JP3286821B2 - Vacuum harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum harvester for harvesting fruits such as cherry tomatoes and cherries and apples.

[0002]

2. Description of the Related Art Conventionally, a suction port for adsorbing crops is harvested.
Crops that are attached to
A discharge path is provided to move the waste to the collection location, which can be opened and closed.
There is a technique for attaching a shutter to the discharge path .

[0003]

The above prior art is based on a suction method.
Connect two hoses to the device and connect the suction port to one hose.
And the other hose forms a discharge path
In addition, a bar for selectively connecting the hoses to the suction device.
Lubes must be provided, and
The suction port repeatedly moves back and forth between the crop delivery positions in the discharge path
When transferring crops from the suction port to the discharge channel
Time to move crops between or from discharge channels to the collection site
Etc. cannot be shortened easily, and
The time required to move the suction port to the position cannot be
Easily improve harvesting efficiency and reduce harvesting costs
There is a problem that it cannot be achieved .

[0004]

Means for Solving the Problems] However, the present invention provides crops
The harvesting hand is provided with a suction port for adsorbing
Move the harvested crop from the mouth to the collection location
An outlet is provided, and an openable and closable discharge shutter is installed in the discharge path.
In the vacuum harvester, the crop is placed inside the harvesting hand.
Opening and closing the suction port that can be opened and closed so that it is taken into the conveyance path
And a suction device connected to the transport path.
Filter to transfer crops from the transport path to the discharge path.
From the transport path to the discharge path on the suction port side of the filter
The crop of the suction port is used to open the suction port.
Therefore, take in the transport path, and provide a filter in the transport path
Since the discharge path is connected before this filter,
It is necessary to move the suction port from the suction position for each suction and discharge
Time to move the crop from the suction port to the collection location.
The suction port can be easily shortened and the position of the next crop to be harvested
Transfer time can be easily reduced, improving harvesting efficiency
In addition, it is possible to easily reduce the harvest cost and the like .

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view of a harvesting hand unit, FIG. 2 is an overall perspective view of the harvester, and FIG. 3 is a front view of the harvesting machine, where (1) moves on a running rail (2) with a running wheel (3). (5) is a vacuum suction type harvesting hand which is supported via a hand stand (7) on a vertical movement guide (6) which is erected substantially at the center of the carriage (1). ) Is a visual sensor which is set on the hand stand (7) and images a mini tomato (A) which is a fruit of a cultivated crop in front of the hand (5), and (9) is a mini sensor sucked and harvested by the hand (5). A transport hose for transporting the tomato (A) to a container (10) mounted on the trolley (1); (11) a motor for moving the guide (6) in the traveling direction of the trolley (1); 12) Horizontal rotation of the hand base for rotating the guide (6) around the vertical axis of the lower base end A motor, (13) a motor for vertically moving the hand stand (7) vertically moving the hand stand (7) along the guide (6), and (14) a mini-tomato (A), which is a target for harvesting the hand (5). And (15) a hand vertical movement motor for moving the hand (5) vertically about a rotation fulcrum shaft (16), and a hand vertical movement motor for moving the hand (5) vertically. 5) The tomato (A) is suctioned by a suction force to a suction body (17), which is a suction port that can be freely opened and closed at the tip, to perform harvesting.

As shown in FIGS. 4 to 6, the harvesting hand (5) forms a vacuum suction conveyance path (18) for the mini tomato (A) inside using a circular pipe (5a). ), The suction body (1
The upper and lower mouth bodies (17a) and (17b) of (7) are mounted on the outer side of the tip of the hand (5) via a fixing plate (19) and an open / close shaft (20) so as to be freely openable and closable in the vertical direction. An elastic seal member (21) for covering the joint gap with (17) from the inside is interposed between the hand (5) and the suction body (17).

The suction body (17) is formed in a tapered conical shape having a small inner diameter at the front end and a large inner diameter at the rear end, and is usually between the upper and lower mouth bodies (17a) and (17b). The closed state is maintained by the tension spring (22) to be stretched, and the open wire (23) connected to the upper and lower mouth bodies (17a) (17b) is rearward (frontward) by the excitation operation of the hand suction port opening solenoid (24). When pulling to the crop side), the upper and lower mouth bodies (17a) and (17b) are opened, and the mini tomato (A) adsorbed to the front end mouth (17c) of the suction body (17) is put in the hand (5). Is configured to be taken into the transfer path (18) by a vacuum suction force.

