JP3511078B2 - Fruit and vegetable harvest hand device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fruit and vegetable harvesting hand device for harvesting fruit and vegetables such as mini tomatoes and cherries and apples. 2. Description of the Related Art In this kind of harvester, there is an automatic harvesting means for harvesting fruits and vegetables recognized by a visual sensor on a manipulator of a harvesting robot by, for example, vacuum pressure. [0003] However, in such a harvesting means, even when fruit and vegetables are recognized by a visual sensor, branches and leaves and the like are placed between the harvesting hand and the target fruit and vegetables. When the obstacle is interposed, the hand pushes the obstacle away to change the position of the fruits and vegetables, so that there is a problem that reliable harvest of fruits and vegetables cannot be expected. SUMMARY OF THE INVENTION Accordingly, the present invention relates to a fruit and vegetable harvesting hand apparatus for harvesting fruits by taking fruit and vegetables into an intake port at the tip of the harvesting hand, and bending between the hand body and the intake port. the fruit vegetables harvesting hand device which Ru is connected in freely rotatably tube
Then, vacuum suction of fruits and vegetables is carried inside the pipe of the harvesting hand.
Form a feed path, and connect the intake with the left and right movable pieces and the lower
A movable piece formed by a fixed piece and divided into upper and left parts
To the pipe so that it can be opened and closed
And the movable piece is opened and closed by the open / close motor.
In both cases, a fruit guiding plate and fruit scraping are provided at the lower front of the intake.
Fingers to be deployed and extended forward
The guide plate and finger are supported on the stay via the link mechanism.
When the movable piece is opened,
Raise the finger and remove the fruits and vegetables by the finger.
It is scraped into the entrance and improves the harvest rate of fruits and vegetables. An embodiment of the present invention will be described below in detail with reference to the drawings. 1 is an explanatory side view of a hand unit, FIG. 2 is an overall side view of a harvester, and FIG. 3 is a front view of the harvester. In FIG. 1, (1) shows a traveling wheel (3) driven by a battery on a traveling rail (2). And (5) a manipulator mounted on a vertically movable guide rail (6) erected substantially at the center of the carriage (1) so as to be vertically movable.
(7) is a harvesting hand that is attached to the tip side of the manipulator (5) and takes in the fruit and vegetables mini tomato (A) into the inlet (8), and (9) is a hand that is installed on the manipulator (5). 7) a three-dimensional visual sensor for imaging the miniature tomatoes (A) in front; (10) a temporary acrylic storage container for storing the miniature tomatoes (A) taken in by the hand (7) until the set number is reached; (11) is a set number (6) of mini tomatoes (A) in the temporary storage container (10) mounted on the trolley (1).
Fruit storage box to transfer and store when it becomes more than
(12) is a suction blower which is connected to the harvesting hand (7) through a suction hose (13) to apply a vacuum suction force, and (14) is provided at the upper end of the guide rail (6) to mount a manipulator (5). An up / down moving servomotor that moves up and down along a rail (6); (15) a telescopic servomotor that moves back and forth along a telescopic rail (16) with respect to a mini tomato (A) as a harvest target; (17) is a left / right turning servomotor that horizontally turns the manipulator (5) in the left / right direction via a speed reducer (18) integrally with the guide rail (6), and (19) is a manipulator (19) via a speed reducer (20). 5) a vertical rotation servomotor that turns vertically, (21) a steering handle, (22) a control device using a small computer (personal computer), and a control device using the visual sensor (9). It is configured so as tomatoes to be identified with (A) performing a harvesting at ipecac to inlet (8) of the hand (7). As shown in FIGS. 4 to 6, the harvesting hand (7) forms a vacuum suction conveyance path (24) for the mini tomato (A) inside using a circular pipe (23). The inlet (8) is formed in a conical shape with a tapered tip with a smaller inner diameter at the front end and a larger inner diameter at the rear end, and the inlet (8) is divided into three parts at every 120 ° on the circumference. The movable pieces (8a) and (8b), which are divided right and left at the center of the upper part, are connected to the pipe (23) via a hinge (25) so as to be openable and closable, and the lower fixed piece (8c) is attached to the mounting seat (26). ) Is fixed integrally to the pipe (23), and the movable piece (8a)
The opening / closing wire (27) connected to (8b) is pulled by a DC type opening / closing motor (28) to open / close the intake port (8), that is, open / close the movable pieces (8a) and (8b). ing. The harvesting hand (7) is provided with a flexible hose (29) in the middle of the circular pipe (23), and a split pipe (23a) on the tip side of the harvesting hand (7).
