JP2022049739A - Storage member recovery vehicle - Google Patents

Abstract

To provide a storage member recovery vehicle improved in work efficiency, which recovers a storage member storing crops or the like placed in a working place such as a field, by solving the problem of a conventional conveyance vehicle that follows a vegetable harvester for harvesting vegetables growing in a field and loads the harvested vegetables, in that when the conveyance vehicle is full of loaded vegetables, a worker temporarily stops a harvesting work, moves the conveyance vehicle to a truck waiting on a foot path or a road, transfers the vegetables to the truck, then returns to the vegetable harvester, and restarts the harvesting work, which requires temporary stop of the harvesting work, making the work efficiency low.SOLUTION: A travel vehicle T is provided with: a placing portion 11 on which a storage member C is placed; and a robot arm 8 that holds the storage member C placed in a working place and placing it on the placing portion 11.SELECTED DRAWING: Figure 1

Description

The present invention relates to a storage member recovery vehicle for recovering a storage member in which crops and the like placed in a work place such as a field are housed.

Conventionally, there is a carrier that follows a vegetable harvester that harvests vegetables that grow in the field and loads the harvested vegetables. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2005-007986

When the vegetables to be loaded on the carrier are full, the harvesting work is suspended, the carrier is moved to the truck waiting on the ridge or road, the vegetables are transferred to the truck, and then the vegetable harvester is reached again. Since I returned and restarted the harvesting work, I had to suspend the harvesting work, which was inefficient.

The present invention has been made in view of the above, and an object of the present invention is to provide a storage member recovery vehicle for recovering a storage member in which crops and the like placed in a work place such as a field with improved work efficiency are stored. And.

The invention according to claim 1 is a robot arm 8 that grips and lifts a mounting portion 11 for mounting a housing member C and a housing member C placed in a workplace on a traveling vehicle T and mounts the housing member C on the mounting portion 11. It is a housing member recovery vehicle provided with.

According to the first aspect of the present invention, a mounting portion 11 for mounting the accommodating member C on the traveling vehicle T and a robot arm that grips and lifts the accommodating member C placed in the workplace and mounts the accommodating member C on the mounting portion 11. Since the 8 is provided, the accommodating member C placed in the work place can be recovered with high work efficiency.

The invention according to claim 2 is the accommodation member recovery vehicle according to claim 1, wherein a mounting portion 11 and a robot arm 8 are provided at the rear portion of the traveling vehicle T.

The invention according to claim 3 is the accommodating member recovery vehicle according to claim 1 or 2, wherein the mounting portion 11 is a pallet 11 held by a forklift 7.

According to the fourth aspect of the present invention, the gripping hand 18 is attached to the tip of the robot arm 8, and the gripping hand 18 is provided with a hand 20 having an engaging claw 20a whose tip engages with the gripping hole 19 of the accommodating member C. The housing member recovery vehicle according to any one of claims 1 to 3.

The invention according to claim 5 is the accommodation member recovery vehicle according to claim 4, wherein the tip portion of the engaging claw 20a is molded with rubber or a soft synthetic resin.

The invention according to claim 6 is any one of claims 1 to 5, wherein the traveling vehicle T is provided with a camera 9 for recognizing the situation of the mounting portion 11 and the robot arm 8 and the position of the accommodating member C placed in the work place. It is the accommodation member recovery vehicle described in the section.

The invention according to claim 7 is the accommodation member recovery vehicle according to any one of claims 1 to 6, wherein a camera 23 for recognizing the shape of the accommodation member C is provided at the tip of the robot arm 8.

According to the present invention, the accommodating member C placed in the work place can be recovered with high work efficiency.

It is a perspective view for demonstrating the operation of the accommodation member recovery vehicle which concerns on embodiment of this invention.

