 and the upper revolving unit 14 constitute a main unit.

A canopy 1 is provided substantially at the center of the upper rotating body 14.
6 are provided. The boom support bracket 1 is located at a position lower than the canopy 16 at the front end of the upper swing body 14.
The swing bracket 20 is attached to the swing bracket 8 so as to be rotatable around a vertical axis. The swing bracket 20 is driven to rotate left and right around the vertical axis by a swing cylinder (not shown).

A lower end of a boom 24 is attached to the swing bracket 20 via a horizontal pin 22.
Both ends of a boom cylinder 26 composed of a hydraulic cylinder are connected to the boom 24 and the swing bracket 20, and the boom 24 is driven to rotate around the horizontal pin 22 by expansion and contraction of the boom cylinder 26 (that is, driven up and down). ), The boom 24 can take an upright posture as shown in FIG.

The boom 24 is of a so-called telescope type that can be extended and contracted. Specifically, it has a hollow lower member 24a connected to the swing bracket 20 and the boom cylinder 26, and an upper member 24b inserted into the lower member 24a. A boom telescopic cylinder (telescopic drive means) 28 composed of a hydraulic cylinder for driving the upper member 24b in the axial direction (ie, expanding and contracting the entire boom 24) is housed.

An arm 32 is attached to the tip of the upper member 24b via a horizontal pin 30. Both ends of an arm cylinder 34 composed of a hydraulic cylinder are connected to the upper end of the arm 32 and the boom 24, and the arm 32 rotates relatively to the boom 24 around the horizontal pin 30 by the expansion and contraction of the arm cylinder 34. It is designed to be driven.

This arm 32 has a telescopic type extendable structure similar to the boom 24. Specifically, a hollow rear member 32 connected to the upper member 24b of the boom 24 and the arm cylinder 34.
a and a front member 32 inserted into the rear member 32a.
b, and the front member 32b is provided in the rear member 32a.
An arm telescopic cylinder (telescopic drive means) 36 composed of a hydraulic cylinder for driving the arm in the axial direction (ie, expanding and contracting the entire arm 32) is housed.

It should be noted that the present invention is not necessarily limited to a structure in which both the boom 24 and the arm 32 can expand and contract. Either one of them may be able to expand and contract, or if the height of the fruit to be collected is substantially constant, both the boom 24 and the arm 32 may not expand and contract.

In this embodiment, the fruit tree collecting apparatus according to the present invention is configured as a fruit tree collecting attachment (hereinafter simply referred to as "attachment") 40 as shown in FIGS. 32
At the front end of the front member 32b.

The attachment 40 comprises a support member composed of a main body 42, a grip support 43, and scissors support 44. Fruits (palms in the illustrated example) are provided on the grip support 43. A grip 46 to be gripped is supported, and scissors 48 for cutting a boundary portion between the fruit and the fruit tree are supported by the scissor support portion 44. Grip 46
The scissors 48 are openable and closable as will be described later, and are supported so that the grips 46 and scissors 48 open in substantially the same direction (frontward).

The main body 42 is hollow and has a front opening shape. The front end member 32b of the arm 32 is arranged so that the rear end of the main body 42 can rotate about the pin 38.
It is connected to. Further, one end of a hydraulic cylinder (rotation driving means) 50 is connected to the side wall of the main body 42 via a pin 51, and the other end of the hydraulic cylinder 50 is connected to a pin 52.
Is connected to the front end of the front side member 32b through
The expansion and contraction of the hydraulic cylinder 50 causes the main body 42 and thus the whole fruit tree attachment 40 to rotate around the pin 38.

The direction of rotation of the attachment 40 is not particularly limited. For example, the attachment 40 may be connected to the arm 32 such that the attachment 40 twists. In addition, depending on the specifications, it is not always necessary to be configured to be rotatable.

The grip support 43 is a long rear member 4.
3A and the front member 43B are connected in the longitudinal direction (front-rear direction), and the rear member 43A is
2 so that it can be displaced in the front-rear direction with respect to
2, while the grip 46 is supported at the front end of the front member 43B.

Similarly, in the scissors support portion 44, the long rear member 44A and the front member 44B are elongated in the longitudinal direction (front-rear direction).
And is provided at a position close to the grip support portion 43 in a posture substantially parallel to the grip support portion 43. The rear member 44A is inserted into the main body 42 so as to be displaceable in the front-rear direction with respect to the main body 42, while the scissors 48 are supported at the front end of the front member 44B.

