JP5825636B2 - Fruit removal device - Google Patents

Description

  The present invention relates to a fruit pattern removing apparatus.

  Conventionally, fruits (crop) such as strawberries and cherry tomatoes were easily harvested because they were easily damaged when handled with a machine. However, recently, with the advancement of hydroponic cultivation and the like, the possibility of harvesting by machine has been opening up, so a harvesting device (harvesting robot) to greatly reduce working hours and labor Is under development (for example, see Patent Documents 1 to 5).

JP 2001-95348 A JP 2009-5589 A JP 2008-206438 A JP 2008-22737 A JP 2001-145411 A

  In Patent Documents 2 to 5, in order to prevent the robot from touching the fruit, the fruit is harvested while leaving the fruit pattern. However, if the fruit pattern remains in the fruit, the fruit pattern may come into contact with the adjacent fruit when the fruit is stored in the transport container, and the fruit may be damaged. In order to suppress this damage to the fruit, it is necessary to prepare a special container so that the fruit does not come into contact with the fruit handle, or to perform a so-called “twice cut” in which the fruit handle is cut manually. It takes.

  In addition, in patent document 1, in order to cut | disconnect a fruit handle shortly, the plucking hand for fruit vegetables harvesting provided with the plucking blade and the preparation blade is disclosed. However, with the technique of Patent Document 1, it is difficult to remove almost all of the fruit pattern without damaging the fruit unless the position of the hand is adjusted to an appropriate position very delicately. Japanese Patent Application Laid-Open No. 2008-11819 discloses a fruit pattern cutting device for removing fruit patterns for fruits such as peppers. However, if the pattern cutting device is used for cutting patterns of fruits (crops) such as strawberries and cherry tomatoes, since the cocoon is located near the blade for cutting the patterns, simultaneously with the cutting of the patterns There is a risk of damage to the heel. In addition, when cutting a fruit handle in apples or grapes covered with a bag, the bag may interfere with the cutting.

  Then, this invention was made | formed in view of the said situation, and it aims at providing the fruit removal apparatus which can perform fruit removal easily.

  The fruit pattern removing apparatus of the present invention includes a cutting mechanism having a pair of fingers for cutting a fruit fruit pattern, and the fruit in a state where the fruit is positioned so that the fruit pattern is positioned between the pair of fingers. And a pair of fingers, a cover for preventing the fruit from entering between the pair of fingers, a detection mechanism for detecting contact between the fruit and the cover, and the detection mechanism And a control unit for cutting the fruit pattern by the cutting mechanism based on the detection result.

  According to this, in a state where the fruit is positioned so that the fruit handle is positioned between the pair of fingers, the cover is disposed between the fruit and the pair of fingers so that the fruit is between the pair of fingers. Suppresses intrusion. Then, based on the result of the detection mechanism detecting a state in which the pair of fingers and fruits (such as strawberries) are closest to each other (a state where the fruit and the cover are in contact), the control unit performs the cutting of the fruit handle by the cutting mechanism. To do. Thereby, it becomes possible to cut | disconnect and remove a fruit handle easily in the fruit (strawberry) vicinity.

  In this case, the cutting mechanism and the cover are moved by receiving a force when the fruit and the cover are in contact with each other while maintaining the positional relationship between them, and the detection mechanism is the cutting mechanism and the cover. The movement may be detected, and the control unit may cut the fruit pattern by the cutting mechanism at a timing when movement of the cutting mechanism and the cover is detected. In such a case, since the contact between the fruit and the cover is detected by detecting the movement of the cutting mechanism and the cover, it is possible to easily detect the contact between the fruit and the cover as compared with the case where a pressure sensor or the like is used. it can.