The split pipe (23a) is connected to the rod (3).
0) and a direct current type reversing motor (32) through a fan-shaped crank (31).
Limit switch (33) (3)
4) is provided. Furthermore, a fruit guiding plate (35) and a fruit scraping finger (36) are provided at the lower front part of the intake port (8).
The guide plate (35) and the finger (36) are connected and supported by a finger stay (37) extending forward from the mounting seat (26) via a four-bar link mechanism (38). The wire (39) connected to the guide plate (35) when the movable pieces (8a) and (8b) are opened is pulled by a scraping motor (40) as shown by a virtual line in FIG. And raise the finger (3
6) The tomato (A) is forcibly scraped into the inlet (8). Also, as shown in FIG. 6, the fingers (36) are arranged in an arc shape on the same central circumference of the intake (8) so as to improve the ease of intake into the intake (8). Things. After the tomato (A) is taken into the inlet (8), the movable pieces (8a) and (8b) are closed, the hand (7) is retracted, and the tomato (A) A) is removed, and the tomato (A) that has been removed is transferred to the temporary storage container (10) through the transfer path (24) by the vacuum suction force of the suction blower (12). 2
3) When the tomato (A) is clogged in the flexible hose (29), the change in pressure is detected by the suction pressure sensor (41) for detecting the pressure in the hand (7), and the clogging is detected. Is configured to be performed. In this case, the clogging may be detected by detecting a change in the current value of the suction blower (12). As shown in FIGS. 7 and 8, the visual sensor (9) includes a red laser (4) for emitting three red laser beams.
2) and a near-infrared laser (43) that emits three near-infrared laser beams, and receives the reflected light from the tomato (A) via the light-receiving mirror (44) and the lens (45). The light is received by the light receiving element (47) of the detector (46), and is received by the light receiving element (4).
7) A three-point distance measurement is performed from the above image to recognize an obstacle (green) or a red ripe fruit ahead. Incidentally, (48) is a light projecting mirror, (49) is a horizontal scanning motor, and (50) is a vertical scanning motor. As shown in FIG. 11, a traveling switch (51) for driving the traveling device (51a) of the harvesting robot (4) to travel the body and an automatic switch (52) for automatically manipulating the manipulator (5). A storage number sensor (53) for detecting storage of the set number of mini tomatoes (A) in the temporary storage container (10); and the visual sensor (9).
The control device (22) is provided with a controller (54) for input connection of the motor and the suction pressure sensor (39), and the traveling device (50), the suction blower (12), the alarm device (55), and each motor (14). ) (15) (17) (1
9) (28) (32) (40) and the controller (5
4) is connected to output so that when the automatic switch (52) is turned on, an automatic harvesting operation of the mini tomato (A) based on the detection of each sensor (9) (39) (53) is performed. . This embodiment is configured as described above, and its operation will be described below with reference to the flowchart of FIG. The manipulator (5) is initialized, the visual sensor (9) detects the mini tomato (A), and leaves and branches between the intake (8) of the harvesting hand (7) and the mini tomato (A). When the obstacle (B) does not intervene, the hand (7) is moved forward to open the intake (8), and the finger (36) is raked to move the tomato into the intake (8). While taking in (A), an obstacle (B) is interposed between the mini tomato (A) and the obstacle (B) is rightward or leftward with respect to the tomato (A). Swivel horizontally to the left or right, and take in the tomato (A) (8)
Is brought close to the tomato (A). Then, the tomato (A) taken into the inlet (8) is transferred to the temporary storage container (10) via the suction transfer path (24) in the hand (7), and the set number (6 pieces) ) When the tomato (A) is stored in the container (10), the tomato (A) is transferred from the container (10) to the storage box (11), and the visual sensor (9) at the same scanning position While recognizing A), harvesting of the tomatoes (A) is performed by the detected number, and when the harvesting of the detected number is completed, the scanning position is changed, and based on the detection of the visual sensor (9) again. The harvesting of the tomato (A) is repeatedly performed. During the operation, the suction pressure sensor (4
When 1) detects a clogging accident of tomato (A) in the suction conveyance path (24), the alarm device (55) is activated, and this is reported to the operator. As shown in FIG. 10, the harvesting operation of the mini tomato (A) by the harvesting hand (7) is performed as follows. (1) Bring the intake (8) close to the mini tomato (A). (2) Open the intake port (8) (movable pieces (8a) (8b)). (3) Raise the finger (36) into the opened intake (8) and scrape the tomato (A). (4) The intake port (8) is closed, and the hand (7) is retracted while the upright state of the finger (36) is maintained.
