JP2020184936A - Fruit vegetable harvesting apparatus - Google Patents

Fruit vegetable harvesting apparatus Download PDF

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JP2020184936A
JP2020184936A JP2019091969A JP2019091969A JP2020184936A JP 2020184936 A JP2020184936 A JP 2020184936A JP 2019091969 A JP2019091969 A JP 2019091969A JP 2019091969 A JP2019091969 A JP 2019091969A JP 2020184936 A JP2020184936 A JP 2020184936A
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fruit
hand
holding portion
fruit vegetable
harvesting
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JP7108578B2 (en
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誠 宍戸
Makoto Shishido
誠 宍戸
竹村　佳也
Yoshiya Takemura
佳也 竹村
武嗣 三角
Takeshi Misumi
武嗣 三角
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Abstract

To provide a fruit vegetable harvesting apparatus in which an operating area is made compact and the contact with fruit vegetables and branches other than fruit the vegetables to be harvested is avoided, and thereby a harvesting rate is improved.SOLUTION: A fruit vegetable harvesting apparatus 10 includes a harvest hand 24 having a holding unit 30 supported to a hand base 28 and holding fruit vegetables 16 and a finger part 32 supported to the hand base 28 and capable of coming in abutment with a stem 14, and a robot arm 22 where the finger part 32 coming in abutment with the stem 14 moves the harvest hand 24 so as to press the stem 14. The robot arm 22 rotates the harvest hand 24 around the shaft in the longitudinal direction (X direction) of the holding unit 30, while the holding unit 30 holds the fruit vegetables 16 and the finger part 32 intersects with the stem 14 in side view.SELECTED DRAWING: Figure 1

Description

本発明は、果梗の先端に形成された果菜を収穫するための果菜収穫装置に関する。 The present invention relates to a fruit vegetable harvesting device for harvesting fruit vegetables formed at the tip of a fruit stem.

例えば、特許文献１には、リンゴやトマト等の果菜を収穫するための果菜収穫装置が開示されている。この果菜収穫装置は、吸気管と、吸気管の先端に設けられた吸引パッドと、吸引パッドを回動させる回動機構とを有する。この場合、吸引パッドによって果菜を吸引保持した状態で、回動機構により吸引パッドを回動させる。これにより、果菜が回動し、果菜と枝との間の果梗が枝から分離することで、該果菜を収穫することができる。 For example, Patent Document 1 discloses a fruit vegetable harvesting device for harvesting fruit vegetables such as apples and tomatoes. This fruit vegetable harvesting device has an intake pipe, a suction pad provided at the tip of the intake pipe, and a rotation mechanism for rotating the suction pad. In this case, the suction pad is rotated by the rotation mechanism while the fruit vegetables are sucked and held by the suction pad. As a result, the fruit vegetables rotate and the fruit stems between the fruit vegetables and the branches are separated from the branches, so that the fruit vegetables can be harvested.

特開昭６３−１３７６１４号公報Japanese Unexamined Patent Publication No. 63-137614

しかしながら、特許文献１の手法では、果菜を吸引保持した状態で果菜のみを回動させるので、果菜が枝から分離し難い。これにより、果菜が枝から分離しない状態で該枝が移動して別の果菜に接触し、又は、該枝が損傷する可能性がある。また、果菜側のヘタの部分で果菜が枝から分離すると、ヘタが取れた状態で果菜が収穫される。従って、特許文献１の手法では、収穫される果菜の商品価値が低下するおそれがある。 However, in the method of Patent Document 1, since only the fruit vegetables are rotated while the fruit vegetables are sucked and held, it is difficult for the fruit vegetables to be separated from the branches. As a result, the branch may move and come into contact with another fruit vegetable without separating the fruit vegetable from the branch, or the branch may be damaged. In addition, when the fruit vegetables are separated from the branches at the portion of the fruit vegetables on the side of the fruits, the fruits are harvested in a state where the fruits are removed. Therefore, in the method of Patent Document 1, the commercial value of the harvested fruit vegetables may decrease.

そこで、ロボットアームと、ロボットアームの先端に取り付けられた収穫ハンドと、収穫ハンドに設けた指部とで果菜収穫装置を構成することが考えられる。この場合、先ず、収穫ハンドで果菜を保持する。次に、指部を果菜の表面に沿わせつつ、該指部を果梗の離層に向かって移動させる。次に、指部が離層に接触したことをセンサ等で検知すると、指部をロックする。次に、果菜を中心としてロボットアームを回動させることで該果菜を回転させる。これにより、果梗が指部で押圧されて離層が折れ、果菜が枝から分離する。 Therefore, it is conceivable that the fruit vegetable harvesting device is composed of the robot arm, the harvesting hand attached to the tip of the robot arm, and the finger portion provided on the harvesting hand. In this case, first, the fruit vegetables are held in the harvesting hand. Next, the finger portion is moved toward the delamination of the fruit stalk while the finger portion is aligned with the surface of the fruit vegetable. Next, when the sensor or the like detects that the finger portion has come into contact with the delamination, the finger portion is locked. Next, the fruit vegetables are rotated by rotating the robot arm around the fruit vegetables. As a result, the fruit stalk is pressed by the finger and the delamination is broken, and the fruit vegetable is separated from the branch.