  Further, the fruit pattern removing device of the present invention has a positional relationship between a saucer that accommodates the fruit after the fruit pattern has been cut by the cutting mechanism, a moving mechanism that moves the saucer, and the saucer and the fruit. A positional relationship detection unit for detecting, and the control unit may control movement of the tray by the moving mechanism based on a detection result of the positional relationship detection unit. In such a case, the control unit controls the movement of the saucer by the movement mechanism based on the detection result of the positional relationship detection unit that detects the positional relationship between the saucer and the fruit. By cutting the handle, it becomes possible to suppress damage due to the contact of the fruit after cutting the handle with the saucer.

  The fruit pattern removing apparatus of the present invention has an effect that the fruit pattern can be easily removed.

It is a perspective view which shows the strawberry harvest system which concerns on one Embodiment. It is a figure which takes out and expands and shows the fruit pattern removal apparatus of FIG. It is a figure which expands and shows a cutting mechanism and a cover mechanism. It is a block diagram which shows the control system of the strawberry harvest system which concerns on one Embodiment. It is a flowchart which shows the process of a strawberry harvest system (especially fruit removal apparatus). FIG. 6A is a diagram illustrating a state when the cover is retracted, and FIG. 6B is a diagram illustrating a state in which the fruit handle is positioned between the pair of fingers, and FIG. These are figures which show a state when a cover is extended. It is a figure for demonstrating the attitude | position of the support member in step S12 of FIG. It is a figure which shows the state of step S24 of FIG. It is a figure which shows the state of step S30 of FIG. It is a figure which shows the state of FIG.5 S34. It is a figure which shows the state of step S36 of FIG. It is a table | surface which shows the test result using the fruit pattern removal apparatus of this embodiment.

  Hereinafter, an embodiment for carrying out the present invention will be described in detail with reference to FIGS.

  FIG. 1 shows a strawberry harvesting system 100 of the present embodiment. As shown in FIG. 1, the strawberry harvesting system 100 includes a mobile cultivation bed 10, a harvesting robot 20, a saucer transport device 30, and a fruit pattern removal device 50.

  The mobile cultivation bed 10 includes a plurality of cultivation beds 12 in which strawberry seedlings are planted, and a cultivation bed conveyance device 14 that conveys the cultivation beds 12. The cultivation bed 12 is cultivated (soil cultivation or hydroponics) so that the strawberry hangs down when the strawberry is set. The cultivation bed transport device 14 moves the cultivation bed 12 in the direction of arrow A in FIG. Operation | movement of the cultivation bed conveying apparatus 14 is controlled by the control apparatus 190 of FIG.

  The harvesting robot 20 includes an arm 22 installed on the floor and a hand 24 provided at the tip of the arm 22. The arm 22 is an arm that is operated by an electric motor controlled by a motor driver. For example, the arm 22 has two joint portions that can rotate about two axes, and has two mechanisms that can rotate about one axis. doing. Thereby, the front-end | tip part (part in which the hand 24 is provided) can move to a 6-degree-of-freedom direction. The operation of the arm 22 is controlled by the control device 190 of FIG. The hand 24 cuts the strawberry fruit pattern to harvest the strawberry, and holds the harvested strawberry in the fruit pattern part. The operation of the hand 24 is also controlled by the control device 190 of FIG. The control device 190 identifies the fully ripe strawberry based on the image of the strawberry taken by the camera, the detection result of the distance sensor, and the like, and controls the operation of the arm 22 and the hand 24 so as to harvest the strawberry. In FIG. 4, the cameras and the distance sensors are collectively referred to as “various harvesting robot sensors 26”.

  The saucer transport device 30 is a device such as a belt conveyor for transporting the saucer 86 used in the fruit pattern removing device 50. The tray conveyor 30 moves the tray 86 in the direction of arrow B in FIG. The operation of the tray conveying device 30 is controlled by the control device 190 shown in FIG. Here, in the vicinity of the saucer transport device 30, under the instruction of the control device 190, the saucer 86 is supplied to the fruit pattern removing device 50 and a saucer supply for collecting the saucer 86 from the fruit pattern removing device 50. A collection device 32 is provided (not shown in FIG. 1, see FIG. 4).

