JP2017079699A - Harvest conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a harvest conveyance device harvesting fruit without impairing the fruit.SOLUTION: A harvest conveyance device 500 comprises a cylindrical transfer part including a first opening 22b at one end positioned at a position at which fruit falls from an end effector 21 and a second opening 22c at the other edge fixed to a structure and positioned between the end effector and an accumulation part. The transfer part includes a cylindrical cylinder part 22a extendable/contractable elastically. A cross sectional area of the smallest cross section perpendicular to a longitudinal direction of an inner space of the cylinder part is larger than a cross sectional area of the largest cross section perpendicular to a longitudinal direction of the fruit when the fruit passes through the inner space in a no-load state, and is smaller than the cross sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit in a state in which the cylinder part is extended in the longitudinal direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a harvesting and conveying apparatus that harvests agricultural products such as fruits and vegetables.

  Harvesting crops such as fruits and vegetables generally requires a lot of labor in a short time because fruits grow at a specific time. Further, since the place where the harvesting work is performed is an environment suitable for growing the crop, there are many situations where it cannot be said that the working condition for human harvesting is good. For these reasons, automation of crop harvesting work is desired.

  Conventionally, as a technique for performing automatic harvesting, for example, a harvesting and conveying apparatus described in Patent Document 1 is known. FIG. 1 is a schematic configuration diagram of a conventional harvesting and conveying apparatus. As shown in FIG. 1, the conventional harvesting and transporting apparatus includes a picking unit 94 that separates the fruit 91 from the branch 95 by adsorption or the like, and the harvesting unit 94 includes a fruit storage unit (not shown). A transport cylinder 92 connected to the transport apparatus main body 93 is included.

  When the fruit 91 is separated from the branch 95, it falls to the harvesting and conveying apparatus main body 93 through the transport cylinder 92 due to its own weight.

JP 59-31614 A

  However, since the conventional harvesting and transporting device described above converts the potential energy at the height of the fruit 91 into almost kinetic energy and reaches the harvesting and transporting device main body 93, the sliding friction with the transport cylinder 92 that is the path is There are problems such as sliding damage, dents and the like occurring on the fruit 91 due to collision between the fruits inside the harvesting and conveying apparatus main body 93.

  In addition, fruit juice may scatter from the wounds and dents into the path, etc., and as a result, mold, germs, etc. propagate on the surface of the fruit surface, transport cylinders, etc. In some cases, it spreads and affects the commercial value of the fruit.

  This invention solves this subject, and it aims at providing the harvest conveyance apparatus which harvests a fruit, without damaging a fruit.

In order to achieve the above object, the harvesting and conveying apparatus of the present invention provides:
An end effector having the function of separating fruits from other parts of the plant;
A harvesting arm with one end connected to the end effector;
A structure for fixing the other end of the harvesting arm;
An accumulation part for accumulating the fruit;
A control unit for controlling the movement of the harvesting arm, and for controlling the end effector to separate the fruit;
The end effector is cylindrical and has a first opening at one end where the fruit falls from the end effector, and a second opening at the other end fixed to the structure. And a transfer unit located between the stacking unit and
With
The transfer unit is
A cylindrical section that is elastically expandable and contractible, and the cross-sectional area of the minimum cross section perpendicular to the longitudinal direction of the internal space of the cylindrical section is the above-described when passing through the internal space in an unloaded state. It is larger than the cross-sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit, and smaller than the cross-sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit in a state where the cylindrical portion extends in the longitudinal direction,
It is characterized by that.

  As described above, according to the harvesting and conveying apparatus of the present invention, when the fruit is separated from the plant body, the magnitude of the fruit falling speed is alleviated in the transfer unit, so that damage caused by the fruit falling is prevented. be able to.

Diagram showing conventional technology The front view which shows the harvest conveyance apparatus concerning Embodiment 1 of this invention. The side view which shows the harvest conveyance apparatus concerning Embodiment 1. The front view which shows the harvest conveyance apparatus concerning Embodiment 1. The figure which shows the structure of the fruit made into the harvest object concerning Embodiment 1. FIG. The figure which shows the positional relationship of the harvest conveyance apparatus concerning Embodiment 1, and a tuft and a main stem. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 1. FIG. The side view which shows the harvest conveyance apparatus concerning Embodiment 2 of this invention. The front view which shows the harvest conveyance apparatus concerning Embodiment 2. The principal part perspective view concerning Embodiment 2. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 2. FIG. Other important part perspective view concerning Embodiment 2. FIG. The front view which shows the harvest conveyance apparatus concerning Embodiment 3 of this invention. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 3. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 3. FIG. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 3. FIG. The front view which shows the harvest conveyance apparatus concerning Embodiment 4 of this invention. Flowchart of harvesting and conveying apparatus according to the fourth embodiment The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows operation | movement of the harvest conveyance apparatus concerning Embodiment 4. The figure which shows the other example of the harvest conveyance apparatus concerning Embodiment 4. FIG. The principal part top view which shows the harvest conveyance apparatus concerning Embodiment 5 of this invention The figure which shows operation | movement of Embodiment 5. The principal part side view which shows the harvest conveyance apparatus concerning Embodiment 6 of this invention The figure which shows the operation | movement concerning Embodiment 6. The figure which shows the other example concerning Embodiment 6. FIG. The figure which shows the operation | movement of the other example concerning Embodiment 6. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted.