On the other hand, a grip transfer cylinder (grip transfer means) 53 composed of a hydraulic cylinder is provided in the main body 42.
And a scissor transfer cylinder (scissors transfer means) 54 are housed therein, and rear ends (head ends in the illustrated example) of the transfer cylinders 53 and 54 are connected to the main body 42 via pins 53a and 54a, respectively.
On the other hand, the front ends (rod ends in the illustrated example) of the transfer cylinders 53 and 54 are connected to the rear members 43A and 44A via pins 53b and 54b, respectively. Therefore, the grip support 43 and scissors support 44 are individually driven in the front-rear direction by the expansion and contraction of the grip transfer cylinders 53 and 54.

In the present invention, the grip support 43 and the scissors support 44 are not necessarily displaceable relative to the main body 42, but may be integrally formed. Further, the grip support 43 and the scissors support 44
Even if only one of them can be displaced relative to the main body 42, the relative position between the grip 46 and the scissors 48 can be adjusted.

The structure of the grip 46 is shown in FIGS.

The grip 46 includes a pair of left and right gripping members 60. Each gripping member 60 has a crescent shape in a plan view, and is arranged symmetrically in a direction in which the inner surface is concave. Further, a gripping projection 61 that bites into the body (shown by a two-dot chain line in FIGS. 5 and 6) of the fruit F is provided inward at a position on the tip side of the inner surface.

The rear end of each gripping member 60 is connected to the front end of the front member 43B of the grip support 43 so as to be rotatable about the pin 62 in the left-right direction (opening / closing direction). On the other hand, a gripping drive cylinder (grip drive means) 64 composed of a hydraulic cylinder is housed inside the front side member 43B, and a rear end (a head side end in the illustrated example) is connected to the front side via a pin 66. While being connected to the member 43B, an advancing / retreating block 68 is connected to a front end (a rod end in the illustrated example) via a pin 67.

An advancing / retreating link 70 extending left and right is fixed to the advancing / retreating block 68, and both left and right ends of the advancing / retreating link 70 are connected to the gripping members 60 via connecting links 72, respectively. Specifically, each link 72
The rear end of each of the connecting links 72 is rotatably connected to the left and right ends of the advance / retreat link 70 via a pin 71, and the front end of each of the connecting links 72 projects from the back surface of each of the gripping members 60.
Are rotatably connected to each other via a pin 74. Then, with the forward / backward movement of the advance / retreat block 68 and the advance / retreat link 70 due to the expansion and contraction of the gripping drive cylinder 64, the gripping members 60 are rotated left and right in opposite directions while maintaining a symmetrical posture (ie, It is driven to open and close).

In this embodiment, the rear member 43A and the front member 43B of the grip support 43 are connected via a connecting pin 56 so as to be relatively rotatable around the pin 56. By the rotation, the inclination angle of the front member 43B and the grip 60 with respect to the rear member 43A is variable.

More specifically, connecting plates 43a and 43b extending in the vertical direction are provided at the front end of the rear member 43A and the rear end of the front member 43B, respectively.
The connecting pin 56 is inserted and fixed at a predetermined position b, and pin insertion holes 57 and 58 are provided in the connecting plates 43a and 43b at positions off the connecting pin 56. Then, the pin insertion holes 5 of both connecting plates 43a and 43b are formed.
By inserting a pin (not shown) into these insertion holes 57 in a state where 7 is aligned, the front member 43B is fixed at an angular position (solid line position in FIG. 5) that is linear with the rear member 43A. By inserting a pin (not shown) into the insertion holes 58 in a state where the pin insertion holes 58 of the connection plates 43a and 43b are aligned, the front member 43B is slightly bent with respect to the rear member 43A (the scissor support portion). Angle position inclined in the direction away from 44; the position indicated by the two-dot chain line in FIG. 5). Accordingly, the separation distance between the scissors 48 and the grip 46 can be changed by switching the angular position.

The structure of the scissors 48 is shown in FIG. 5 and FIGS.

The scissors 48 include a pair of opening / closing members 76 that can be opened and closed in the left-right direction. A cutting tool 78 is fixed to the inner part of each opening / closing member 76 by a bolt 77, and a saw-toothed sharp cutting blade 78 a is formed on the inner side of each cutting tool 78. The cutting blades 78a are shaped so as to mesh with each other when the scissors 48 are closed as shown by a two-dot chain line in FIG.

In the present invention, the scissors 48 are not limited to a specific shape or structure, but may be any as long as they have an openable / closable cutter structure. In addition, the opening and closing direction of the grip 46 and the opening and closing direction of the scissors 48 are not necessarily parallel, and both directions may be inclined at a predetermined angle.