  The fruit pattern removing device 50 is provided in the vicinity of the tray conveying device 30. FIG. 2 is an enlarged view of the fruit pattern removing device 50 taken out. As shown in FIG. 2, the fruit pattern removing device 50 includes a base portion 56, a fruit pattern cutting device 52 provided on the base portion 56, and a movement provided in the vicinity of the fruit pattern cutting device 52 on the base portion 56. A tray lifting device 54 as a mechanism.

  The fruit pattern cutting device 52 includes a support 60 provided on the base portion 56, a thin plate-like support member 64 fixed to the rotating shaft member 62 of the support 60, and a holding plate at one end of the support member 64. A cutting mechanism 66 and a cover mechanism 68 provided via 65, and a counterweight 70 provided at the other end of the support member 64.

  The support body 60 includes a rotating shaft member 62 and a first photoelectric sensor 72A as a detection mechanism. The rotation shaft member 62 is freely rotatable in the directions of arrows C and C ′. The first photoelectric sensor 72A includes a light transmitting unit and a light receiving unit. In a normal state (the state shown in FIG. 2), a plate-like arm portion 74 provided on the support member 64 is a light transmitting unit. It will be in the state interposed between light-receiving parts. That is, in this state, the light receiving unit cannot receive light emitted from the light transmitting unit. On the other hand, when the support member 64 is inclined as shown in FIG. 8, the light receiving unit can receive the light emitted from the light transmitting unit. That is, according to the first photoelectric sensor 72A, it can be detected that the state shown in FIG. 2 is changed to the state shown in FIG.

  The support member 64 is fixed to the rotary shaft member 62 and rotates in the direction of arrow C or arrow C ′ in response to external force.

  In FIG. 3, the cutting mechanism 66 and the cover mechanism 68 are shown enlarged. As shown in FIG. 3, the cutting mechanism 66 includes a pair of fingers 76A and 76B, a cutting blade 78 provided on one finger 76A, and an air chuck 80 that approaches or separates the pair of fingers 76A and 76B. Prepare. In the cutting mechanism 66, when the pair of fingers 76A and 76B approach each other with the strawberry fruit handle positioned between the pair of fingers 76A and 76B, the shearing force between the cutting blade 78 and the finger 76B causes The handle is cut.

  A pair of fingers 76A and 76B is provided with a second photoelectric sensor 72B. The second photoelectric sensor 72B includes a light transmitter 94A and a light receiver 94B. According to the second photoelectric sensor 72B, it is detected whether or not an object (strawberry fruit pattern) is present at a position that prevents the detection light emitted from the light transmitter 94A from entering the light receiver 94B. Can do. That is, according to the second photoelectric sensor 72B, it is possible to detect whether or not the strawberry pattern is located at a predetermined position.

  As shown in FIG. 3, the cover mechanism 68 includes a cover 82 and an air chuck 84 that slides the cover 82 in the directions of arrows D and D ′. The cover 82 is a plate-like member made of stainless steel and having a thickness of about 0.5 mm, and a slit 82a extending in the directions of arrows D and D 'is formed in part of the cover 82. The width of the slit 82a in the short direction is slightly larger than the diameter of the ridge (about 2 mm), for example, about 4 mm. The cover 82 is moved by the air chuck 84 between the position shown in FIG. 6A (or FIG. 6B) and the position shown in FIG. 6C. Note that the upper surface of the cover 82 is in contact with or very close to the lower surface of the cutting blade 78.

  Returning to FIG. 2, the counter weight 70 is a weight member, and the ease of rotation of the support member 64 can be changed by appropriately adjusting the weight.