しかしながら、この手法では、果菜を回転させる際、該果菜を中心にロボットアーム全体を大きく回動させる必要がある。これにより、該ロボットアームの動作領域が大きくなってしまう。また、ロボットアームの回動によって、果菜収穫装置が他の果菜や枝に接触する可能性がある。このような接触を回避しようとすれば、収穫可能な果菜の個数が著しく減少し、収穫率が低下する。この結果、果菜収穫装置を導入する意義が薄れてしまう。 However, in this method, when the fruit vegetables are rotated, it is necessary to greatly rotate the entire robot arm around the fruit vegetables. As a result, the operating area of the robot arm becomes large. In addition, the rotation of the robot arm may cause the fruit vegetable harvesting device to come into contact with other fruit vegetables and branches. Attempts to avoid such contact will significantly reduce the number of harvestable fruits and vegetables and reduce the yield rate. As a result, the significance of introducing a fruit vegetable harvesting device is diminished.

本発明は、このような課題を考慮してなされたものであり、動作領域をコンパクトにして収穫対象の果菜以外の果菜や枝との接触を回避しつつ、収穫率の向上を図ることができる果菜収穫装置を提供することを目的とする。 The present invention has been made in consideration of such a problem, and it is possible to improve the harvest rate while making the operating area compact and avoiding contact with fruit vegetables and branches other than the fruit vegetables to be harvested. The purpose is to provide a fruit vegetable harvesting device.

本発明の態様は、果梗の先端に形成された果菜を収穫するための果菜収穫装置であって、ハンド基部、該ハンド基部に支持され且つ前記果菜を保持する保持部、及び、前記ハンド基部に支持され且つ前記果梗に当接可能な指部を有する収穫ハンドと、前記果梗に当接した前記指部が前記果梗を押圧するように前記収穫ハンドを移動させる移動機構とを備える。前記移動機構は、前記保持部が前記果菜を保持し、且つ、前記果菜収穫装置の側面視で前記指部が前記果梗と交差している状態で、前記保持部の長手方向の軸回りに前記収穫ハンドを回転させる。 Aspects of the present invention are a fruit vegetable harvesting device for harvesting fruit vegetables formed at the tip of a fruit stem, a hand base, a holding portion supported by the hand base and holding the fruit vegetables, and the hand base. It is provided with a harvesting hand having a finger portion supported by the fruit stem and capable of contacting the fruit stem, and a moving mechanism for moving the harvesting hand so that the finger portion contacting the fruit stem presses the fruit stem. .. The moving mechanism is such that the holding portion holds the fruit vegetables and the finger portions intersect with the fruit stalks in a side view of the fruit vegetable harvesting device, and the holding portion is axially oriented in the longitudinal direction. Rotate the harvesting hand.

本発明によれば、保持部の長手方向の軸回り、すなわち、該保持部及び果梗に略直交する方向に収穫ハンドを回転させることで、ハンド基部に支持された指部を果梗に当接させ押圧する。そのため、移動機構がロボットアームである場合には、該ロボットアームの軸回りの回動によって、収穫ハンドを容易に回転させることができる。これにより、移動機構の動作領域がコンパクトとなり、収穫対象の果菜以外の果菜や枝との接触を回避することができる。この結果、収穫率の向上を容易に図ることができる。また、収穫率の向上によって、果菜の収穫に果菜収穫装置を導入しやすくなる。 According to the present invention, by rotating the harvesting hand around the axis in the longitudinal direction of the holding portion, that is, in a direction substantially orthogonal to the holding portion and the fruit stalk, the finger portion supported by the hand base is applied to the fruit stalk. Touch and press. Therefore, when the moving mechanism is a robot arm, the harvesting hand can be easily rotated by rotating the robot arm around the axis. As a result, the operating area of the moving mechanism becomes compact, and contact with fruit vegetables and branches other than the fruit vegetables to be harvested can be avoided. As a result, the harvest rate can be easily improved. In addition, the improvement in the harvest rate makes it easier to introduce a fruit vegetable harvesting device for harvesting fruit vegetables.

本実施形態に係る果菜収穫装置の概略側面図である。It is a schematic side view of the fruit vegetable harvesting apparatus which concerns on this embodiment. 図１の保持部の回転フリー状態を示す一部側面部である。It is a partial side surface portion showing a rotation-free state of the holding portion of FIG. 図１の保持部の回転ロック状態を示す一部側面部である。It is a partial side surface portion which shows the rotation lock state of the holding portion of FIG. 図１の保持部で果菜を保持した状態を図示した側面図である。It is a side view which illustrated the state which held the fruit vegetable by the holding part of FIG. 図４の指部を果梗近傍に配置した状態を図示した側面図である。FIG. 5 is a side view illustrating a state in which the finger portion of FIG. 4 is arranged in the vicinity of the fruit stalk. 保持部の軸回りに収穫ハンドを回転させる状態を図示した正面図である。It is a front view which showed the state which the harvesting hand is rotated around the axis of the holding part. 接触部が果梗の離層に接触した状態を図示した正面図である。It is a front view which showed the state which the contact part was in contact with the separation layer of a fruit stalk. 離層が折れた状態を図示した正面図である。It is a front view which showed the state which the separation layer was broken.

以下、本発明に係る果菜収穫装置について好適な実施形態を例示し、添付の図面を参照しながら説明する。 Hereinafter, a suitable embodiment of the fruit vegetable harvesting apparatus according to the present invention will be illustrated and described with reference to the accompanying drawings.

