JP6799363B1 - Harvesting device end effector - Google Patents
Harvesting device end effector Download PDFInfo
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- JP6799363B1 JP6799363B1 JP2020133432A JP2020133432A JP6799363B1 JP 6799363 B1 JP6799363 B1 JP 6799363B1 JP 2020133432 A JP2020133432 A JP 2020133432A JP 2020133432 A JP2020133432 A JP 2020133432A JP 6799363 B1 JP6799363 B1 JP 6799363B1
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- 239000012636 effector Substances 0.000 title claims abstract description 26
- 238000003306 harvesting Methods 0.000 title abstract description 18
- 238000005520 cutting process Methods 0.000 claims abstract description 91
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 53
- 238000003825 pressing Methods 0.000 claims abstract description 21
- 235000013311 vegetables Nutrition 0.000 claims abstract description 12
- 230000002093 peripheral effect Effects 0.000 claims abstract description 7
- 238000010586 diagram Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 238000007796 conventional method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Abstract
【課題】簡易な装置構成で、葉菜の茎または果菜の果柄、果樹の果柄を好適に切断することができるエンドエフェクタを提供する。【解決手段】回転中央領域が中空で外周縁から中空部まで切欠が設けられた回転プレートと、回転プレートと隣接配置された、外周縁から回転プレート中空部の果柄を支持する位置まで切欠が設けられた固定プレートと、刃部が回転軸垂直方向になる角度で回転プレート上に固定された切断刃と、固定プレートと連結した、果柄の長手方向が切断刃と垂直になるように果柄を支持する果柄支持部と、回転プレートの切欠と固定プレートの切欠が揃っていないとき、果柄支持部に果柄を押圧し把持する果柄押圧部と、を備えるエンドエフェクタで、回転プレートが回転して停止することで、果柄を切断し把持する動作が行われ、動作前の位置まで回転することで収穫が行われる。これにより簡易な装置構成で好適な果柄の切断を行うことができる。【選択図】図１PROBLEM TO BE SOLVED: To provide an end effector capable of suitably cutting a stem of a leafy vegetable, a peduncle of a fruit vegetable, or a peduncle of a fruit tree with a simple device configuration. SOLUTION: A rotating plate having a hollow central region of rotation and provided with a notch from the outer peripheral edge to the hollow portion, and a notch arranged adjacent to the rotating plate from the outer peripheral edge to a position supporting a fruit handle of the hollow portion of the rotating plate. A fixed plate provided, a cutting blade fixed on the rotating plate at an angle at which the blade is perpendicular to the axis of rotation, and a fruit connected to the fixed plate so that the longitudinal direction of the fruit handle is perpendicular to the cutting blade. An end effector including a fruit handle support portion that supports the handle and a fruit handle pressing portion that presses and grips the fruit handle against the fruit handle support portion when the notch of the rotating plate and the notch of the fixing plate are not aligned. When the plate rotates and stops, the operation of cutting and grasping the fruit stalk is performed, and by rotating to the position before the operation, harvesting is performed. This makes it possible to cut a suitable peduncle with a simple device configuration. [Selection diagram] Fig. 1
Description
本発明は、マニピュレータに装着するエンドエフェクタに関するものである。 The present invention relates to an end effector mounted on a manipulator.
近年、果菜や果樹や葉菜類を自動収穫する装置として、先端部にエンドエフェクタを備えたマニピュレータを移動及び旋回させて収穫アプローチを行い、先端のエンドエフェクタで果柄を切断して収穫する装置が提案されている。 In recent years, as a device for automatically harvesting fruit vegetables, fruit trees and leafy vegetables, a device has been proposed in which a manipulator equipped with an end effector at the tip is moved and swiveled to perform a harvesting approach, and the peduncle is cut and harvested with the end effector at the tip. Has been done.
例えば、特許文献１には、左右の把持プレートにより把持した果菜類に対し果柄の切断を行う平面視Ｕ字形状の摘果プレートを前後方向にスライド駆動させるエンドエフェクタが記載されている。 For example, Patent Document 1 describes an end effector that slides and drives a U-shaped fruit-picking plate in a plan view that cuts a peduncle of fruits and vegetables gripped by the left and right grip plates.
また、特許文献２には、採果ハサミを果柄に接近させて果柄を切断するとともに、採果ハサミの下側に取り付けた果柄挟持用下刃で果柄を把持するエンドエフェクタが記載されている。 Further, Patent Document 2 describes an end effector that cuts a peduncle by bringing a fruit-collecting scissors close to the peduncle and grips the peduncle with a lower blade for holding the peduncle attached to the lower side of the fruit-collecting scissors. Has been done.