  As shown in FIG. 2, the tray lifting device 54 includes a tray holder 88 that holds the tray 86 and an electric slider 90 that lifts and lowers the tray holder 88 in the vertical direction. A third photoelectric sensor 72 </ b> C as a positional relationship detection unit is provided on the upper surface of the tray holding unit 88 via a plurality of spacers 91. The third photoelectric sensor 72C includes a light transmitter 92A and a light receiver 92B. The length in the longitudinal direction of the light transmitting unit 92A and the light receiving unit 92B is, for example, 40 mm. According to the third photoelectric sensor 72C, it is possible to detect whether or not an object (strawberry) exists at a position that prevents the detection light emitted from the light transmitting unit 92A from entering the light receiving unit 92B. That is, according to the 3rd photoelectric sensor 72C, it can be detected whether the strawberry is located in the tray 86 vicinity. It is assumed that a shock absorbing member having flexibility such as urethane is provided on the upper surface (the surface on which the strawberry is placed) of the tray 86.

  In addition, the detection result of each sensor (1st-3rd photoelectric sensor 27A-27C) which the fruit pattern removal apparatus 50 has is transmitted to the control apparatus 190 of FIG. Then, the control device 190 controls the air chucks 80 and 84, the electric slider 90, and the like based on these detection results.

  FIG. 4 is a block diagram showing a control system of the strawberry harvesting system 100 of the present embodiment. In the present embodiment, the control device 190 as a control unit controls the overall processing of the system.

  Next, processing of the strawberry harvesting system 100 (particularly, the fruit pattern removing device 50) configured as described above will be described in detail along the flowchart of FIG. 5 and with reference to other drawings.

  As a premise that the flowchart of FIG. 5 is executed, it is assumed that the tray holding unit 88 holds a tray 86 on which strawberries are not placed. In the harvesting robot 20, strawberry is harvested in the hand 24 (the hand 24 holds a strawberry with a fruit pattern). The pair of fingers 76A and 76B are closed, and the cover 82 is in the position of FIG.

  In the process of FIG. 5, first, in step S <b> 10, the control device 190 opens (separates) the pair of fingers 76 </ b> A and 76 </ b> B via the air chuck 80. In this case, the distance between the pair of fingers 76A and 76B is slightly larger than the diameter of the ridge (about 2 mm), for example, about 5 mm.

  Next, in step S12, the control device 190 retracts the cover 82. Specifically, the control device 190 moves the cover 82 in the direction of arrow D ′ via the air chuck 84 from the state shown in FIG. At this stage, it is assumed that the posture of the support member 64 is maintained in a substantially horizontal state as shown in FIG.

  Next, in step S14, the control device 190 starts the operation of the harvesting robot 20 so that the strawberry fruit pattern held by the harvesting robot 20 is inserted between the pair of fingers 76A and 76B. Next, in step S16, the process waits until the second photoelectric sensor 72B detects the fruit pattern. Then, when the second photoelectric sensor 72B detects the fruit pattern in step S16, the process proceeds to step S18. In addition, in the stage which shifted to step S18, it will be in a state as shown in FIG.6 (b). In FIG. 6B, illustration of the hand 24 is omitted for convenience of illustration (the same applies to FIG. 6C).

  In step S18, the control device 190 stops the operation of the harvesting robot 20. Next, in step S20, the control device 190 controls the air chuck 84 to move the cover 82 in the direction of arrow D in FIG. In this case, it is assumed that the position where the position of the strawberry fruit pattern is positioned (the position detected by the second photoelectric sensor 72B) coincides with the slit 82a of the cover 82. Thereby, even if the cover 82 is extended, the cover 82 and the fruit handle do not interfere mechanically as shown in FIG. In addition, in the stage of FIG.6 (c), it is the state (state pinched | interposed into the up-down direction) where the cover 82 entered between the strawberry straw and a pair of fingers 76A and 76B (cutting blade 78). That is, due to the presence of the cover 82, intrusion of strawberry straw between the fingers 76A and 76B is suppressed.