The rear end of each opening / closing member 76 is connected to the front end of the front member 44B of the scissors support 44 so that the opening / closing member 76 can rotate in the left-right direction (opening / closing direction) about the pin 80.
Similarly, a base end of a rotation link 81 is attached to each pin 80 so as to be rotatable therearound, and this rotation link 81 is fixed to the opening / closing member 76 by welding or the like. Therefore, the rotating link 81 and the opening / closing member 76 are integrally rotated about the pin 80.

On the other hand, a cutting drive cylinder (cutting drive means) 82 composed of a hydraulic cylinder is provided inside the front member 44B.
And a rear end (a head side end in the illustrated example) is connected to the front member 44B via a pin 83 (FIG. 5), while a pin is attached to the front end (a rod end in the illustrated example). An advance / retreat block 86 is connected via 84. The rear ends of the pair of left and right connection links 88 are connected to the advance / retreat block 86, and the front ends of the connection links 88 are
Are connected to the rotating end of each of the rotating links 81 via the.

Accordingly, in this structure, the opening / closing members 76 maintain the left-right symmetrical posture and the left / right directions are opposite to each other as the forward / backward block 86 and the connecting link 88 are driven back and forth by the expansion and contraction of the cutting drive cylinder 82. (That is, driven to open and close).

Further, in this embodiment, the arrangement position of the pin 80, which is the opening / closing rotation axis of each opening / closing member 76, is set at a position considerably closer to the outside, and each opening / closing member 76 rotates inward. The tip of each cutting tool 78 is retracted as it rotates (rotates in the closing direction).

On the other hand, the canopy 16 of the upper rotating body 14
Is provided with a driver's seat 92 as shown in FIG. 10, and boom and arm operating levers 93L, 9
3R is provided, and a pair of traveling levers (crawler operation levers) 94L and 94R are provided in the front. further,
A grip operation lever 96L is provided outside the travel lever 94L.
However, scissor operation levers 96R are provided outside the traveling lever 94R.

The grip operation lever 96L can be operated in the front, rear, left and right directions. When the grip operation lever 96L is operated to the front side, the grip transfer cylinder 53 is extended (that is, the grip 46 advances in the opening direction), and conversely, the rear side. , The grip transfer cylinder 53 is contracted (that is, the grip 46 is retracted). Also,
By operating the grip operation lever 96L outward (to the left as viewed from the driver's seat 92), the grip drive cylinder 64 contracts (that is, the grip 46 is driven in the opening direction),
Conversely, by operating inward (to the right as viewed from the driver's seat), the gripping drive cylinder 64 extends (ie, the grip 4
6 is driven in the closing direction).

The scissors operating lever 96R can also be operated in the forward, backward, left and right directions. By operating this to the front side, the scissors transfer cylinder 54 extends (ie, the scissors 48 advance in the opening direction), and conversely, the rear side Is operated, the scissors transfer cylinder 54 is contracted (that is, the scissors 48 are retracted). By operating the scissors operation lever 96R outward (to the right as viewed from the driver's seat 92), the cutting drive cylinder 82 contracts (that is, the scissors 48 are driven in the opening direction), and conversely, inside (as viewed from the driver's seat). By operating to the left side, the cutting drive cylinder 82 is extended (that is, the scissors 48 are driven in the closing direction).

By operating each of the levers described above, an electric signal (command signal) is input to a controller (not shown), and the controller outputs a control signal to a solenoid valve of a hydraulic circuit based on the input signal, and sends the control signal to each hydraulic cylinder. Supply and discharge of hydraulic oil.

Next, an example of a method for collecting fruit trees using the working machine will be described.

1) The boom 24 is erected to make it almost upright. Then, the user moves the main unit to approach a desired fruit tree.

2) The height is adjusted by expanding and contracting the boom 24. At this time, if the boom 24 is set upright as shown in FIG.
The height can be suitably adjusted while keeping the distance between 0 and the fruit tree constant, and it can be applied to a relatively tall fruit tree as shown in FIG. 2 or a relatively tall fruit tree as shown in FIG. It can handle low fruit trees without difficulty. Also, boom 24
Since the distance between the attachment 40 and the fruit tree hardly changes irrespective of the expansion and contraction of the tree, no complicated operation or control for maintaining this distance is required, and it is extremely effective particularly for work in a narrow place (for example, in a palm forest). .

3) With the grip 46 and the scissors 48 kept in the open state, the grip 46 is moved by the rotation and expansion and contraction of the arm 32, the rotation of the fruit tree attachment 40, and the advance and retreat of the support portions 43 and 44. Grip 46 is fruit F
And the scissors 48 are moved to a position where the scissors 48 can cut the boundary between the fruit F and the fruit tree or the vicinity thereof.