従来の果柄切断方法として、板状の刃物をスライド移動させて果柄を切断する方法があるが、切断時に切断する果柄が刃物に押圧されるため、果柄の位置の変位を抑制する把持手段が必要となり、また、把持手段と切断手段を連動させて制御する必要があるため、装置構成が複雑になるという問題があった。 As a conventional method of cutting a peduncle, there is a method of cutting a peduncle by sliding a plate-shaped blade, but since the peduncle to be cut is pressed by the blade during cutting, displacement of the position of the peduncle is suppressed. Since the gripping means is required and the gripping means and the cutting means need to be linked and controlled, there is a problem that the device configuration becomes complicated.
また、従来の果柄を切断方法として、採果ハサミで果柄を切断する方法があるが、切断時に回動する２枚１組の刃物によって切断する果柄が押圧され、回動軸の径方向外向きに果柄が押し出す力が加わるため、果柄の硬さによっては切断時に果柄の位置が変位することによって、良好な切断面にならない場合や、確実な切断が出来ない場合があった。 Further, as a conventional method of cutting a peduncle, there is a method of cutting the peduncle with a fruit-picking scissors, but the peduncle to be cut is pressed by a pair of blades that rotate at the time of cutting, and the diameter of the rotation shaft. Since the force that pushes the peduncle outward is applied, the position of the peduncle may be displaced during cutting depending on the hardness of the peduncle, which may result in a poor cut surface or inability to cut reliably. It was.
本発明は、上述した事情に鑑みてなされたものであり、その目的は、簡易な装置構成で、切断時に葉菜の茎または果菜の果柄、果樹の果柄が切断刃に押圧されて変位することを抑制し、好適に切断することができるエンドエフェクタを提供することにある。 The present invention has been made in view of the above circumstances, and an object of the present invention is to use a simple device configuration, in which the stem of a leafy vegetable or the peduncle of a fruit vegetable or the peduncle of a fruit tree is pressed by a cutting blade and displaced during cutting. It is an object of the present invention to provide an end effector capable of suppressing the occurrence of a peduncle and appropriately cutting the peduncle.
葉菜の茎または果菜の果柄、または果樹の果柄を切断する切断刃を備えたエンドエフェクタで
回転中央領域が中空で外周縁から中空部まで切欠が設けられた、モーターで回転駆動される回転プレートと、
回転プレートと隣接配置された、外周縁から回転プレート中空部の果柄を支持する位置まで切欠が設けられた固定プレートと、
刃部が回転軸垂直方向になる角度で、回転プレート上に固定された切断刃と、
固定プレートと連結した、果柄の長手方向が切断刃と垂直になるように果柄を支持する果柄支持部と、
回転プレートの切欠と固定プレートの切欠が揃っていないとき、果柄支持部に果柄を押圧し把持する果柄押圧部と、を備える。
An end effector with a cutting blade that cuts the peduncle of a leafy vegetable or fruit tree, or the peduncle of a fruit tree. Rotational drive with a hollow central region and a notch from the outer periphery to the hollow part. With a rotating plate
A fixed plate arranged adjacent to the rotating plate and provided with a notch from the outer peripheral edge to a position supporting the peduncle of the hollow portion of the rotating plate.
The cutting blade fixed on the rotating plate at an angle where the blade is perpendicular to the axis of rotation,
A peduncle support that is connected to the fixed plate and supports the peduncle so that the longitudinal direction of the peduncle is perpendicular to the cutting blade.
When the notch of the rotating plate and the notch of the fixed plate are not aligned, the peduncle supporting portion is provided with a peduncle pressing portion that presses and grips the peduncle.
回転プレートの回転中心付近の切断刃が移動しない領域を通過して固定プレートと連結した果柄支持部を備える。 It is provided with a peduncle support portion connected to the fixed plate by passing through a region where the cutting blade near the center of rotation of the rotating plate does not move.
本発明により、簡易な装置構成で、葉菜の茎または果菜の果柄、果樹の果柄を好適に切断することができる果柄切断手段を備えたエンドエフェクタを提供できる。 INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide an end effector provided with a peduncle cutting means capable of appropriately cutting a peduncle of a leafy vegetable, a peduncle of a fruit vegetable, or a peduncle of a fruit tree with a simple device configuration.