  Returning to FIG. 5, in the next step S <b> 22, the control device 190 controls the harvesting robot 20 and starts an operation of lifting the strawberry pattern. Thereby, since the fruit part of a strawberry is also lifted, the strawberries strawberry and the lower surface of the cover 82 begin to approach each other.

  Next, in step S24, the control device 190 waits until the first photoelectric sensor 72A detects the movement of the support member 64. In this case, as shown in FIG. 8, when the strawberry is lifted by the harvesting robot 20, the strawberry cocoon and the cover 82 are in contact with each other, and the support member 64 is rotated via the rotation shaft member 62, the first photoelectric sensor is used. 72A detects the movement of the support member 64. That is, it can be said that the first photoelectric sensor 72 </ b> A detects that the strawberry cocoon and the cover 82 are in contact with each other. As described above, when the first photoelectric sensor 72A detects the movement of the support member 64 (contact between the heel and the cover 82), the process proceeds to step S26.

  In step S26, the control device 190 stops the fruit lifting operation of the harvesting robot 20. Next, in step S28, the control device 190 controls the electric slider 90 to start lifting (raising) the tray 86. Next, in step S30, the control device 190 waits until the third photoelectric sensor 72C detects a strawberry (lower end). If the determination here is affirmative, that is, if a strawberry (lower end) is detected, it means that the interval between the strawberry and the tray 86 is narrow, as shown in FIG. . If this happens, the process proceeds to step S32. In the present embodiment, as described above, the length in the longitudinal direction of the light transmitting unit 92A and the light receiving unit 92B of the third photoelectric sensor 72C is about 40 mm. Even so, the position of the strawberry can be detected using the third photoelectric sensor 72C.

  In step S32, the control device 190 stops the operation of the electric slider 90. In the next step S <b> 34, the control device 190 closes (closes) the pair of fingers 76 </ b> A and 76 </ b> B via the air chuck 80. Thereby, the cutting of the fruit pattern by the cutting blade 78 is completed. Here, in the present embodiment, the fruit pattern is cut in a state where the cover 82 is present between the strawberries and the cutting blade 78 and the strawberry is in contact with the cover 82. Thereby, it can cut | disconnect without leaving a fruit handle, and it can suppress that a wrinkle contacts with the cutting blade 78 and is damaged. FIG. 10 shows a state in which the fruit pattern is cut and the strawberry is placed on the tray 86.

  The counterweight 70 adjusts the pulling force (ease of upward movement) of the support member 64 when the straw comes into contact with the cover 82, and also prevents the strawberries from jumping when the handle is cut. Is provided. In addition, what is necessary is just to change the weight of the counterweight 70 suitably according to the kind etc. of a strawberry.

  When the cutting of the handle is completed as described above, in the next step S36, the control device 190 controls the electric slider 90 to lower the tray 86. FIG. 11 shows a state where the tray 86 on which the strawberry after cutting the fruit pattern is placed is lowered to the lowermost end. Note that the processing of step S34 and step S36 may be performed substantially simultaneously. Note that the fruit pattern held by the hand 24 may be collected by releasing the holding of the fruit pattern by the hand 24 when the hand 24 is positioned above a predetermined collection position. However, the present invention is not limited to this, and the fruit pattern may be dropped as it is from the state of FIG. 11, or air is blown from the air supply device (not shown) to the fruit pattern at the same time as dropping from the state of FIG. 11. Thus, the fruit pattern may be blown away.

  As described above, when the strawberry pattern removal process is completed, the entire process of FIG. 5 is completed. After the process of FIG. 5 is completed, the control device 190 uses the tray supply / collection device 32 (see FIG. 4) to collect the tray 86 on which the strawberry after the removal of the fruit pattern is placed, and the tray transport device 30. Place on top. Then, the control device 190 moves the tray transport device 30 by a predetermined distance in the direction of arrow B in FIG.