(Embodiment 1)
FIGS. 2-4 is a block diagram which shows the harvest conveyance apparatus concerning Embodiment 1 of this invention. In each figure, a right-handed orthogonal coordinate system is defined as shown. For convenience, the positive direction of the z-axis may be called up and the negative direction may be called down.

  2 and 3, the movement base 1 has a built-in motor (not shown) for driving the wheels 2. A control unit 4 is fixed to the upper structure 3.

  The movable part 5 a is driven in the z-axis direction with respect to the lifting stage 5. The first joint motor 6 rotates around an axis w1 parallel to the z axis, and one end is fixed to the movable portion 5a. The telescopic shaft 7 is composed of a first stage 7a, a second stage 7b, and a third stage 7c, and the first stage 7a, the second stage 7b, and the third stage 7c have a nested structure. The first stage 7 a is connected to the first joint motor 6. The second joint motor 8 rotates around an axis w2 parallel to the z axis, and one end is fixed to the third stage 7c of the telescopic shaft 7.

  The end effector 21 is a plate-like member having one end fixed to the second joint motor 8 and the other end provided with a hole 21a larger than a fruit.

  The lifting stage 5, the first joint motor 6, the telescopic shaft 7, and the second joint motor 8 constitute a harvesting arm 100 with four degrees of freedom. The harvesting arm 100 gives the end effector 21 freedom in x, y, z position and z-axis rotation angle.

  The hollow cylindrical shaft 11 is provided in the upper structure 3, has a hole through which the fruit passes, and is provided at a position substantially coaxial with the shaft w1.

  The transfer part 22 has a generally cylindrical shape, the elastic cylinder part 22a is elastically stretchable, and the cross-sectional area of the minimum cross section perpendicular to the longitudinal direction of the internal space of the elastic cylinder part 22a is unloaded. In a state (a state in which a force other than gravity is not applied), the elastic cylinder portion 22a extends in the longitudinal direction, and is larger than the cross-sectional area of the maximum section perpendicular to the longitudinal direction of the fruit to be harvested when passing through the internal space. In this state, the elastic cylindrical portion 22a has a cross-sectional area of the smallest cross section perpendicular to the longitudinal direction of the internal space, which is larger than a cross-sectional area of the largest cross-section perpendicular to the longitudinal direction of the fruit when passing through the internal space. small.

  The openings 22b and 22c are made of a material having rigidity higher than that of at least the elastic cylinder portion 22a, and each has a diameter that allows the fruit to pass therethrough. The opening 22 b is coupled coaxially with the hole 21 a of the end effector 21, and the opening 22 c is coupled coaxially with the hollow cylindrical shaft 11.

  The conveyor 9 receives the fruit that has passed through the hollow cylindrical shaft 11, and transports the fruit to the negative side of the y-axis in FIG. A harvesting box 10 is provided at the negative end of the y-axis of the conveyor 9. The fruit transported by the conveyor 9 descends and accumulates in the harvesting box 10 from a sufficiently low height that does not damage the fruit.

  The cylindrical structure whose dimension in the direction orthogonal to the telescopic shaft 7 changes with expansion and contraction, such as the elastic cylindrical portion 22a, is not special and is common in knitted structures such as fibers and emphasizes elasticity. Is known as medical stockings.

  As shown in FIG. 2, when the opening 22 c and the opening 22 b are separated by extending the telescopic shaft 7 or moving the movable part 5 a of the elevating stage 5, the elastic cylinder 22 a is in the longitudinal direction of the internal space. The cross-sectional area of the cross section perpendicular to the vertical direction is smaller, and the cross-sectional area of the smallest cross-section is smaller than the cross-sectional area of the maximum cross-section perpendicular to the longitudinal direction of the fruit when passing through the internal space. As shown in FIG. 4, when the telescopic shaft 7 contracts or the movable part 5a descends and the opening part 22b approaches the opening part 22c, the length of the elastic cylinder part 22a becomes short, and the internal space The cross-sectional area of the smallest cross section perpendicular to the longitudinal direction is larger than the cross-sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit when passing through the internal space.