［１．本実施形態の構成］
図１に示すように、本実施形態に係る果菜収穫装置１０は、枝１２から延びる果梗１４の先端に形成された果菜１６を収穫するための装置である。ここでは、図１の紙面上、略水平に延びるアーム１８から果菜１６に向かう方向をＸ方向、図１の上方をＺ方向、図１の紙面に直交する方向をＹ方向として、果菜収穫装置１０の構成を説明する。また、果梗１４には、該果梗１４の他の部分と比較して切り離しが容易な離層２０が形成されている。なお、果菜１６は、離層２０を有する果梗１４の先端に生る果物や野菜であればよい。このような果菜１６として、例えば、トマトがある。 [1. Configuration of this embodiment]
As shown in FIG. 1, the fruit vegetable harvesting device 10 according to the present embodiment is a device for harvesting fruit vegetables 16 formed at the tip of a fruit stem 14 extending from a branch 12. Here, the fruit vegetable harvesting apparatus 10 has the direction from the arm 18 extending substantially horizontally on the paper surface of FIG. 1 toward the fruit vegetables 16 as the X direction, the upper direction of FIG. 1 as the Z direction, and the direction orthogonal to the paper surface of FIG. 1 as the Y direction. The configuration of is described. Further, the fruit stalk 14 is formed with a delamination 20 that is easier to separate than the other parts of the fruit stalk 14. The fruit vegetable 16 may be any fruit or vegetable that grows at the tip of the fruit stem 14 having the separation layer 20. Examples of such fruit vegetables 16 include tomatoes.

果菜収穫装置１０は、不図示の車両等の移動体に設けられたロボットアーム２２（移動機構）と、ロボットアーム２２の先端に取り付けられた収穫ハンド２４とを備える。ロボットアーム２２は、複数のアーム１８と関節２６とから構成される多関節型のロボットアームである。ロボットアーム２２は、移動体に設けられた制御手段の制御によって、移動体に対して所望の方向に回転、旋回又は揺動が可能である。収穫ハンド２４は、ロボットアーム２２のエンドエフェクタであって、後述する手法によって果菜１６を収穫する。 The fruit vegetable harvesting device 10 includes a robot arm 22 (moving mechanism) provided on a moving body such as a vehicle (not shown), and a harvesting hand 24 attached to the tip of the robot arm 22. The robot arm 22 is an articulated robot arm composed of a plurality of arms 18 and joints 26. The robot arm 22 can rotate, turn, or swing in a desired direction with respect to the moving body under the control of a control means provided on the moving body. The harvesting hand 24 is an end effector of the robot arm 22, and harvests the fruit vegetables 16 by a method described later.

収穫ハンド２４は、ロボットアーム２２の先端側のアーム１８に装着されたハンド基部２８と、該ハンド基部２８に支持され、且つ、果菜１６を保持可能な保持部３０と、ハンド基部２８に支持され、且つ、果梗１４に当接可能な指部３２とを有する。 The harvesting hand 24 is supported by a hand base 28 attached to the arm 18 on the tip side of the robot arm 22, a holding portion 30 supported by the hand base 28 and capable of holding the fruit vegetables 16, and a hand base 28. It also has a finger portion 32 that can come into contact with the fruit stalk 14.

ハンド基部２８は、図１の側面視で、アーム１８の先端に装着された略矩形状の枠部材である。ハンド基部２８において、アーム１８に取り付けられる部分（図１の右側部分）は、果菜１６から離間するハンド基部２８の基端部２８ａである。また、ハンド基部２８において、果菜１６側の部分（図１の左側部分）は、保持部３０が取り付けられるハンド基部２８の先端部２８ｂである。保持部３０は、該保持部３０の長手方向（図１ではＸ方向）の軸回りに、ハンド基部２８に対して相対回転可能に取り付けられている。ハンド基部２８の上側部分は、ハンド基部２８の基端部２８ａから先端部２８ｂに向かって斜め下方に傾斜するように形成された上端部２８ｃである。ハンド基部２８の上端部２８ｃには、指部３２が取り付けられている。 The hand base 28 is a substantially rectangular frame member attached to the tip of the arm 18 in the side view of FIG. In the hand base 28, the portion attached to the arm 18 (the right portion in FIG. 1) is the base end portion 28a of the hand base 28 that is separated from the fruit vegetable 16. Further, in the hand base 28, the portion on the fruit vegetable 16 side (the left portion in FIG. 1) is the tip portion 28b of the hand base 28 to which the holding portion 30 is attached. The holding portion 30 is attached so as to be rotatable relative to the hand base 28 around the axis of the holding portion 30 in the longitudinal direction (X direction in FIG. 1). The upper portion of the hand base 28 is an upper end 28c formed so as to be inclined obliquely downward from the base end 28a of the hand base 28 toward the tip end 28b. A finger portion 32 is attached to the upper end portion 28c of the hand base portion 28.

さらに、ハンド基部２８には、果菜１６に向かって指部３２を進退させるための進退機構３４と、ハンド基部２８に対して保持部３０を長手方向の軸回りに相対回転可能な回転フリー状態、又は、ハンド基部２８に対して保持部３０を相対回転不能に固定する回転ロック状態に切り替え可能なロック機構３６とが設けられている。 Further, the hand base 28 has an advancing / retreating mechanism 34 for advancing / retreating the finger portion 32 toward the fruit vegetable 16, and a rotation-free state in which the holding portion 30 can rotate relative to the hand base 28 in the longitudinal axis. Alternatively, a lock mechanism 36 capable of switching to a rotation lock state in which the holding portion 30 is fixed to the hand base 28 so as to be relatively non-rotatable is provided.