  Thereafter, when the harvesting robot 20 harvests a new strawberry, the process of FIG. 5 is executed again (repeatedly). In addition, the strawberry from which the fruit pattern was harvested and removed is conveyed by the tray conveying device 30 to the fruit selection line where strawberry sorting and the like are executed. And after selection, it is packed in a conventionally used strawberry pack or the like and conveyed. Even if it does in this way, since the fruit handle is almost removed from the strawberry, the damage of the other strawberry by a fruit handle can be reduced.

  Here, the result of the actual test using the fruit pattern removing apparatus 50 of the present embodiment is shown in FIG. In the test of FIG. 12, the fruit pattern of 30 varieties “Amaotome” was removed. As a result, the remaining length of the fruit handle averaged 1.8 mm (maximum 3.1 mm), which was very short and obtained no damage to the heel.

  As described above in detail, according to the present embodiment, the strawberry and the pair of fingers 76A, 76B are covered with the cover 82 in a state where the strawberry is positioned so that the fruit handle is positioned between the pair of fingers 76A, 76B. , The strawberry (strawberry) is prevented from entering between the pair of fingers 76A, 76B, and in this state, the control device 190 is connected to the strawberry and the pair of strawberries via the harvesting robot 20. The strawberries are moved so that the fingers 76A and 76B are close to each other. By doing in this way, a pair of fingers 76A and 76B can be brought close to a strawberry (strawberry) in the state which controlled that a basket penetrated between a pair of fingers 76A and 76B. And based on the detection result which the 1st photoelectric sensor 72A detected the state (state where the strawberry and the cover contacted) where a pair of fingers 76A and 76B and strawberry (strawberry) approached most, control device 190 is. The fruit pattern is cut by the cutting mechanism 66. Thereby, it becomes possible to easily cut and remove the fruit handle in the vicinity of the strawberry fruit (strawberry) while suppressing damage to the strawberry.

  Moreover, in this embodiment, since the contact of a fruit and a cover is detected using the 1st photoelectric sensor 72A, compared with the case where a pressure sensor etc. are used, the contact of a fruit and the cover 82 is detected easily. Can do.

  In this embodiment, the control device 190 controls the movement of the tray 86 by the electric slider 90 based on the detection result of the third photoelectric sensor 72C that detects the positional relationship between the tray 86 and the strawberry. By cutting the fruit handle in a state in which 86 is close to the strawberry, damage due to contact with the strawberry tray 86 after cutting the fruit pattern can be suppressed. In this case, since the control device 190 controls the operation of the electric slider 90 based on the detection result of the third photoelectric sensor 72C, the strawberry falling distance (the distance between the strawberry and the tray) is appropriately set regardless of the size of the strawberry. Distance.

  In the present embodiment, the harvesting robot 20 moves the strawberry so that the strawberry (fruit) and the pair of fingers 76A and 76B come close to each other, so that the strawberry is moved. The structure of 52 can be simplified. In addition, since no manual operation is required for positioning the strawberry, the pattern removal can be automated.

  In the above embodiment, the contact between the strawberry (strawberry) and the cover 82 is detected using the first photoelectric sensor 72A, but the present invention is not limited to this. For example, a load sensor such as a load cell or a pressure sensor may be provided on the lower surface of the cover, and the contact between the strawberry (strawberry) and the cover 82 may be detected from the detection results of these sensors. In this case, the rotation shaft member 62 may be omitted and the support member 64 may be fixed to the support body 60.

  In the above embodiment, the harvesting robot 20 performs operations such as harvesting, transporting, positioning, and lifting strawberry. However, the harvesting robot 20 may be operated by a person.

  Moreover, although the said embodiment demonstrated the case where a strawberry was lifted with respect to the cover 82 in FIG.5 S22, it is not restricted to this, and you may make it push down the cover mechanism 68 and the cutting mechanism 66 with respect to a strawberry. Good. That is, the strawberry and the cover 82 may be moved relative to each other so as to approach each other. When the cover mechanism 68 and the cutting mechanism 66 are pushed down against the strawberry, a motor is connected to the rotating shaft member 62, and the support member 64 may be rotated in the direction of the arrow C 'by the operation of the motor. Also in this case, the contact between the fruit and the cover can be detected by a photoelectric sensor, a load sensor, or the like, as in the above embodiment.