  The harvesting conveyance apparatus 500 is comprised by the above.

  FIG. 5 is a diagram illustrating a configuration of a fruit to be harvested according to the first embodiment. Here, tomato is given as an example of a fruit to be harvested. The fruit consists of a plurality of fruit stems 81 separated from the main stem 80, and the uppermost fruit 84 is connected to the fruit stem 81 through the cocoon 83 and the small fruit stem 82. A similar structure is also present in other fruits, forming a tuft 200 as a whole.

  In the bunch 200, there is a fruit 85 adjacent to the fruit 84, for example, a fruit 85 sandwiching the curd 81, and a fruit 86 under the fruit 84.

  In general, the uppermost fruit in the bunch 200 first ripens red. Harvesting is done in order from red-ripe. Therefore, in this case, the harvesting should be started from the fruit 84 first. In that case, presence of the fruit 85, the fruit 86, the fruit stem 81, the main stem 80, etc. may become an obstacle.

  FIG. 6 is a diagram showing the positional relationship between the harvesting and conveying apparatus 500, the tuft and the main stem. The harvesting and conveying apparatus 500 travels through a path between a plurality of main stems 80 (only two main stems 80 are shown in FIG. 6) in the y-axis direction that is perpendicular to the paper surface. Harvest fruit.

  The operations of the harvesting arm 100, the wheels 2, and the conveyor 9 are controlled by the control unit 4.

  The operation of the harvesting and conveying apparatus 500 configured as described above will be described below.

  7-12 is a figure which shows operation | movement of the harvest conveyance apparatus 500. FIG.

  In FIG. 7, the harvest target is a fruit 84. In response to an instruction from the control unit 4, the harvesting and transporting device 500 travels along the y-axis direction along the y-axis direction using the wheels 2 with the fruit 84 as a target, and reaches the vicinity of the fruit 84. Thereafter, the harvesting and conveying apparatus 500 adjusts the z-axis position of the end effector 21 to a height suitable for harvesting by the lifting stage 5. That is, the harvesting and conveying apparatus 500 sets the z-axis position of the end effector 21 between the fruit 84 and the lower fruit 86 in order to cause the end effector 21 to act on the fruit 84. Thereby, the fruit 84 comes to be put in the hole 21a.

  The rotation angle of the telescopic shaft 7 around the z-axis toward the fruit 84 is adjusted by the first joint motor 6, and the rotation angle of the end effector 21 around the z-axis is adjusted by the second joint motor 8, and the x-axis position Is adjusted by the telescopic shaft 7.

  FIG. 7 shows a state immediately before putting the fruit 84 into the hole 21a, and the elastic cylinder portion 22a expands as the telescopic shaft 7 extends, and the cross-sectional area of the cross section perpendicular to the longitudinal direction of the internal space decreases. Indicates the state. FIG. 8 shows a state in which the telescopic shaft 7 is extended and the end effector 21 is inserted between the fruit 84 and the fruit 86. When fruits are densely packed together, it is desirable to make the end effector 21 as thin as possible in order to facilitate insertion.

  FIG. 9 shows a state in which the end effector 21 is raised by raising the elevating stage 5. When the telescopic shaft 7 is contracted in this state, the fruit 84 is separated and harvested at the small peduncle 82, resulting in the state of FIG. FIG. 10 shows the vicinity of the tip of the end effector 21 in a cross section for easy understanding. In the state of FIG. 10, the cross-sectional area of the cross section perpendicular to the longitudinal direction of the internal space of the elastic cylinder portion 22a is smaller than the cross-sectional area of the maximum cross section perpendicular to the longitudinal direction of the fruit 84 when passing through the internal space. The fruit 84 is held near the end effector 21. Further, when the telescopic shaft 7 contracts to the state shown in FIG. 11, the elastic cylinder portion 22a starts to return due to elastic restoration, and the fruit 84 falls downward. At this time, until the cross-sectional area of the cross section of the internal space of the elastic cylinder portion 22a is large enough to allow the fruit 84 to pass through, the fruit 84 is temporarily held on the way or the speed is large. Descent while being speed limited to a sufficiently small state.