保持部３０は、該保持部３０の長手方向の軸がアーム１８の軸と略同軸となるように、ハンド基部２８の先端部２８ｂに相対回転可能に取り付けられている。具体的に、保持部３０は、ハンド基部２８の先端部２８ｂを貫通し且つアーム１８の軸と略同軸（図１ではＸ方向）に延びる円筒状の軸部材３８と、ハンド基部２８の内方で軸部材３８の一端に略同軸に連結される円環状の第１プレート４０と、ハンド基部２８の先端部２８ｂの果菜１６側で軸部材３８の他端に略同軸に連結される円環状の第２プレート４２と、第２プレート４２から果菜１６側に延びる吸着パッド４４とを有する。 The holding portion 30 is rotatably attached to the tip end portion 28b of the hand base portion 28 so that the axial axis of the holding portion 30 is substantially coaxial with the axis of the arm 18. Specifically, the holding portion 30 has a cylindrical shaft member 38 that penetrates the tip end portion 28b of the hand base portion 28 and extends substantially coaxially with the axis of the arm 18 (in the X direction in FIG. 1), and the inside of the hand base portion 28. An annular first plate 40 that is substantially coaxially connected to one end of the shaft member 38 and an annular shape that is substantially coaxially connected to the other end of the shaft member 38 on the fruit vegetable 16 side of the tip 28b of the hand base 28. It has a second plate 42 and a suction pad 44 extending from the second plate 42 to the fruit vegetable 16 side.

この場合、軸部材３８の外周面とハンド基部２８の先端部２８ｂとの間には、不図示の軸受が介挿されている。また、軸部材３８は、第１プレート４０と第２プレート４２とによって、Ｘ方向に狭持されている。従って、保持部３０は、軸部材３８を中心として、ハンド基部２８に対して軸部材３８の軸回り（保持部３０の長手方向の軸回り）に相対回転可能である。 In this case, a bearing (not shown) is interposed between the outer peripheral surface of the shaft member 38 and the tip end portion 28b of the hand base portion 28. Further, the shaft member 38 is sandwiched in the X direction by the first plate 40 and the second plate 42. Therefore, the holding portion 30 can rotate relative to the hand base 28 about the axis of the shaft member 38 (the axis around the longitudinal direction of the holding portion 30) around the shaft member 38.

また、吸着パッド４４は、第２プレート４２の内周側、軸部材３８の内周部及び第１プレート４０の内周側と連通している。第１プレート４０の内周側は、不図示の吸引チューブを介して吸引ポンプと接続されている。吸引ポンプが駆動すると、吸着パッド４４周辺の空気は、第２プレート４２、軸部材３８、第１プレート４０、吸引チューブ及び吸引ポンプを介して排気される。これにより、吸着パッド４４に負圧が発生し、該吸着パッド４４により果菜１６を吸着することが可能となる。 Further, the suction pad 44 communicates with the inner peripheral side of the second plate 42, the inner peripheral portion of the shaft member 38, and the inner peripheral side of the first plate 40. The inner peripheral side of the first plate 40 is connected to the suction pump via a suction tube (not shown). When the suction pump is driven, the air around the suction pad 44 is exhausted via the second plate 42, the shaft member 38, the first plate 40, the suction tube and the suction pump. As a result, a negative pressure is generated on the suction pad 44, and the fruit vegetable 16 can be sucked by the suction pad 44.

ロック機構３６は、ハンド基部２８の下側部分（下端部２８ｄ）から下方に延びるステー４６と、ハンド基部２８の下端部２８ｄの下方でステー４６によって支持され、Ｘ方向に延びるアクチュエータ４８と、アクチュエータ４８におけるベローズ状の駆動部４８ａに連結され、ハンド基部２８の下端部２８ｄを貫通してハンド基部２８の内方に挿入されるリンク部材５０と、ハンド基部２８の下端部２８ｄでＹ方向に延び、リンク部材５０を支持する軸部材５２と、リンク部材５０の先端部に連結され、第１プレート４０と対向するロック部５４とを有する。 The lock mechanism 36 includes a stay 46 extending downward from the lower portion (lower end 28d) of the hand base 28, an actuator 48 supported by the stay 46 below the lower end 28d of the hand base 28 and extending in the X direction, and an actuator. A link member 50 which is connected to the bellows-shaped drive portion 48a in 48 and is inserted into the inside of the hand base 28 through the lower end 28d of the hand base 28 and extends in the Y direction at the lower end 28d of the hand base 28. It has a shaft member 52 that supports the link member 50, and a lock portion 54 that is connected to the tip end portion of the link member 50 and faces the first plate 40.

ロック部５４は、第１プレート４０に対応する円弧状の板状部材である。図２に示すように、第１プレート４０の円環部分には、所定角度間隔で複数の歯４０ａが形成されている。ロック部５４の第１プレート４０側には、第１プレート４０の複数の歯４０ａに対応して、所定角度間隔で複数の歯５４ａが形成されている。 The lock portion 54 is an arc-shaped plate-shaped member corresponding to the first plate 40. As shown in FIG. 2, a plurality of teeth 40a are formed at predetermined angular intervals in the annular portion of the first plate 40. On the first plate 40 side of the lock portion 54, a plurality of teeth 54a are formed at predetermined angular intervals corresponding to the plurality of teeth 40a of the first plate 40.