[0008] Further, a comb blade (25) for cutting the stem (B) of the tomato (A) (the fruit (A) is separated from the delamination) when the mini tomato (A) is adsorbed on the suction body (17). The cylindrical slider (2) is provided so as to face the outer periphery of the suction body (17) and is slidable (along the axial direction of the pipe (5a)) around the outer periphery of the pipe (5a) of the hand (5).
6) is fitted and supported, and the comb blade (2) is fitted to a rotating body (27) rotatably fitted to the outer periphery of the cylinder of the slider (26).
5) are fixedly supported at equal intervals, the tip of the comb blade (25) extends forward of the slider (26), and a gear (28) formed on the rotating body (27); and the slider (26). And a gear (30) of a low-speed low-speed motor (29) fixed to the motor, and a plurality of comb blades (25) arranged on the same axis as the pipe (5a) by the motor (29). ) Is configured to rotate integrally with the rotating body (27).

Further, a middle part of a swing arm (33) is swingably supported by a bracket (31) fixed to the pipe (5a) via a fulcrum shaft (32), and the slider (26) The outer projecting pin (34) is engaged with and connected to the elongated hole (35) on one end of the arm (33), and the connecting wire (36) on the other end of the arm (33) is connected to the comb blade solenoid ( 37), the bracket (3) is operated by exciting the solenoid (37).
1) When the wire (36) is pulled against the force of the tension spring (38) between the arm (33) and the wire (36), the slider (26) is moved forward to move the comb blade (25) to a position in front of the suction body (17). ) It is configured to face the tip.

As shown in FIG. 1, the harvesting hand (5)
Is a crop discharge path (18a) that connects the base end side of the transport path (18) to a suction blower (39a) of a suction device (39) and separates into an air stream and a fruit stream in the middle of the transport path (18). And a filter (40) is provided at a branch passage opening of the transport path (18) so that the mini tomato (A) moving in the transport path (18) is at a branch point with the discharge path (18a). At this time, the filter (40) is configured to drop only the tomato (A) by its own weight into the discharge path (18a).

The front end opening (17) of the suction body (17)
c) A pressure-sensitive fruit detachment sensor (4) that determines that the mini tomato (A) is separated from the fruit stalk due to a temporary increase in output.
1) is buried, and the suction body (1) of the hand (5) is
7) and a discharge path (18a), a transport sensor (42) including a light emitting element (42a) and a light receiving element (42b) for detecting passage of the tomato (A) in the transport path (18), and a transport path. (18) a suction sensor (43) which is a vacuum pressure sensor for detecting suction of tomato (A) based on an increase in the degree of vacuum in (18)
The suction body (17) adsorbs the tomato (A), and the adsorbed tomato (A) is separated from the tomato (A).
These sensors (41) and (42) indicate the various work conditions of the tomato (A) being transported and passed through the transport path (18) after the myocardium.
It is configured to automatically detect in (43).

Further, a discharge shutter (44) is provided at the discharge port (18b) at the end of feeding of the discharge path (18a) so as to be openable and closable, and a fruit discharge portion (5) of the hand (5) is provided.
b) rotatably supports a shutter (44) via an opening / closing shaft (45), and a shutter (4) is normally provided by a closing spring (46) stretched between the discharge portion (5b) and the shutter (44).
4), and a discharge opening solenoid (4) for opening the shutter (44) against the spring (46).
7) is provided in the discharge section (5b), and the transport sensor (4) is provided.
2) The discharge shutter (44) is opened only for a fixed time immediately after the passage of the mini tomato (A) is confirmed, and the tomato (A) is discharged to the container (10) below the discharge shutter (44). .

As shown in FIG. 7, a traveling switch (4) for driving the traveling device (48) of the harvester (4) to travel the machine body.
9), a harvesting switch (50) for automatically operating the harvesting hand (5) to perform a harvesting operation, and the various sensors (8) and (4).
1) A control circuit (5) for input connection between (42) and (43)
1), the traveling device (48), the suction device (39), and the alarm device (52), and the various motors (11) (12) (13) (14) (15) (29) and the solenoid ( 24) (37) (47) control circuit (5
1) is connected to the output so that when the harvesting switch (50) is turned on, automatic harvesting of mini tomatoes (A) is performed based on detection of various sensors (8), (41), (42), and (43). are doing.