  As described above, since the elastic cylinder portion 22a absorbs the kinetic energy of the fruit 84 converted from the potential energy as the telescopic shaft 7 is shortened, the speed of the fruit 84 is gradually reduced without causing a collision or the like. While descending. And when it will be in the state of FIG. 12 shown in the partial cross section, the fruit 84 will pass the opening part 22c and the hollow cylindrical axis | shaft 11, will reach the conveyor 9, and will be conveyed to the harvesting box 10 shown in FIG. The

  Thus, by using the harvesting and conveying apparatus 500 according to the present embodiment, it is possible to accumulate fruits without damaging the fruits in the transfer path.

  In the above description, fruit harvesting on the right side of the harvesting and conveying apparatus 500 in FIG. 6 has been described as an example. However, when harvesting the left side of the harvesting and conveying apparatus 500, the first joint motor 6 is rotated to rotate the telescopic shaft. Turn 7 to the left to change the arrangement. In that case, the same effect can be obtained only by the operation being a mirror image.

  Even when the fruit is on the upper side, the opening 22b is separated from the opening 22c, and the cross-sectional area of the cross section perpendicular to the longitudinal direction of the internal space of the elastic cylinder 22a is reduced. As a result, the same relaxation effect as that described above can be obtained.

  When the height of the end effector 21 is sufficiently low with respect to the unloaded length of the elastic cylinder portion 22a, the elastic cylinder portion 22a remains bent even when the telescopic shaft 7 contracts in the horizontal direction, and the fruit 84 is It may be difficult to pass through the elastic cylinder portion 22a. In this case, the deflection may be prevented by further raising the elevating stage 5.

  In addition, in this Embodiment, since it is the structure which dissipates a positional energy by the friction work of a fruit and the elastic cylinder part 22a, abrasion of the elastic cylinder part 22a can occur at least. Therefore, by configuring both ends of the transfer portion 22 with the openings 22b and 22c having relatively high rigidity, a mechanical interface such as a connector can be easily formed, and replacement is possible even when the elastic cylindrical portion 22a is worn. It becomes easy.

  Further, the configuration of the harvesting arm 100 is not necessarily limited to the present embodiment. For example, the telescopic shaft may have a link structure as long as the position and orientation of the end effector 21 can be realized. It is also possible to use a general vertical articulated arm.

  Moreover, in this Embodiment, although the tomato is mentioned as a fruit, it can respond also to another spherical fruit by the suitable design of the transfer part 22. FIG.

(Embodiment 2)
Next, the harvesting and conveying apparatus according to the second embodiment of the present invention will be described. In the second embodiment of the present invention, only the parts different from the harvesting and conveying apparatus according to the first embodiment of the present invention will be described, and the description of the same configuration as that of the first embodiment will be omitted.

  FIGS. 13-15 is a block diagram which shows the harvest conveyance apparatus concerning Embodiment 2 of this invention. In each figure, a right-handed orthogonal coordinate system is defined as shown. For convenience, the positive direction of the z-axis may be called up and the negative direction may be called down.

  13-15, the fruit receiving part 23 is inverted frustum shape, Comprising: Let it be a truncated cone here. The fruit receiving part 23 does not have the upper surface and the lower surface, and guides the fruit that has fallen into the upper surface area to the hole 23a on the lower surface by gravity. The opening 22c is elastically supported via springs 25 with respect to the two protrusions 24 provided at both ends of the upper structure 3 along the x-axis, and is positioned vertically above the hole 23a in an unloaded state. To do. Further, the spring 25 is set to have a strength such that the opening 22 c does not deviate from the range of the upper surface of the fruit receiving portion 23 with respect to the movable range of the harvesting arm 100.

  As described above, the configuration of the harvesting and conveying apparatus 501 is substantially the same as that of the first embodiment, but the opening 22c deforms the spring 25 with respect to the deformation of the elastic cylindrical portion 22a accompanying the movement of the end effector 21. As shown in FIG. 16, the cross-sectional area of the cross section perpendicular to the longitudinal direction of the internal space of the elastic cylinder portion 22a is increased even if the telescopic shaft 7 does not return completely. Can lead to. For this reason, in the harvesting operation, the operation time of the telescopic shaft 7 can be shortened, and a significant improvement in harvesting efficiency can be expected.

  Since the opening 22c has high rigidity, it is hardly deformed even when pulled by the spring 25 and maintains the open state.

  Moreover, in this Embodiment, although it is the form which supported the opening part 22c only with the spring 25, you may provide the suitable stopper which restrict | limits the movable range of the opening part 22c around the fruit receiving part 23. FIG. In this case, the spring constant and strength of the spring 25 can be easily set, and a reliable fall of the fruit onto the fruit receiving portion 23 can be expected.

  Further, in the present embodiment, only the spring 25 provided along the x-axis direction is constrained by the opening 22c. Usually, the fruit is in the x-axis direction as shown in FIG. Thus, a constraint in the y-axis direction may be added.