As an embodiment of the accommodation member recovery vehicle of the present invention, an embodiment in which the container recovery device S is attached to the tractor T as a traveling vehicle will be described. In the following, it is referred to as front / rear and left / right with respect to the forward direction of the aircraft.
<Vegetable harvester>
Vegetable harvesters (carrot harvesters, onion harvesters, etc.) have a traveling section for driving the aircraft, a control section for the operator to board, and vegetables (carrots, onions, etc.) pulled out from the field on one side of the aircraft on the left and right sides. The harvesting part to be transported to the rear upper side, the foliage cutting part to cut the foliage part while taking over the vegetables from the harvesting part and transporting them to the rear of the machine, and the foliage part remaining in the vegetables after receiving the vegetables falling from the foliage cutting part. The residual leaf processing unit to be processed and the sorting and transporting unit as a transporting unit that takes over the vegetables from the residual leaf processing unit and transports the vegetables from one left and right side of the machine to the other left and right, and the auxiliary worker sorts the vegetables being transported. And a collection unit for arranging a container C as a storage member for vegetables discharged from the sorting and transporting unit. Then, the containers C filled with vegetables in the collection section are sequentially unloaded into the field.
<Overall configuration>
The tractor T has a general configuration, in which the engine 3 and the mission case 4 are mounted on the front part of the airframe equipped with the left and right steering drive front wheels 1 and 1 and the left and right drive rear wheels 2 and 2, and the driving force of the engine 3. Is changed in the mission case 4 and transmitted to the left and right steering drive front wheels 1 and 1 and the left and right drive rear wheels 2 and 2 to travel. Behind the bonnet 5 that covers the engine 3, a cabin 6 with a steering wheel, a control seat, and various operating tools is provided.

The rear part of the tractor T is equipped with a container recovery device S including a forklift 7 and a robot arm 8.

Further, at the rear of the ceiling 6a of the cabin 6 of the tractor T, a first camera 9 that recognizes the operating status of the container recovery device S including the forklift 7 and the robot arm 8 and the positions of the containers C scattered in the field is located. It is provided. Therefore, since the first camera 9 for recognizing the operating status of the container recovery device S and the positions of the containers C scattered in the field is provided on the tractor T side, the operating status of the container recovery device S can be properly recognized. The position of the container C in the field can also be accurately recognized by the container recovery device S without obstructing the view.

Further, a global positioning system receiver GPS is provided on the ceiling 6a of the cabin 6 of the tractor T.
<Container collection device S>
The forklift 7 of the container recovery device S is provided on the work frame 10 mounted on the rear hitch of the tractor T, and is equipped with general left and right forks 7a and 7a that are vertically operated by the hydraulic device of the tractor T, and the cabin 6 is provided. The left and right forks 7a and 7a are moved up and down by the lifting lever provided inside. Then, the left and right forks 7a, 7a are inserted into the insertion ports 11a, 11a of the pallet 11 placed on the road or on the loading platform of the truck at the field edge, the pallet 11 is lifted, and the pallet 11 is held at a position slightly higher than the field scene H. It is used as the mounting part of the container C.

In the robot arm 8, the base 12 is rotatably mounted on the work frame 10, and the robot arm 8 is swiveled by the swivel hydraulic motor 13.

The base of the lower arm 8a is pivotally supported by the horizontal support shaft 14 on the base base 12, and the tip of the piston rod 15a of the first hydraulic cylinder 15 whose base is pivotally supported by the base base 12 is the middle portion of the lower arm 8a. Is linked to. Therefore, the lower arm 8a is pivotally supported by the base base 12 by the horizontal support shaft 14 and rotates up and down by the first hydraulic cylinder 15.

The upper arm 8b is pivotally supported by the pivot shaft 16 at the tip of the lower arm 8a, and is rotated by the second hydraulic cylinder 17.

A gripping hand 18 is attached to the tip of the upper arm 8b. The gripping hand 18 rotates the bases of two iron plate hands 20, 20 having an engaging claw 20a whose tip engages with the gripping hole 19 of the container C, around the tip of the upper arm 8b by the hand pivot shaft 21. A gripping state in which the engaging claws 20a and 20a of both hands 20 and 20 engage with and gripping the gripping holes 19 and 19 of the container C and a retracted state retracted upward by the hydraulic motor 22 for the hands. The posture is changed to. The tips of the engaging claws 20a and 20a of both hands 20 and 20 have a tapered shape whose plate thickness is tapered toward the tip, and both hands 20 and 20 when the posture is changed from the retracted state to the gripped state by the hand hydraulic motor 22. The engaging claws 20a and 20a of 20 can easily enter the gripping holes 19 and 19 of the container C. Further, the tips of the engaging claws 20a and 20a of both hands 20 and 20 are molded with rubber or a soft synthetic resin to prevent the vegetables stored in the container C from being scratched.