葉菜の茎または果菜の果柄、果樹の果柄を切断する切断刃２を、果柄長手方向と直交する面内で回転させて移動するための旋回手段として、固定プレート４と、固定プレート４と隣接配置された回転中央領域が中空となっている回転プレート３とを備え、回転プレート３はモーター７を用いて回転駆動される。 A fixed plate 4 and a fixed plate are used as a swivel means for rotating and moving the cutting blade 2 for cutting the peduncle of a leafy vegetable, the peduncle of a fruit vegetable, or the peduncle of a fruit tree in a plane orthogonal to the longitudinal direction of the fruit stalk. 4 and a rotating plate 3 having a hollow rotation central region arranged adjacent to the 4 are provided, and the rotating plate 3 is rotationally driven by using a motor 7.
切断刃２は薄い板状の刃物で、回転プレート３上に切断刃２の刃部が回転軸垂直方向になる角度で固定されている。 The cutting blade 2 is a thin plate-shaped blade, and the blade portion of the cutting blade 2 is fixed on the rotating plate 3 at an angle perpendicular to the rotation axis.
回転プレート３には、外周縁から中央領域の中空部まで、果柄１を挿抜するための切欠が設けられている。また、回転プレート３と隣接配置された固定プレート４には、外周縁から回転プレート中空部の切断刃部の移動領域９内に果柄を挿抜するための切欠が設けられており、固定プレート４の切欠と、回転プレート３の切欠が揃った状態で、果柄１が回転プレート３の中空部の切断刃の刃部が移動する領域９内に挿抜される。切断刃２は、固定プレート４の切欠と、回転プレート３の切欠が揃った状態で果柄１を挿抜するとき、果柄を挿抜するのに邪魔にならない位置で回転プレート３に固定されている。 The rotating plate 3 is provided with a notch for inserting and removing the peduncle 1 from the outer peripheral edge to the hollow portion in the central region. Further, the fixing plate 4 arranged adjacent to the rotating plate 3 is provided with a notch for inserting and removing the peduncle from the outer peripheral edge into the moving region 9 of the cutting blade portion of the hollow portion of the rotating plate. The peduncle 1 is inserted into and removed from the region 9 in which the cutting blade of the hollow portion of the rotary plate 3 moves, with the notch of the rotary plate 3 aligned with the notch of the rotary plate 3. The cutting blade 2 is fixed to the rotating plate 3 at a position that does not interfere with the insertion and removal of the peduncle when the peduncle 1 is inserted and removed with the notch of the fixed plate 4 and the notch of the rotating plate 3 aligned. ..
果柄支持部５は、固定プレート４と連結して備えらえており、果柄を果柄長手方向が切断刃２と垂直になるように支持するように設けられている。果柄支持部５は、果柄軸が回転プレート３の回転中心軸と平行となるように、果柄１を回転プレート中空部の切断刃部の移動領域９内に支持するU字形の凹部を備える。果柄支持部５は、切断刃２が果柄１を押し切るとき、切断刃２の回転移動面と近接した位置で、果柄１を支持するように設けられている。 The peduncle support portion 5 is provided in connection with the fixing plate 4, and is provided so as to support the peduncle so that the longitudinal direction of the peduncle is perpendicular to the cutting blade 2. The peduncle support portion 5 has a U-shaped recess that supports the peduncle 1 in the moving region 9 of the cutting blade portion of the hollow portion of the rotating plate so that the peduncle axis is parallel to the rotation center axis of the rotating plate 3. Be prepared. The peduncle support portion 5 is provided so as to support the peduncle 1 at a position close to the rotational movement surface of the cutting blade 2 when the cutting blade 2 pushes through the peduncle 1.
果柄押圧部１０は、固定プレート４の切欠と回転プレート３の切欠が揃っていない状態の時、収穫する果実の果柄を果柄支持部５上に押圧し保持されるように備えられている。また、果柄押圧部１０は、固定プレート４の切欠と回転プレート３の切欠が揃った状態の時、果柄を押圧しないように設けられている。 The peduncle pressing portion 10 is provided so as to press and hold the peduncle of the fruit to be harvested on the peduncle support portion 5 when the notch of the fixed plate 4 and the notch of the rotating plate 3 are not aligned. There is. Further, the peduncle pressing portion 10 is provided so as not to press the peduncle when the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned.
回転プレート３は、収穫装置からの信号を受けてモーターによって回転駆動される。 The rotating plate 3 is rotationally driven by a motor in response to a signal from the harvesting device.
図１、図２を参照して、本発明に係るエンドエフェクタの動作について説明する。 The operation of the end effector according to the present invention will be described with reference to FIGS. 1 and 2.