  In the present embodiment, the restraining means (projection 24, spring 25) for the opening 22c is provided in the upper structure 3, but the restraining means for the opening 22c may be formed inside the fruit receiving portion 23.

  Further, in the present embodiment, the upper surface of the fruit receiving portion 23 is released, but a rotatable rotating plate 26 is provided on the upper surface of the fruit receiving portion 23 as shown in FIG. You may connect the opening part 22c to. In this case, the protrusion 24 and the spring 25 are unnecessary.

  Moreover, although the fruit receiving portion 23 has a truncated cone shape, other truncated cone shapes may be used. For example, a truncated pyramid shape, a shape in which the upper surface is a polyhedron and a hole in the lower surface is circular may be used. Regardless of the shape, if the fruit receiving portion 23 is formed in a frustum shape that reaches the conveyor 9, the accumulation can be performed.

(Embodiment 3)
Next, a harvesting and conveying apparatus according to the third embodiment of the present invention will be described. In the third embodiment of the present invention, only the parts different from the harvesting and conveying apparatus 500 according to the first embodiment of the present invention will be described, and the description of the same configuration as that of the first embodiment will be omitted.

  FIG. 18 is a configuration diagram illustrating a harvesting and conveying apparatus 502 according to the third embodiment of the present invention. In this figure, a right-handed orthogonal coordinate system is defined as shown. For convenience, the positive direction of the z-axis may be called up and the negative direction may be called down.

  In FIG. 18, the end effector 31 includes a harvesting plate 31b and an end effector base 31c. The hole 31 a is provided in the harvesting board 31 b and is larger than the target fruit 84. The harvest plate 31b is driven in the x-axis direction with respect to the end effector base 31c.

  The opening 22b is provided at the lower end of the end effector base 31c so as to be separated from the harvesting plate 31b.

  The operation of the harvesting and conveying apparatus 502 configured as described above will be described below.

  Now, the harvest target is the fruit 84, and the end effector 31 drives the harvest plate 31b from the state of FIG. 18 to the negative side of the x axis, that is, the fruit 84 side. As a result, as shown in FIG. 19, the harvest board 31 b is inserted between the fruit 84 and the lower fruit 86, and the hole 31 a reaches the position of the fruit 84. Compared to the end effector 21 of the first embodiment, there is no need to insert the opening 22b and the elastic cylinder portion 22a between the fruit 84 and the fruit 86, the only member to be inserted is the harvesting plate 31b, and the insertion resistance is remarkably high. Reduced.

  Next, as shown in FIG. 20, when the elevating stage 5 is raised, as shown in a partial cross section, the fruit 84 passes through the hole 31a, and in this state, the harvest plate 31b is positively moved in the positive direction of the x axis by the end effector base 31c. When pulled to the side, the fruit 84 is separated from the plant body as shown in FIG. 21, and falls into the opening 22b as shown in a partial cross section. The subsequent steps are the same as in the first embodiment.

  As described above, according to the present embodiment, the thickness of the member (here, harvest plate 31b) inserted between the fruits at the time of harvesting is significantly thinner than in the case of the first embodiment. Insertion of the harvest plate 31b between the fruits becomes very easy, and the time efficiency of harvesting is improved.

(Embodiment 4)
Next, a harvesting and conveying apparatus according to the fourth embodiment of the present invention will be described. In the fourth embodiment of the present invention, only parts different from the harvesting and conveying apparatus according to the third embodiment of the present invention will be described, and the description of the same configuration as that of the third embodiment will be omitted.

  FIG. 22 is a configuration diagram illustrating a harvesting and conveying apparatus 503 according to the fourth embodiment of the present invention. In this figure, a right-handed orthogonal coordinate system is defined as shown. For convenience, the positive direction of the z-axis may be called up and the negative direction may be called down.

  In FIG. 22, the end effector 32, the hole 32a, the harvesting plate 32b, and the end effector base 32c perform the same functions as the end effector 31, the hole 31a, the harvesting plate 31b, and the end effector 31c of the third embodiment, respectively.

  The sensor 33 is, for example, a reflective photosensor, and reacts to the fruit surface. Specifically, as shown in FIG. 22, the sensor 33 reacts when the end effector 32 reaches a predetermined position where the fruit can be harvested.

  FIG. 23 is an operation flow of the harvesting and conveying apparatus according to the present embodiment. The operation of the harvesting and conveying apparatus 503 is controlled by the control unit 4. First, in step S1, the control unit 4 sets the number of times N to try harvesting for the target fruit. This is an integer that specifies how many retries are allowed in consideration of time economy for objects that are difficult to harvest. During the process, the value of N is decremented by 1 each time a retry is made, and this value represents the remaining number of harvest attempts.