At this time, the grip 46 and the scissors 48 are extended and contracted by the grip transfer cylinder 53 and the scissors transfer cylinder 54 so that the grip 46 and the scissors 48 are in a direction substantially parallel to the opening direction (front-back direction; a direction parallel to the longitudinal direction of the support portions 43 and 44). , The grip 46 and scissors 48 can be easily positioned. Further, by changing the relative position between the grip 46 and the scissors 48, even when the size of the fruit F varies significantly, the grip 46 and the scissors 48 can be easily positioned at the grippable position and the cuttable position, respectively. . Further, as shown by a solid line and a two-dot chain line in FIG.
By changing the relative angle between the grip 46 and the front member 43B, the relative position between the grip 46 and the scissors 48 can also be adjusted.

4) The grip 46 is closed by contracting the gripping drive cylinder 64. That is, the body of the fruit F is sandwiched between the left and right sides by the two gripping members 60.

5) The cutting drive cylinder 82 is contracted to close the scissors 48. At this time, the cutting blade 78a of the cutting tool 78 fixed to each opening / closing member 76 cuts the boundary between the fruit and the fruit tree or the vicinity thereof. In this embodiment, since the cutting blade 78a has a saw-tooth shape, a portion to be cut can be firmly captured without escaping, and reliable cutting can be performed. In addition, since the position of the pin 80, which is an opening / closing rotation axis, is set so that the tip (blade tip) of each cutting tool 78 is retracted as the scissors 48 close, the cutting edge is erroneously set at the time of cutting operation. This can prevent a situation in which the trunk or the like is damaged.

Moreover, since the grip 46 is holding the body of the fruit F during the cutting operation, there is no possibility that the fruit F will fall unexpectedly when the cutting is completed.

6) After cutting, the attachment 40 is lowered by operating the boom 24 or the arm 32, and the cut fruit F is lowered (see the two-dot chain line in FIGS. 2 and 3).
The fruit F may be put into a basket or the like by operating the attachment 40 as it is, or the fruit F may be landed appropriately and then installed on the work machine 13 (FIG. 1).
) May be collected at once.

The shape of the cutting tool 78 constituting the scissors 48 in the present invention can be variously set. For example, as shown in FIGS. 11A and 11B, in addition to the saw-shaped cutting blade 78 a provided on the inner edge of the cutting tool 78, a flea-shaped tip blade 78 b is formed at the tip of each cutting tool 78. In this case, the cutting part (for example, the part on the root side of the branch when cutting off the branch surrounding the fruit) that is difficult to cut with the cutting blade 78a is moved to the tip thereof with the scissors 48 closed. The cutting can be performed by piercing the cutting site with the blade 78b (see FIG.
8d is a through hole through which the above-mentioned bolt 77 is inserted. ).

The cutting blade 78a preferably has a sawtooth shape as described above. With such a shape, it is possible to securely engage and cut without escaping the target cutting portion. Is not necessarily limited to a saw blade shape.
A straight cutting blade 78a 'as shown in FIG. However, with this shape of the cutting blade 78a ', for example, when the branch 100 surrounding the palm nut is to be cut off,
The branch 100 has a substantially triangular shape as shown in the figure and is easily slid along the straight cutting blade 78a ', and there is a high possibility that the branch 100 will escape from the cutting blade 78a' to the tip end side and make cutting difficult. Therefore, in this case, as shown in FIG. 12, a sickle-shaped protruding blade 78d protruding inward is formed at the tip of the cutting tool 78, and even when the branch 100 or the like slides along the cutting blade 78a '. It is more preferable that the projecting blade 78d does not allow the projecting blade 78d to escape. Further, by forming the protruding blade 78b into a sharp shape that is easy to bite into the cut portion, the function of capturing the cut portion without escaping can be further enhanced.

In each of the above embodiments, a hydraulic cylinder is used as an actuator for driving each part. However, a hydraulic motor may be used depending on a part.
Alternatively, an electric actuator may be used.

In the illustrated example, a grip 4 is provided above the scissors 48 in order to cut off a palm fruit growing upward from the stem top.
6 is shown, the vertical relationship between the grip 46 and the scissors 48 may be set as appropriate according to the form of the fruit to be collected.

[0067]

As described above, the present invention comprises a grip for gripping fruits and scissors, and the grip is gripped by the grip at a position where the scissors can cut the boundary between the fruit and the fruit tree or in the vicinity thereof. In addition, since the scissors are supported by the support member and the support member is attached to the working machine, there is an effect that the fruit can be easily collected while preventing the fruit from falling unexpectedly.

[Brief description of the drawings]

FIG. 1 is a front view of a working machine according to an embodiment of the present invention.