  In the above embodiment, the case where the tray 86 is transported using the tray transporting device 30 and the tray supply / collection device 32 receives and collects the tray 86 from the fruit removing device 50 is described. It is not limited. For example, a person may supply and collect the tray 86. The saucer 86 may be fixed to the fruit pattern removing device 50 so that a person collects the strawberry that has been harvested and from which the fruit pattern has been removed.

  In the above embodiment, the case where the harvesting robot 20 is installed on the floor has been described. However, the present invention is not limited to this, and the harvesting robot 20 may move on the floor surface. Moreover, in the said embodiment, although it was decided to perform the harvest of a strawberry and the removal of a fruit pattern in a series of flows, it is not restricted to this. That is, harvesting of strawberry and removal of fruit pattern may be performed in different flows. In this case, the strawberry harvested by the harvesting robot 20 may be carried into the fruit pattern removing device 50 by another robot or manually.

  In the above-described embodiment, the case where the fruit removal device 50 and the harvesting robot 20 are separate devices has been described. However, the present invention is not limited thereto, and the fruit removal robot 50 may include the harvesting robot 20. That is, the fruit pattern removing device 50 may include the harvesting robot 20 in addition to the fruit pattern cutting device 52 and the tray lifting / lowering device 54.

  In the above embodiment, the case where the fruit pattern removing apparatus of the present invention is used for removing the fruit pattern of a strawberry has been described. However, the present invention is not limited thereto, and the fruit pattern removing of other vegetables and fruits such as tomatoes and eggplants and the like. It may be used for harvesting.

  In the above embodiment, the fruit pattern removing device of the present invention is used for the fruit with a cocoon, and the cover 82 is disposed between the cocoon and the fingers 76A and 76B, thereby damaging the cocoon when removing the fruit pattern. Although the case where it suppresses was demonstrated, it is not restricted to this. For example, the fruit pattern removing apparatus of the present invention may be used for removing fruit patterns such as apples and grapes covered with bags. In this case, the cover 82 can prevent the bag from entering between the fingers 76A and 76B, so that the bag cutting operation can be prevented from being obstructed by the bag.

  The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

50 Fruit removal device 54 Trays lifting device (moving mechanism)
66 Cutting mechanism 72A First photoelectric sensor (detection mechanism)
72C Third photoelectric sensor (positional relationship detection unit)
76A finger 76B finger 82 cover 86 saucer 190 control device (control unit)

Claims (3)

A cutting mechanism having a pair of fingers for cutting the fruit handle;
The fruit is disposed between the fruit and the pair of fingers with the fruit positioned so that the fruit handle is positioned between the pair of fingers, and the fruit enters between the pair of fingers. A cover to suppress
A detection mechanism for detecting contact between the fruit and the cover;
A fruit pattern removing apparatus comprising: a control unit that cuts the fruit pattern by the cutting mechanism based on a detection result by the detection mechanism. The cutting mechanism and the cover are moved by receiving a force when the fruit and the cover are in contact with each other while maintaining the positional relationship between the two,
The detection mechanism detects movement of the cutting mechanism and the cover;
The fruit removing apparatus according to claim 1, wherein the controller cuts the fruit by the cutting mechanism at a timing when movement of the cutting mechanism and the cover is detected. A saucer for accommodating the fruit after the fruit handle has been cut by the cutting mechanism;
A moving mechanism for moving the tray;
A positional relationship detection unit for detecting a positional relationship between the saucer and the fruit,
The fruit removal apparatus according to claim 1 or 2, wherein the control unit controls movement of the tray by the moving mechanism based on a detection result of the positional relationship detection unit.

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