  Next, in step S2, the control part 4 grasps | ascertains the position of the fruit 84 by an image means etc. (not shown), and adjusts the harvest arm 100 to the position for inserting the harvest board 32b shown in FIG. The operation of inserting the harvest plate 32b into the bunch 200 is performed. If insertion is completed at this time, the harvesting board 32b will be located between the fruit 84 and the fruit 86 under it, as shown in FIG.

  Thereafter, in step S <b> 3, the control unit 4 raises the harvesting plate 32 b by a predetermined amount by the elevating stage 5. At this time, as shown in FIG. 25, if the fruit 84 passes through the hole 32a, it can be harvested, and the sensor 33 reacts. If the sensor 33 has reacted in step S4 (YES), the process proceeds to step S5. In step S5, the control unit 4 separates the harvest plate 32b from the tuft 200, and separates the fruit 84 from the plant body as shown in FIG. In step S6, the control unit 4 sets the harvest completion flag to 1, and records that the harvest is complete.

  If the insertion operation in step S2 is not completed, as shown in FIG. 27, the fruit 84 is pushed by the harvesting board 32b together with the main stem 80, and even if the harvesting board 32b is raised in the next step S3, FIG. Thus, since the fruit 84 does not pass through the hole 32a, it is not in a predetermined position, and the sensor 33 does not react.

  If the sensor 33 does not react in step S4 (NO), the process proceeds to step S7. In step S7, the control unit 4 separates the harvesting board 32b from the tuft 200 as shown in FIG. In step S8, as shown in FIG. 22, the control unit 4 lowers the harvesting plate 32b by a predetermined amount by the elevating stage 5, and returns to the state immediately before harvesting.

  In step S9, the control unit 4 decreases the remaining number of harvest trials by 1, and in step S10, when the remaining number N is 0 or less (YES), the process proceeds to step S11.

  In step S <b> 11, the control unit 4 ends the harvest completion flag as 0, and records that the harvest is incomplete. In step S10, when the remaining number is larger than 1 (NO), the process returns to step S2.

  Based on the result of the harvest completion flag, the control unit 4 performs the re-execution by changing the current harvest strategy (specifically, the priority for harvesting the fruit, the position in the z-axis direction with respect to the fruit, etc.), and moves to the next fruit. Etc. In particular, when harvesting is not performed, it is not necessary to allow the fruit 83 to pass through the elastic cylindrical portion 22a, so that the re-execution or the like can be performed without returning the telescopic shaft 7, so that the operation time can be shortened. Further, the control unit 4 counts the number of times the harvest completion flag 1 is reached, so that it can be seen that the harvesting and conveying apparatus has separated a predetermined number of fruits. Is moved horizontally and away from the plant. At this time, the end effector 32 may be moved in the horizontal direction and raised in the vertical direction.

  As described above, by arranging the sensor 33, even when the fruit 84 is not successfully harvested, it can be efficiently harvested again.

  In the present embodiment, the sensor 33 is a reflective photosensor. However, the present invention is not limited to this, and various sensors such as an ultrasonic sensor and an image sensor may be used.

  Moreover, like the harvesting and conveying apparatus 504 shown in FIG. 30, a sensor 34 that reacts when the insertion of the harvesting plate 32b into the bunch 200 is completed may be arranged. In this case, it can be determined whether or not the insertion is completed at the stage where step S2 in FIG. 23 is completed, and the operation of the elevating stage 5 is not necessary in the retry, and the time can be further shortened. Also in this case, since the sensor 33 returns a response to the reliable harvesting position, it effectively acts on the determination of the result of the raising / lowering stage 5 ascending.

(Embodiment 5)
Next, a harvesting and conveying apparatus according to the fifth embodiment of the present invention will be described. In the fifth embodiment of the present invention, only the parts different from the harvesting and conveying apparatus according to the first embodiment of the present invention will be described, and the description of the same configuration as that of the first embodiment will be omitted.

  In FIG. 31A, the harvesting arm 100 is the same as that in the first embodiment. When harvesting the fruit 84, the harvesting arm 100 avoids the main stem 80, the fruit stem 81, the other main stem 90, etc. from the form of FIG. 31 (a), and finally the form of FIG. 31 (c). To. As an intermediate path of the harvesting arm 100, in the present embodiment, as shown in FIG. 31 (b), the center of the fruit stem 81 (for example, the center of gravity of the fruit stem 81) and the center of the fruit 84 (for example, the center of gravity of the fruit 84). When the end effector 21 that harvests at a predetermined relative angle with respect to the projection line LN1 on the horizontal plane of the line passing through is brought close to the fruit to be harvested, the end effector 21 is not moved until the end effector 21 moves on the projection line. Is controlled to have the above relative angle. Here, the predetermined relative angle is, for example, an angle at which the fruit harvesting probability is highest. Further, the distance between the end effector 21 and the fruit 84 is controlled to be separated by a predetermined distance d1. As the value of d1, for example, a value obtained by adding the radius of the hole 21a, the radius of the fruit 84, and the distance from the edge of the hole 21a to the tip of the end effector 21, that is, the wall thickness is set.