At this time, the tomato (A) is detached from the stalk (C), and the tomato (A) is temporarily stored by the vacuum suction force that starts suction after the scraping operation of the finger (36) in the transport path (24). 10). (5) If the mini tomato (A) is caught in the intake port (8) (large tomato (A), etc.) in the above-mentioned intake operation, or if the intake performance is poor, use the hand (7). Intake with the tip inclined upward. (6) When the hand (7) is returned to the original position after the tomato (A) is taken, the finger (36) is also returned to the original horizontal position. In the above-described embodiment, the configuration using the limit switches (33) and (34) is shown. However, a stepping motor can be used instead of the forward / reverse motor (32). As is apparent from the above embodiments, the present invention provides a harvesting hand (7) in which fruit (A) is taken into the inlet (8) at the tip of the harvesting hand and harvested. in the apparatus, you to fruit vegetables harvesting hand device which Ru is connected with a hand (7) body and inlet (8) bendable universal pipe between (29)
And vegetables inside the pipe (23) of the harvesting hand (7)
(A) forming a vacuum suction conveyance path (24);
The entrance (8) is connected to the left and right movable pieces (8a) (8b) and the lower
Formed by the fixed piece (8c), divided into upper left and right
Movable pieces (8a) (8b) can be freely opened and closed on pipe (23)
And fix the lower fixing piece (8c) to the pipe (23).
The movable piece (8a) by the open / close motor (28).
(8b) is opened and closed, and in front of the intake (8).
Fruit guiding plate (35) and finger for scraping fruit at the bottom
(36) is deployed and the finger stay is extended forward.
Guide plate (35) via link mechanism (38) to (37)
And the finger (36), and the movable piece (8
a) When (8b) is released, the motor (40)
The finger (36) upright, and the finger (36)
That pulls fruit and vegetables (A) into the inlet (8)
Thus, the harvest rate of fruits and vegetables (A) can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory side view of a harvesting hand. FIG. 2 is an overall side view of the harvesting robot. FIG. 3 is an overall front view of the harvesting robot. FIG. 4 is an explanatory plan view of a harvesting hand. FIG. 5 is an explanatory side view of the intake; FIG. 6 is an explanatory front view of an intake port. FIG. 7 is an explanatory diagram of a visual sensor. FIG. 8 is an explanatory diagram of a visual sensor. FIG. 9 is an explanatory diagram of a swing operation of the harvesting hand. FIG. 10 is an explanatory diagram of the intake of mini tomatoes in an intake port. FIG. 11 is a control circuit diagram. FIG. 12 is a flowchart. [Description of Signs] (7) Harvesting Hand (8) Inlet (8a) (8b) Movable Piece (8c) Fixed Piece (23) Pipe (24) Vacuum Suction Conveying Path (28) Open / Close Motor (29) Flexible Hose (Universal tube) (35) Fruit guide plate (36) Finger (37) Finger stay (38) Link mechanism (40) Motor for scraping (A) Mini tomato (fruit and vegetables)

Continuation of the front page (56) References JP-A 7-21 (JP, A) JP-A 62-44117 (JP, A) JP-A 4-88918 (JP, A) JP-A 63-137614 (JP) , A) (58) Field surveyed (Int. Cl. ⁷ , DB name) A01D 46/00-46/30

Claims (1)

(1) In a fruit and vegetable harvesting hand device for harvesting fruit and vegetables (A) into a harvesting hand (7) into an inlet (8) at a tip thereof, a hand (7) is provided. ) body and fruit vegetables Ru ligated with inlet (8) bendable universal pipe between (29) harvest hand instrumentation
In the pipe (23) of the harvesting hand (7)
Forming a vacuum suction conveyance path (24) for fruits and vegetables (A);
The inlet (8) is connected to the left and right movable pieces (8a) and (8b)
Formed by the fixed piece (8c) of the part, divided into upper left and right
Movable pieces (8a) and (8b) opened and closed with pipe (23)
Freely connect the lower fixed piece (8c) to the pipe (2
3) is fixed to the movable piece by the opening / closing motor (28).
(8a) Opening and closing of (8b) and the intake
Fruit guide plate (35) and fruit scraping at the lower front of (8)
The finger (36) is deployed and extends forward.
Invitation to the nanger stay (37) via the link mechanism (38)
Supporting the conductive plate (35) and the finger (36),
When the movable pieces (8a) and (8b) are released, the scraping motor (4
0) raise the finger (36), and
-Fruits and vegetables (A) are scraped into the inlet (8) by (36).
Fruits and vegetables harvest hand device, characterized in that the writing.