図２に示すように、アクチュエータ４８の駆動部４８ａがＸ方向に伸長している状態では、第１プレート４０とロック部５４とが離間している。従って、保持部３０は、回転フリー状態にある。一方、図３に示すように、アクチュエータ４８の駆動部４８ａがＸ方向に沿ってアーム１８側に後退すると、リンク部材５０が軸部材５２を中心に回動し、ロック部５４が第１プレート４０に近接する。これにより、ロック部５４の複数の歯５４ａと、第１プレート４０の複数の歯４０ａとが噛み合い、保持部３０は、回転ロック状態に切り替わる。従って、アクチュエータ４８の駆動によって、図２の回転フリー状態と図３の回転ロック状態とに保持部３０を切り替えることができる。なお、図１は、保持部３０が回転ロック状態である場合を図示している。 As shown in FIG. 2, when the drive portion 48a of the actuator 48 extends in the X direction, the first plate 40 and the lock portion 54 are separated from each other. Therefore, the holding portion 30 is in a rotation-free state. On the other hand, as shown in FIG. 3, when the drive portion 48a of the actuator 48 retracts toward the arm 18 along the X direction, the link member 50 rotates around the shaft member 52, and the lock portion 54 moves to the first plate 40. Close to. As a result, the plurality of teeth 54a of the lock portion 54 and the plurality of teeth 40a of the first plate 40 mesh with each other, and the holding portion 30 is switched to the rotation lock state. Therefore, by driving the actuator 48, the holding unit 30 can be switched between the rotation-free state of FIG. 2 and the rotation-locked state of FIG. Note that FIG. 1 illustrates a case where the holding portion 30 is in the rotation locked state.

進退機構３４は、ハンド基部２８の内方に配設されたモータ等の駆動源５６と、ハンド基部２８の内方で駆動源５６の駆動によって回転するピニオン５８と、ピニオン５８に噛み合うラック６０とを有する。ラック６０は、ハンド基部２８の上端部２８ｃに沿って、ハンド基部２８の基端部２８ａ側から先端部２８ｂ側に向かい、斜め下方に傾斜するように配設されている。ラック６０の上面は、指部３２の基端部６２に固定されている。指部３２の基端部６２は、底面にラック６０が取り付けられたプレートである。基端部６２の底面には、ラック６０と略平行に延びるガイドレール６４が取り付けられている。また、基端部６２の底面において、ガイドレール６４の両端には、ストッパ６６が取り付けられている。一方、ハンド基部２８の上端部２８ｃには、ガイドレール６４に係合するガイドブロック６８が配設されている。従って、駆動源５６の駆動により、ピニオン５８が回転すると、ラック６０が取り付けられた指部３２の基端部６２は、ガイドレール６４の案内作用下に、２つのストッパ６６間で変位する。 The advancing / retreating mechanism 34 includes a drive source 56 such as a motor arranged inside the hand base 28, a pinion 58 that is rotated by the drive of the drive source 56 inside the hand base 28, and a rack 60 that meshes with the pinion 58. Has. The rack 60 is arranged so as to be inclined diagonally downward from the base end portion 28a side of the hand base portion 28 to the tip end portion 28b side along the upper end portion 28c of the hand base portion 28. The upper surface of the rack 60 is fixed to the base end portion 62 of the finger portion 32. The base end portion 62 of the finger portion 32 is a plate to which the rack 60 is attached to the bottom surface. A guide rail 64 extending substantially parallel to the rack 60 is attached to the bottom surface of the base end portion 62. Further, on the bottom surface of the base end portion 62, stoppers 66 are attached to both ends of the guide rail 64. On the other hand, a guide block 68 that engages with the guide rail 64 is arranged at the upper end portion 28c of the hand base portion 28. Therefore, when the pinion 58 is rotated by the drive of the drive source 56, the base end portion 62 of the finger portion 32 to which the rack 60 is attached is displaced between the two stoppers 66 under the guiding action of the guide rail 64.

指部３２は、図１及び図４〜図６に示すように、基端部６２と、果菜１６に接触可能な接触部７０と、果梗１４への指部３２の接触を検出する検出手段７２（検知手段）とを有する。接触部７０及び検出手段７２は、基端部６２の果菜１６側に配設されている。 As shown in FIGS. 1 and 4 to 6, the finger portion 32 is a detecting means for detecting the contact portion 62 with the base end portion 62, the contact portion 70 capable of contacting the fruit vegetable 16, and the finger portion 32 with the fruit stem 14. It has 72 (detection means). The contact portion 70 and the detecting means 72 are arranged on the fruit vegetable 16 side of the base end portion 62.

検出手段７２は、例えば、接触部７０の内部に設けられ、接触部７０が果梗１４に接触した際に、果梗１４への接触部７０の接触を検知するセンサである。なお、検出手段７２は、接触部７０と果梗１４との接触を検知可能であれば、どのような検知手段でも採用可能である。 The detection means 72 is, for example, a sensor provided inside the contact portion 70 and detects the contact of the contact portion 70 with the fruit stalk 14 when the contact portion 70 comes into contact with the fruit stalk 14. The detection means 72 can be adopted by any detection means as long as it can detect the contact between the contact portion 70 and the fruit stalk 14.

［２．本実施形態の動作］
次に、本実施形態に係る果菜収穫装置１０の動作について、図１〜図８を参照しながら説明する。 [2. Operation of this embodiment]
Next, the operation of the fruit vegetable harvesting apparatus 10 according to the present embodiment will be described with reference to FIGS. 1 to 8.

先ず、図２及び図４に示すように、ロック機構３６によって保持部３０を回転フリー状態とし、且つ、進退機構３４によって指部３２をハンド基部２８の基端部２８ａ側に退避させた状態で、制御手段によってロボットアーム２２を動作させ、果菜収穫装置１０を果菜１６に近接させる。 First, as shown in FIGS. 2 and 4, the holding portion 30 is set to the rotation-free state by the lock mechanism 36, and the finger portion 32 is retracted to the base end portion 28a side of the hand base 28 by the advancing / retreating mechanism 34. The robot arm 22 is operated by the control means to bring the fruit vegetable harvesting device 10 close to the fruit vegetable 16.