As is clear from the above, the crop mini
Suction body (17) which is a suction port for adsorbing tomato (A)
Is provided on the harvesting hand (5) and the suction body (17)
Move the tomatoes (A) harvested by adsorption to the collection location
A discharge path (18a) for opening and closing is provided.
Vacuum type collecting device (44) attached to the discharge path (18a).
In the harvester, the mini tomato (A) is in the harvesting hand (5)
That can be opened and closed so as to be taken into the transport path (18) of the section
Opening release which is an intake member for opening the body (17)
Provision of a solenoid (24) and suction to the transport path (18)
A filter (40) for connecting the device (39) is provided and transported.
Mini tomatoes (A) from the sending path (18) to the discharging path (18a)
To move the filter (40) suction body (17)
Side, the discharge path (18a) is branched from the transfer path (18).
You. Then, the mini tomato (A) of the suction body (17) is sucked.
It is taken into the transport path (18) by the opening operation of the body (17),
Also, a filter (40) is provided in the transport path (18) to
The discharge path (18a) is connected before the filter (40),
Suction body (17) is adsorbed from the adsorption position of mini tomato (A)
And it is not necessary to move each discharge, and the suction body (17)
Time to move mini tomatoes (A) to the collection place
And shorten the size of the next tomato (A) to be harvested
Time to move the suction body (17) to the device is shorter than before
To improve harvesting efficiency and reduce harvesting costs
Plan.

This embodiment is constructed as described above, and its operation will be described below with reference to the flowchart of FIG. During the harvesting operation, when the visual sensor (8) detects the mini tomato (A), the position of the hand (5) is controlled until the mini tomato (A) is located at a predetermined front position of the harvesting hand (5). Then, the hand (5) is controlled to advance toward the mini tomato (A) side, and the mini tomato (A) is applied to the front end opening (17c) of the suction body (17) by the vacuum suction force in the hand (5). When the suction sensor (43) detects that the degree of vacuum exceeds a certain level, it is determined that the miniature tomato (A) has been sucked by the suction body (17), and the suction is performed. When it is determined that the hand has not been moved, the suction position of the hand (5) is corrected by the visual sensor (8).

After the suction is detected, the comb blade (25) is advanced, and after the advance, the hand (5) is retracted while rotating at a very low speed. Attach any one of the comb blades (25) to the stem (B)
The tomatoes (A) are surely detached from the fruit stalks (B) by pulling back while hooking on the tomatoes (B). .

When the detachment sensor (41) detects a temporary increase in the contact pressure of the miniature tomato (A) at the front end mouth (17c), the tomato (A) detaches from the corn (B). Then, the comb blade (25) is retracted, the upper and lower mouth members (17a) and (17b) of the suction body (17) are opened, and the transfer path (18) is drawn by the vacuum suction force in the hand (5). The tomato (A) is taken in the parentheses.

Thereafter, the transport sensor (4) in the transport path (18)
2) When the sensor (42) detects that the mini tomato (A) passes through the position, the suction body (17) is closed and the discharge shutter (44) is opened for a certain time. The tomato (A) is discharged into the container (10). In this case, the vacuum pressure required for the adsorption is not necessary until the next tomato (A) is adsorbed immediately after the harvest of the mini tomato (A). Therefore, there is no problem even if the discharge shutter (44) is opened. Further, when the detachment of the tomato (A) from the stem (B) is detected, the comb blade (25) is retracted, and the conveyance of the tomato (A) is not detected despite opening the suction body (17). Then, it is determined that some abnormality has occurred on the way, and an abnormality alarm is generated. Thus, by repeating such an operation, 50 hours per hour is obtained.
About 0 to 600 tomatoes (A) can be efficiently harvested.

In the above embodiment, the suction body (1)
7), the configuration is shown in which the upper and lower mouth members (17a) and (17b) are divided into two, but a configuration in which it is divided into two or more may be used.