FIG. 2 is a front view showing a state in which relatively high fruit trees are collected by the work machine.

FIG. 3 is a front view showing a state where relatively low fruit trees are collected by the work machine.

FIG. 4A is a plan view of a fruit tree collecting attachment attached to the working machine, and FIG. 4B is a front view.

FIG. 5 is a front view showing a main part of the fruit tree collecting attachment.

FIG. 6 is a plan view showing a grip of the attachment for collecting fruit trees and its driving means.

FIG. 7 is a partial cross-sectional bottom view showing scissors of the attachment for collecting fruit trees and driving means thereof.

FIG. 8 is a sectional view taken along line AA of FIG. 5;

FIG. 9 is a sectional view taken along line BB of FIG. 7;

FIG. 10 is a plan view showing a canopy configuration of the work machine.

11A is a plan view showing a modification of the cutting tool constituting the scissors, and FIG. 11B is a cross-sectional view taken along the line CC of FIG. 11A.

FIG. 12 is a plan view showing a modified example of a cutting tool constituting the scissors.

[Explanation of symbols]

 12 Lower traveling body (body machine) 14 Upper revolving body (body machine) 24 Boom 32 Arm 40 Fruit tree sampling attachment (Fruit tree sampling device) 42 Body part 43 Grip support part 44 Scissors support part 46 Grip 48 Scissors 50 Hydraulic cylinder (rotation) Driving means) 60 gripping member 64 gripping drive cylinder 78 cutting tool 78a, 78a 'cutting blade 82 cutting drive cylinder

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hisayuki Ito 3-12-25 Gion, Asaminami-ku, Hiroshima City Kobelco Construction Machinery Engineering Co., Ltd. F-term (reference) 2B075 JA08 JD05 JD10 JD17 JD21 JJ01

Claims (13)

[Claims] 1. A fruit collecting device attached to a work machine for cutting fruit from a fruit tree, comprising: a grip that can be opened and closed for gripping the fruit; grip driving means that drives the grip to open and close; Openable and closable scissors for cutting the boundary between the fruit tree and fruit, cutting driving means for opening and closing the scissors, and the scissors for the boundary between the fruit and the fruit tree gripped by the grip or in the vicinity thereof. A fruit collecting device comprising: a support member that supports the grip and scissors at a position where cutting is possible and is attached to the work machine. 2. The fruit tree collecting device according to claim 1,
The fruit collecting device, wherein the support member supports the grip and the scissors such that the grip and the scissors are opened in substantially the same direction. 3. The fruit tree collecting device according to claim 1, wherein the support member is located close to the grip and the scissors in a direction in which the opening and closing direction of the grip is substantially parallel to the opening and closing direction of the scissors. A fruit collecting apparatus characterized by being supported by a fruit. 4. The fruit collecting device according to claim 1, wherein the support member supports the grip and the scissors such that they can be relatively moved in a direction orthogonal to a direction in which the grips and scissors are arranged. And a transfer means for relatively moving the grip and scissors on the support member. 5. The fruit collecting device according to claim 2, wherein
The support member supports a main body attached to a work machine, the grip, and a grip support attached to the main body so as to be displaceable in an opening direction of the grip, and supports the scissors. A scissor support attached to the main body so as to be displaceable in the opening direction of the scissors; a grip transfer means for displacing the grip support; and a scissor transfer for displacing the scissor support; And a means for collecting fruit. 6. The fruit collecting apparatus according to claim 1, wherein a maximum opening angle of the scissors is smaller than a maximum opening angle of the grip. 7. The fruit collecting device according to claim 1, wherein the position of the opening / closing pivot axis of the scissors is set such that the tip of the scissors retreats as the scissors close. A fruit collecting device, characterized in that: 8. The fruit collecting apparatus according to claim 1, wherein said scissors have a saw blade-shaped cutting blade. 9. A main body capable of running, a boom connected to the main body so as to be able to move up and down, and an arm rotatably connected to a tip of the boom. A work machine, wherein the support member of the fruit collecting device according to any one of 1 to 8 is attached. 10. The work machine according to claim 9, wherein at least one of the boom and the arm is extendable and contractable,
A working machine comprising an expansion / contraction drive unit for performing the expansion / contraction. 11. The work machine according to claim 10, wherein
A work machine wherein the boom is extendable and contractable, and is supported by the main unit so that the boom can be upright. 12. The working machine according to claim 10, wherein the boom and the arm are extendable and contractible, respectively, and further include a telescopic drive unit for performing the respective telescopic operations. 13. The working machine according to claim 9, wherein a support member of the fruit tree collecting device is rotatably attached to a tip of the arm, and is rotated. A work machine comprising a driving means.