次に、ロボットアーム２２をさらに動作させて、保持部３０の吸着パッド４４を果菜１６の側面に接触させる。この状態で吸引ポンプを駆動することにより、吸着パッド４４に負圧を発生させ、該吸着パッド４４で果菜１６を保持させる。 Next, the robot arm 22 is further operated to bring the suction pad 44 of the holding portion 30 into contact with the side surface of the fruit vegetable 16. By driving the suction pump in this state, a negative pressure is generated in the suction pad 44, and the fruit vegetable 16 is held by the suction pad 44.

次に、進退機構３４の駆動源５６を駆動させ、ピニオン５８を回転させる。これにより、ラック６０は、ピニオン５８の回転運動を直線運動に変換し、果梗１４に向かって指部３２を進行させる。この結果、接触部７０の下側部分が果菜１６の果梗１４側（上側部分）に接触する。なお、この状態では、接触部７０は、果梗１４に接触していない。 Next, the drive source 56 of the advance / retreat mechanism 34 is driven to rotate the pinion 58. As a result, the rack 60 converts the rotational movement of the pinion 58 into a linear movement, and advances the finger portion 32 toward the fruit stalk 14. As a result, the lower portion of the contact portion 70 comes into contact with the fruit stem 14 side (upper portion) of the fruit vegetable 16. In this state, the contact portion 70 is not in contact with the fruit stalk 14.

次に、接触部７０が果菜１６の上側部分に倣うように指部３２をさらに進行させ、図５の側面視で、果梗１４と接触部７０とが交差した場合、駆動源５６によるラック６０の回転を停止させる。 Next, the finger portion 32 is further advanced so that the contact portion 70 follows the upper portion of the fruit vegetable 16, and when the fruit stem 14 and the contact portion 70 intersect in the side view of FIG. 5, the rack 60 by the drive source 56 is used. Stop the rotation of.

次に、制御手段は、図５の紙面の奥側に接触部７０が変位するように、アーム１８を軸回りに回動させる。この場合、保持部３０が回転フリー状態であるため、図６に示すように、ハンド基部２８及び指部３２は、アーム１８（図５参照）と一体に保持部３０の軸回りに回動する。 Next, the control means rotates the arm 18 about an axis so that the contact portion 70 is displaced toward the back side of the paper surface of FIG. In this case, since the holding portion 30 is in a rotation-free state, the hand base 28 and the finger portion 32 rotate around the axis of the holding portion 30 integrally with the arm 18 (see FIG. 5), as shown in FIG. ..

これにより、果梗１４に向かって接触部７０が相対的に変位し、図７に示すように、接触部７０が果梗１４に接触する。検出手段７２は、接触部７０の果梗１４への接触を検出した旨の信号（検出信号）を外部に出力する。出力された検出信号は、制御手段とロック機構３６とに供給される。このように、本実施形態では、保持部３０の軸回りに収穫ハンド２４を回動させて、指部３２（接触部７０）を徐々に果梗１４に近づけることにより、果菜１６の形状及び大きさにバラツキがあったり、又は、アーム１８の位置決め誤差が存在する場合でも、該接触部７０を果梗１４に確実に接触させることができる。 As a result, the contact portion 70 is relatively displaced toward the fruit stalk 14, and as shown in FIG. 7, the contact portion 70 comes into contact with the fruit stalk 14. The detection means 72 outputs a signal (detection signal) to the outside that the contact of the contact portion 70 with the fruit stalk 14 has been detected. The output detection signal is supplied to the control means and the lock mechanism 36. As described above, in the present embodiment, the harvesting hand 24 is rotated around the axis of the holding portion 30 to gradually bring the finger portion 32 (contact portion 70) closer to the fruit stem 14, whereby the shape and size of the fruit vegetable 16 are formed. Even if there are variations or there is a positioning error of the arm 18, the contact portion 70 can be reliably brought into contact with the fruit stalk 14.

ロック機構３６のアクチュエータ４８は、検出手段７２からの検出信号を受け、駆動部４８ａを動作させる。これにより、図１及び図３に示すように、軸部材５２を中心にリンク部材５０が回動し、ロック部５４の複数の歯５４ａと第１プレート４０の複数の歯４０ａとが噛み合う。この結果、保持部３０は、回転ロック状態に至る。なお、上記の説明では、アーム１８を軸回りに回動させながら、回転フリー状態から回転ロック状態に移行させる。なお、本実施形態において、制御手段は、検出信号の供給を受けて、回転フリー状態から回転ロック状態への移行中、アーム１８の軸回りの回動を一時的に停止させることも可能である。 The actuator 48 of the lock mechanism 36 receives the detection signal from the detection means 72 and operates the drive unit 48a. As a result, as shown in FIGS. 1 and 3, the link member 50 rotates around the shaft member 52, and the plurality of teeth 54a of the lock portion 54 and the plurality of teeth 40a of the first plate 40 mesh with each other. As a result, the holding portion 30 reaches the rotation locked state. In the above description, the arm 18 is rotated about the axis to shift from the rotation-free state to the rotation-locked state. In the present embodiment, the control means can also temporarily stop the rotation of the arm 18 around the axis during the transition from the rotation free state to the rotation lock state by receiving the supply of the detection signal. ..