FIG. 9 shows an example of a structure in which the vacuum suction force of the harvesting hand (5) can be adjusted.
A plurality of air flow holes (53) are formed on the outer peripheral surface of the hand (5), and a cylindrical shutter (54) for opening and closing the flow holes (53) is slidably fitted around the outer periphery of the hand (5). ) And a fulcrum shaft (56) on a bracket (55)
And the shutter (54) via a swing arm (57).
, And the shutter (5) is normally
4), the shutter wire (59) having one end connected to the arm (57) is pulled by a shutter closing solenoid (60) against the spring (57) to pass the shutter (54) through the communication hole. When sliding to the (53) side, the shutter (54) covers the flow hole (53) and is closed.

As shown in the flowchart of FIG. 10, when the visual sensor (8) detects that the harvesting hand (5) has approached the predetermined harvesting range of the mini tomato (A), the blower (39a) Is turned on to start suction, and when the sensor (8) detects that the hand (5) approaches just before the tomato (A), the shutter (50) is closed and the suction body (17) is turned on. The mini tomato (A) is adsorbed with the maximum suction force. The shutter (54) is used when the hand (5) moves to the position of the next tomato (A) to be harvested within the harvest range after suction.
Is held open, the suction force of the hand (5) is weakened during the time of reaching the next target by separating the leaves from each other, so that the leaves other than the target are attracted to the suction body (17). In addition, a sufficient suction force is applied to the tomato (A) taken into the conveyance path (18) to prevent the conveyance from being hindered, thereby maintaining good conveyance. In this case, by adjusting the opening / closing amount of the flow hole (53) by the shutter (54), the vacuum suction force can be adjusted steplessly in large and small.

[0022]

As is clear from the above embodiments, the present invention provides a suction port (17) for adsorbing the crop (A) by using a harvesting hand.
(5) and adsorbed to the suction port (17)
A discharge channel (1) for transferring the harvested crop (A) to the collection location
8a) and the openable and closable discharge shutter (44) is
In the vacuum harvester attached to the discharge path (18a),
The goods (A) are collected in the transport path (18) inside the harvesting hand (5).
The suction port (17), which can be opened and closed so that
And a transfer path (18).
A filter (40) for connecting a suction device (39) to the
The crop (A) from the transport path (18) to the discharge path (18a).
To move the suction port (17) of the filter (40)
Branches the discharge path (18a) from the transport path (18) on the side
The crop (A) of the suction port (17) is drawn by the suction port (17).
Is taken into the transport path (18) by the opening operation of the
The filter (40) is provided in (18), and this filter (4) is provided.
Since the discharge path (18a) is connected before 0),
The suction port (17) is suctioned and discharged from the suction position of (A).
Crop (A) at the suction port (17)
Can be easily reduced to the collection location and
Move the suction port (17) to the position of the crop (A) to be harvested
Time to harvest can be shortened easily, improving the efficiency of harvest work and
It can easily reduce the harvesting cost, etc.
There is .

[Brief description of the drawings]

FIG. 1 is an explanatory view of a harvesting hand section.

FIG. 2 is an overall perspective view of the harvester.

FIG. 3 is an overall front view of the harvester.

FIG. 4 is an explanatory perspective view of a harvesting hand unit.

FIG. 5 is an explanatory side view of a harvesting hand unit.

FIG. 6 is a diagram illustrating the operation of a harvesting hand unit.

FIG. 7 is a control circuit diagram.

FIG. 8 is a flowchart.

FIG. 9 is an explanatory diagram of a suction force adjusting unit.

FIG. 10 is a flowchart.

[Explanation of symbols]

(4) Harvester (5) Harvesting hand (17) Suction body (suction port) (18) Suction conveyance path (18a) Discharge path (24) Opening solenoid (take-in member) (39) Suction device (40) Filter ( 44) Discharge shutter (A) Mini tomato (crop)

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01D 46/24 B65G 43/08

Claims (1)

(57) [Claims] 1. A suction port (17) for adsorbing a crop (A).
Is provided on the harvesting hand (5) and the suction port (17)
Move the crop (A) harvested by adsorption to the collection location
A discharge path (18a) is provided, and a discharge shutter (4
4) a vacuum harvester attached to the discharge path (18a).
The crop (A) is transported inside the harvesting hand (5)
Suction port (17) that can be opened and closed so as to be taken in (18)
And a carrying member (24) for opening the
Filter for connecting suction device (39) to feed line (18)
(40), and a discharge path (18a) from the transport path (18).
Filter (40) to move the crop (A)
The discharge path (18a) from the transport path (18) on the side of the inlet (17)
Vacuum harvester characterized by branching .