  In FIG. 31 (c), the first joint motor 6 rotates the telescopic shaft 7 about the axis w1, the second joint motor 8 rotates the end effector 21 about the axis w2, and further the telescopic shaft 7 is moved. Driven to move the end effector 21 along the projection line LN1. Thereby, when the end effector 21 is brought close to the fruit 84 in order to harvest the fruit 84, the angle of the end effector 21 can be adjusted to the relative angle immediately before the fruit 84 and the end effector 21 physically contact each other. The harvest probability can be improved while avoiding interference with other main stems 90 and the like.

  In the harvesting operation, by operating the harvesting arm 100 in this way, the following merits are obtained with respect to other approaches. The other approaches are the forms shown in FIGS. 32 (a) to 32 (c), and the configuration of the harvesting arm 100 is the same as that of the fifth embodiment, but the intermediate path of the harvesting arm 100 is different. It is. In FIG. 32 (b), the end effector 21 is controlled to reach the relative angle before moving on the projection line, and finally the telescopic shaft 7 is extended to harvest. The other main stem 90 is located at the end and cannot reach the final position.

  In the present embodiment, such a problem can be avoided. Moreover, the path | route which the harvesting arm 100 returns also moves to this reverse, and can avoid interference with other main stems 90 grade | etc.,.

(Embodiment 6)
Next, a harvesting and conveying apparatus according to the sixth embodiment of the present invention will be described. In the sixth embodiment of the present invention, only parts different from the harvesting and conveying apparatus according to the third embodiment of the present invention will be described, and the description of the same configuration as that of the third embodiment will be omitted.

  FIG. 33 is a configuration diagram illustrating a harvesting and conveying apparatus according to the sixth embodiment of the present invention. In this figure, a right-handed orthogonal coordinate system is defined as shown. For convenience, the positive direction of the z-axis may be called up and the negative direction may be called down.

  In FIG. 33, the harvest target is a fruit 84. The end effector 41 includes a hole 41a, a harvesting plate 41b, and an end effector base 41c. The function is the same as that of the end effector 31 according to the third embodiment.

  The suction cup 45a sucks the fruit 84 by air suction or the like. The suction cup 45a is connected to the rod 45c through a pin 45b. The suction cup 45a is rotatable about the axis of the pin 45b parallel to the y-axis. The translational drive unit 45d drives the rod 45c to translate in the direction of arrow A, and is fixed to the upper surface of the end effector base 41c. The lifting mechanism 45 is constituted by each of the members 45a to 45d.

  The operation of inserting the end effector of the harvesting / conveying device configured as described above will be mainly described. As shown in FIG. 33, the adsorption cup 45a adsorbs the fruit 84. The rod 45c drives the suction cup 45a in the diagonally upward direction of the arrow A through the pin 45b by the translation drive unit 45d. As a result, as shown in FIG. 34, the fruit 84 is pulled up in an obliquely upward direction by a pseudo-rotational motion about the vicinity of the nodule P between the small and small infarcts 82 and 81. And the clearance gap between the lower surface of the fruit 84 and the lower fruit 86 increases, and insertion of the harvest board 41b becomes markedly easy.

  The rod 45c pulls up the fruit 84 in the translation direction, but the rotating component is absorbed by the pin 45b. The displacement component orthogonal to the rod 45c is absorbed by the elastic stem 81, the elastic deformation of the main stem 80, and the like.

  If the displacement component orthogonal to the arrow A direction becomes a problem as the fruit 84 is pulled upward in the diagonal direction, it can be dealt with by a further improved lifting mechanism (see FIG. 35).

  In FIG. 35, the suction cup 46a sucks the fruit 84 by air suction or the like. The suction cup 46a is connected to the rod 46c via a pin 46b and a cam plate 46e, and the suction cup 46a is rotatable about the axis of the pin 46b parallel to the y axis. Further, the cam plate 46e supports the pin 46b so as to be movable in a direction orthogonal to the arrow A direction in the drawing surface by the elongated cam hole 46f. The translation drive unit 46d is the same as the translation drive unit 45d, and the lifting mechanism 46 is configured by such members 46a to 46f.