A second camera 23 that recognizes the shape of the container C is provided at the upper position of the two hands 20 and 20 at the tip of the upper arm 8b.
<Control device>
A control device (CPU) is provided in the cabin 6 of the tractor T, and the global positioning system receiver GPS, the first camera 9 and the second camera 23 are connected to the input side of the control device, and the output side. An electromagnetic valve for operating the turning hydraulic motor 13, an electromagnetic valve for operating the first hydraulic cylinder 15, an electromagnetic valve for operating the second hydraulic cylinder 17, and an electromagnetic valve for operating the hand hydraulic motor 22 are connected to. Then, in the memory of the control device, map information of the field where the collection work of the container C is performed is stored.
<Container collection work>
The worker gets on the cabin 6 of the tractor T, inserts the left and right forks 7a and 7a into the insertion ports 11a and 11a of the pallet 11 placed on the road or on the truck bed at the field edge, and lifts the pallet 11 to lift the field. Hold it at a position slightly higher than the surface H.

Then, the work starts in the field, and the shift in the mission case 4 is changed to a slow forward speed, so that the left and right steering drive front wheels 1 and 1 and the left and right drive rear wheels 2 and 2 move the ridges U of the field H. The tractor T is advanced at a very low speed so as to travel across the ridge M.

At the time of the slow forward movement, the control device calculates the position of the tractor T from the map information of the field stored in the memory by the global positioning system receiver GPS, stores the traveling locus and the current position, and also stores the image information of the first camera 9. The positions of the containers C scattered in the field are plotted on the map information.

When the vehicle advances at a slow speed and reaches the position of the container C plotted on the map information, the control device recognizes the container C by the second camera 23, and the turning hydraulic motor 13, the first hydraulic cylinder 15, and the second hydraulic cylinder 17 is operated to position both hands 20 and 20 of the gripping hand 18 on the upper surface of the container C, and the engaging claws 20a and 20a of both hands 20 and 20 are engaged with the gripping holes 19 and 19 of the container C to grip. do. Then, the container C is lifted from the field H and placed on the pallet 11 held by the left and right forks 7a and 7a. Then, when the position of the next container C is reached, the same collection work is repeated, and the container C of the field H is sequentially collected and loaded on the pallet 11.

At this time, the first camera 9 monitors whether the operating status of the container recovery device S and the mounting status of the container C on the pallet 11 are appropriate, and if an abnormality is detected, an alarm lamp in the cabin 6 is used. Or an alarm buzzer is activated to notify the operator. When the alarm is notified, the operator stops the aircraft, checks the container collection device S, and corrects the abnormality or the like.

Then, when the collected container C is full on the pallet 11, the worker moves the tractor T to the edge of the field, unloads the pallet 11 full of the container C on the road or on the truck bed, and makes a new pallet. The left and right forks 7a and 7a are inserted into the insertion ports 11a and 11a of 11, the pallet 11 is lifted, held at a position slightly higher than the field scene H, and the above recovery work is restarted.

In short, the vegetables that grow in the field H are harvested by the vegetable harvester and stored in the container C, and the container C that is full of vegetables is sequentially lowered to the field, and the vegetable harvesting work is continuously performed. After that, the container C placed in the field is collected by the container collection vehicle equipped with the container collection device S at the rear of the tractor T, and the vegetable harvesting work is completed. Therefore, the vegetable harvesting work can be continuously performed with high work efficiency.

7 Forklift 8 Robot arm 9 Camera (1st camera)
11 Placement part (pallet)
18 Grip hand 19 Grip hole 20 Hand 20a Engagement claw 23 Camera (second camera)
C containment member (container)
T traveling vehicle (tractor)

Claims (7)

The mounting portion (11) on which the accommodating member (C) is placed on the traveling vehicle (T) and the accommodating member (C) placed in the work place are grasped and lifted and mounted on the mounting portion (11). A housing member recovery vehicle characterized by being provided with a robot arm (8). The accommodating member recovery vehicle according to claim 1, wherein a mounting portion (11) and a robot arm (8) are provided at the rear portion of the traveling vehicle (T). The accommodating member recovery vehicle according to claim 1 or 2, wherein the mounting portion (11) is a pallet (11) held by a forklift (7). A gripping hand (18) is attached to the tip of the robot arm (8), and the gripping hand (18) has an engaging claw (20a) whose tip engages with the gripping hole (19) of the accommodating member (C). The accommodating member recovery vehicle according to any one of claims 1 to 3, characterized in that (20) is provided. The accommodating member recovery vehicle according to claim 4, wherein the tip of the engaging claw (20a) is molded with rubber or a soft synthetic resin. The traveling vehicle (T) is provided with a camera (9) that recognizes the status of the mounting portion (11) and the robot arm (8) and the position of the accommodating member (C) placed in the work place. The housing member recovery vehicle according to any one of claims 1 to 5. The housing member recovery vehicle according to any one of claims 1 to 6, wherein a camera (23) for recognizing the shape of the housing member (C) is provided at the tip of the robot arm (8).

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