回転ロック状態への移行後、制御手段がアーム１８を軸回りにさらに回動させると、果菜１６と、果菜１６を保持する保持部３０、ハンド基部２８、及び、果梗１４に接触する指部３２を含む収穫ハンド２４とは、アーム１８と一体に保持部３０の軸回りに回動する。 After the transition to the rotation locked state, when the control means further rotates the arm 18 around the axis, the fruit vegetable 16, the holding portion 30 for holding the fruit vegetable 16, the hand base 28, and the finger portion in contact with the fruit stem 14 The harvesting hand 24 including the 32 rotates around the axis of the holding portion 30 integrally with the arm 18.

これにより、接触部７０が果梗１４に向かって変位するので、果梗１４は、接触部７０からの押圧力を受ける。この結果、例えば、収穫ハンド２４が保持部３０の軸回りに略９０°回動すると、図８に示すように、離層２０が折れ、果菜１６が枝１２から分離するので、果菜１６を収穫することができる。その後、駆動源５６を駆動させてピニオン５８を回転させることで、ラック６０を介して指部３２を果梗１４から後退させる。 As a result, the contact portion 70 is displaced toward the fruit stalk 14, so that the fruit stalk 14 receives the pressing force from the contact portion 70. As a result, for example, when the harvesting hand 24 is rotated by approximately 90 ° around the axis of the holding portion 30, the delamination 20 is broken and the fruit vegetable 16 is separated from the branch 12, as shown in FIG. 8, so that the fruit vegetable 16 is harvested. can do. After that, the drive source 56 is driven to rotate the pinion 58, so that the finger portion 32 is retracted from the fruit stalk 14 via the rack 60.

［３．本実施形態の効果］
以上説明したように、本実施形態に係る果菜収穫装置１０は、果梗１４の先端に形成された果菜１６を収穫するための装置であって、ハンド基部２８、該ハンド基部２８に支持され且つ果菜１６を保持する保持部３０、及び、ハンド基部２８に支持され且つ果梗１４に当接可能な指部３２（接触部７０）を有する収穫ハンド２４と、果梗１４に当接した指部３２が果梗１４を押圧するように収穫ハンド２４を移動させるロボットアーム２２（移動機構）とを備える。 [3. Effect of this embodiment]
As described above, the fruit vegetable harvesting device 10 according to the present embodiment is a device for harvesting the fruit vegetables 16 formed at the tip of the fruit stem 14, and is supported by the hand base 28 and the hand base 28. A harvesting hand 24 having a holding portion 30 for holding the fruit vegetable 16 and a finger portion 32 (contact portion 70) supported by the hand base 28 and capable of contacting the fruit stem 14, and a finger portion in contact with the fruit stem 14. A robot arm 22 (movement mechanism) for moving the harvesting hand 24 so that the 32 presses the fruit stalk 14 is provided.

ロボットアーム２２は、保持部３０が果菜１６を保持し、且つ、図１、図４及び図５の側面視で指部３２の接触部７０が果梗１４と交差している状態で、保持部３０の長手方向（Ｘ方向）の軸回りに収穫ハンド２４を回転させる。 The robot arm 22 is held in a state where the holding portion 30 holds the fruit vegetable 16 and the contact portion 70 of the finger portion 32 intersects the fruit stalk 14 in the side view of FIGS. 1, 4 and 5. The harvesting hand 24 is rotated about an axis in the longitudinal direction (X direction) of 30.

この構成によれば、保持部３０の長手方向の軸回り、すなわち、該保持部３０及び果梗１４に略直交する方向（Ｙ方向）に収穫ハンド２４を回転させることで、指部３２の接触部７０を果梗１４に当接させ押圧する。そのため、ロボットアーム２２の軸回りの回動によって収穫ハンド２４を容易に回転させることができる。これにより、ロボットアーム２２の動作領域がコンパクトとなり、収穫対象の果菜１６以外の果菜や枝１２との接触を回避することができる。この結果、収穫率の向上を容易に図ることができる。また、収穫率の向上によって、果菜１６の収穫に果菜収穫装置１０を導入しやすくなる。 According to this configuration, by rotating the harvesting hand 24 around the axis in the longitudinal direction of the holding portion 30, that is, in the direction substantially orthogonal to the holding portion 30 and the fruit stalk 14 (Y direction), the finger portions 32 come into contact with each other. The portion 70 is brought into contact with the fruit stalk 14 and pressed. Therefore, the harvesting hand 24 can be easily rotated by rotating the robot arm 22 around the axis. As a result, the operating area of the robot arm 22 becomes compact, and contact with fruit vegetables and branches 12 other than the fruit vegetables 16 to be harvested can be avoided. As a result, the harvest rate can be easily improved. Further, the improvement of the harvest rate makes it easier to introduce the fruit vegetable harvesting device 10 into the harvesting of the fruit vegetables 16.

また、果菜収穫装置１０は、保持部３０と指部３２との間に設けられ、ハンド基部２８に対して保持部３０をＸ方向の軸回り（Ｙ方向）に相対回転可能な回転フリー状態と、ハンド基部２８に対して保持部３０を相対回転不能に固定する回転ロック状態とに切り替え可能なロック機構３６をさらに備える。このように、保持部３０と指部３２との相対回転を可能とすることで、果菜収穫装置１０の各種の誤差を吸収することができる。これにより、保持部３０が果菜１６を保持する際、果菜１６に対する保持部３０の位置決め誤差が大きい場合でも、果菜１６を収穫することができる。 Further, the fruit vegetable harvesting device 10 is provided between the holding portion 30 and the finger portion 32, and is in a rotation-free state in which the holding portion 30 can rotate relative to the hand base 28 in the X direction (Y direction). Further, a lock mechanism 36 capable of switching to a rotation lock state in which the holding portion 30 is fixed to the hand base 28 so as to be relatively non-rotatable is further provided. In this way, by enabling the relative rotation of the holding portion 30 and the finger portion 32, various errors of the fruit vegetable harvesting device 10 can be absorbed. As a result, when the holding portion 30 holds the fruit vegetables 16, the fruit vegetables 16 can be harvested even if the positioning error of the holding portion 30 with respect to the fruit vegetables 16 is large.