  According to the present configuration, due to the effect of the cam plate 46e, as shown in FIG. 36, a displacement component orthogonal to the A direction of the fruit 84 can be absorbed, so that a larger gap is provided between the fruit 84 and the fruit 86. It is provided to facilitate the insertion of the harvest plate 41b.

  In addition, various changes, such as using a parallel link as a further mechanism which absorbs the displacement component orthogonal to A direction, are possible according to the objective.

  The harvesting and conveying apparatus of the present invention can be applied to many bunch-like fruits that are branched from fruit or the like, and is useful.

DESCRIPTION OF SYMBOLS 1 Movement base 2 Wheel 3 Superstructure 4 Control part 5 Elevating stage 5a Movable part 6 1st joint motor 7 Telescopic shaft 8 2nd joint motor 9 Conveyor 10 Harvest box 11 Hollow cylindrical shaft 21, 31, 32, 41 End effector 22 Transfer part 21a, 31a, 32a, 41a Hole 22a Elastic cylinder part 22b, 22c Opening part 23 Fruit receiving part 24 Protrusion 25 Spring 26 Rotating plate 31b, 32b, 41b Harvest plate 31c, 32c, 41c End effector base 33, 34 Sensor 45 , 46 Lifting mechanism 45a, 46a Suction cup 45b, 46b Pin 45c, 46c Rod 45d, 46d Translation drive unit 46e Cam plate
46f Cam hole 100 Harvesting arm 500, 501, 502, 503, 504 Harvest conveying device

Claims (10)

An end effector having the function of separating fruits from other parts of the plant;
A harvesting arm with one end connected to the end effector;
A structure for fixing the other end of the harvesting arm;
An accumulation part for accumulating the fruit;
A control unit for controlling the movement of the harvesting arm, and for controlling the end effector to separate the fruit;
The end effector is cylindrical and has a first opening at one end where the fruit falls from the end effector, and a second opening at the other end fixed to the structure. And a transfer unit located between the stacking unit and
With
The transfer unit is
A cylindrical section that is elastically expandable and contractible, and the cross-sectional area of the minimum cross section perpendicular to the longitudinal direction of the internal space of the cylindrical section is the above-described when passing through the internal space in an unloaded state. It is larger than the cross-sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit, and smaller than the cross-sectional area of the largest cross section perpendicular to the longitudinal direction of the fruit in a state where the cylindrical portion extends in the longitudinal direction,
Harvest transport device. The second opening is formed of an opening member having higher rigidity than the cylindrical portion.
The harvesting and conveying apparatus according to claim 1. A fruit receiving portion provided between the second opening and the stacking portion;
The fruit receiver has a frustum shape with openings corresponding to the two bottom surfaces,
Of the portions corresponding to the two bottom surfaces, the larger area is the inlet side opening, and the smaller area is the outlet side opening,
The outlet side opening is located vertically below the inlet side opening,
The opening member is constrained within a range above the entrance side opening,
The harvesting and conveying apparatus according to claim 2. Elastically supporting the opening member in the vicinity of the center of the inlet side opening;
The harvesting and conveying apparatus according to claim 3. The lower end of the end effector is higher in rigidity than the transfer unit, has a hole through which the fruit passes, and further includes a member connected to the first opening.
The harvesting and conveying apparatus according to claim 1. A sensor that is provided in the end effector and that reacts when the fruit is present at a predetermined position separable from the plant;
The control unit determines whether or not to control the end effector to separate the fruit based on the presence or absence of a reaction of the sensor.
The harvesting and conveying apparatus according to claim 1. The control unit controls an end effector that harvests at a predetermined relative angle with respect to a projection line on a horizontal plane of a line passing through the fruit center and the stamen center,
When the end effector approaches the fruit to be harvested, the end effector is controlled so as to be at the predetermined relative angle with respect to the projection line only after the end effector moves on the projection line.
The harvesting and conveying apparatus according to claim 1. The end effector is
Separation means that is inserted in the lower part of the fruit to be harvested, and separates the small fruit stem and the fruit to be harvested,
A lifting mechanism that lifts the fruit to be harvested upward before inserting the separating means into the lower part of the fruit to be harvested;
The harvesting and conveying apparatus according to claim 1. After the end effector has separated a predetermined number of fruits, the end effector is moved in the horizontal direction and separated from the plant.
The harvesting and conveying apparatus according to claim 1. After the end effector has separated a predetermined number of fruits, the end effector is moved in the horizontal direction, separated from the plant, and raised in the vertical direction.
The harvesting and conveying apparatus according to claim 9.