また、果菜収穫装置１０は、指部３２の接触部７０と果梗１４との接触を検知する検出手段７２（検知手段）をさらに備える。これにより、ロック機構３６は、保持部３０が果菜１６を保持している状態で、検出手段７２が指部３２の接触部７０と果梗１４との接触を検出（検知）した際に、果菜１６を保持した保持部３０を回転フリー状態から回転ロック状態に容易に切り替えることができる。この結果、果菜１６の収穫を効率よく行うことが可能となる。 Further, the fruit vegetable harvesting device 10 further includes a detecting means 72 (detecting means) for detecting the contact between the contact portion 70 of the finger portion 32 and the fruit stem 14. As a result, the lock mechanism 36 detects (detects) the contact between the contact portion 70 of the finger portion 32 and the fruit stalk 14 while the holding portion 30 holds the fruit vegetable 16. The holding portion 30 holding the 16 can be easily switched from the rotation free state to the rotation locked state. As a result, it becomes possible to efficiently harvest the fruit vegetables 16.

なお、本発明は、上述の実施形態に限らず、この明細書の記載内容に基づき、種々の構成を採り得ることは勿論である。 It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents described in this specification.

１０…果菜収穫装置 １４…果梗
１６…果菜 ２２…ロボットアーム（移動機構）
２４…収穫ハンド ２８…ハンド基部
３０…保持部 ３２…指部 10 ... Fruit vegetable harvesting device 14 ... Fruit stem 16 ... Fruit vegetable 22 ... Robot arm (movement mechanism)
24 ... Harvesting hand 28 ... Hand base 30 ... Holding part 32 ... Finger part

Claims (3)

果梗の先端に形成された果菜を収穫するための果菜収穫装置において、
ハンド基部、該ハンド基部に支持され且つ前記果菜を保持する保持部、及び、前記ハンド基部に支持され且つ前記果梗に当接可能な指部を有する収穫ハンドと、
前記果梗に当接した前記指部が前記果梗を押圧するように前記収穫ハンドを移動させる移動機構と、
を備え、
前記移動機構は、前記保持部が前記果菜を保持し、且つ、前記果菜収穫装置の側面視で前記指部が前記果梗と交差している状態で、前記保持部の長手方向の軸回りに前記収穫ハンドを回転させる、果菜収穫装置。 In the fruit vegetable harvesting device for harvesting the fruit vegetables formed at the tip of the fruit stem,
A harvesting hand having a hand base, a holding part supported by the hand base and holding the fruit vegetables, and a finger part supported by the hand base and capable of contacting the fruit stem.
A moving mechanism that moves the harvesting hand so that the finger portion in contact with the fruit stalk presses the fruit stalk.
With
The moving mechanism is such that the holding portion holds the fruit vegetables and the finger portions intersect with the fruit stalks in a side view of the fruit vegetable harvesting device, and the holding portion is axially oriented in the longitudinal direction. A fruit vegetable harvesting device that rotates the harvesting hand. 請求項１記載の果菜収穫装置において、
前記保持部と前記指部との間に設けられ、前記ハンド基部に対して前記保持部を前記長手方向の軸回りに相対回転可能な回転フリー状態と、前記ハンド基部に対して前記保持部を相対回転不能に固定する回転ロック状態とに切り替え可能なロック機構をさらに備える、果菜収穫装置。 In the fruit vegetable harvesting apparatus according to claim 1,
A rotation-free state in which the holding portion is provided between the holding portion and the finger portion and the holding portion can rotate relative to the axis in the longitudinal direction with respect to the hand base, and the holding portion is provided with respect to the hand base. A fruit vegetable harvesting device further equipped with a lock mechanism that can be switched to a rotation lock state in which the relative rotation is fixed. 請求項２記載の果菜収穫装置において、
前記指部と前記果梗との接触を検知する検知手段をさらに備え、
前記ロック機構は、前記保持部が前記果菜を保持している状態で、前記検知手段が前記指部と前記果梗との接触を検知した際に、前記果菜を保持した前記保持部を前記回転フリー状態から前記回転ロック状態に切り替える、果菜収穫装置。 In the fruit vegetable harvesting apparatus according to claim 2.
Further provided with a detecting means for detecting contact between the finger and the fruit stalk,
The lock mechanism rotates the holding portion holding the fruit vegetable when the detecting means detects contact between the finger portion and the fruit stem while the holding portion holds the fruit vegetable. A fruit vegetable harvesting device that switches from a free state to the rotation locked state.
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CN113207436A (en) * 2021-06-26 2021-08-06 四川农业大学 Propelling type fixed-point citrus fruit-driving picking device
CN113207436B (en) * 2021-06-26 2023-03-24 四川农业大学 Propelling type fixed-point citrus fruit-driving picking device
EP4176704A1 (en) 2021-11-09 2023-05-10 Yanmar Holdings Co., Ltd. Crop operating device
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