図１に示す果柄切断手段と果柄把持手段とを備えた、収穫装置のマニピュレータの先端に装着するエンドエフェクタで、固定プレート４の切欠と回転プレート３の切欠が揃った状態で、マニピュレータを移動及び旋回させて、切断刃２の切断位置より果柄支持部５が果実側になるように、果柄１を外周縁の切欠から回転プレート中空部の切断刃部の移動領域９内に向けて挿入し、果柄長手方向が切断刃２と垂直となり、果柄１を切断する位置が切断刃２の回転移動面になるように、果柄支持部５に果柄を保持する。 An end effector attached to the tip of a manipulator of a harvesting device provided with a peduncle cutting means and a peduncle gripping means shown in FIG. 1. The manipulator is placed in a state where the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned. Move and swivel so that the peduncle support 5 is on the fruit side from the cutting position of the cutting blade 2 so that the peduncle 1 is directed from the notch on the outer periphery into the moving region 9 of the cutting blade in the hollow portion of the rotating plate. The peduncle is held in the peduncle support portion 5 so that the longitudinal direction of the peduncle is perpendicular to the cutting blade 2 and the position where the peduncle 1 is cut is the rotational movement surface of the cutting blade 2.
図２に示すように、収穫装置からの信号を受けて、モーター７の駆動力によって、ベルト６で回転プレート３を駆動し回転プレート３を回転させる。回転プレート３を回転させることで、果柄押圧部１０が果柄支持部５に果柄を押圧し把持しつつ、回転プレート３に備えられた切断刃２が果柄１を切断する。果柄押圧部１０が果柄を押圧し把持した状態を保ったまま回転プレート３の回転を停止し、マニピュレータによってエンドエフェクタを移動及び旋回させて、果実を離す収穫籠の上方位置まで収穫した果実を搬送した後、回転プレート３を動作開始前と同じ位置である固定プレート４の切欠と回転プレート３の切欠が揃った位置まで回転させて停止し、果柄を離し果実を落下させて収穫する。 As shown in FIG. 2, in response to a signal from the harvesting device, the rotating plate 3 is driven by the belt 6 by the driving force of the motor 7 to rotate the rotating plate 3. By rotating the rotary plate 3, the peduncle pressing portion 10 presses and grips the peduncle against the peduncle support portion 5, while the cutting blade 2 provided on the rotary plate 3 cuts the peduncle 1. The fruit stalk pressing portion 10 presses the stalk and stops the rotation of the rotating plate 3 while maintaining the gripped state, and the end effector is moved and swiveled by the manipulator to release the fruit from the harvested fruit. After transporting, the rotating plate 3 is rotated to a position where the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned at the same position as before the start of operation, the fruit stalk is released, and the fruit is dropped and harvested. ..
上述のように、果柄１を固定プレート３の外周縁の切欠から回転プレート中空部の切断刃部の移動領域９に向けて挿入し、果柄支持部５上に果柄１を保持し、収穫装置からの信号を受けて、回転プレート３を回転させることで切断刃２が果柄を切断して果実の果柄を把持し、回転を停止し把持した状態のまま収穫籠まで搬送し、固定プレート４の切欠と回転プレート３の切欠が揃った状態まで回転することで果柄の押圧を解除し果実を離して収穫する。この果柄を把持して運搬する収穫方法では、採果から収穫籠への搬送までの工程において果実に接触しないため果実品質の向上が見込める。 As described above, the peduncle 1 is inserted from the notch on the outer peripheral edge of the fixed plate 3 toward the moving region 9 of the cutting blade portion of the hollow portion of the rotating plate, and the peduncle 1 is held on the peduncle support portion 5. In response to the signal from the harvesting device, the rotating plate 3 is rotated so that the cutting blade 2 cuts the peduncle and grips the peduncle of the fruit, stops the rotation, and conveys the peduncle to the harvest basket in the gripped state. By rotating until the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned, the pressure on the peduncle is released and the fruit is separated and harvested. In this harvesting method in which the fruit stalk is grasped and transported, the fruit quality can be expected to be improved because the fruit does not come into contact with the fruit in the process from the collection of the fruit to the transportation to the harvest basket.
図３を参照して、果柄切断の動作を説明する。図３（ａ）に果柄切断動作前の切断刃の状態を示す。固定プレート４の切欠と回転プレート３の切欠が揃った状態で、果柄１はマニピュレータによって果柄支持部５上に保持されている。 The operation of cutting the peduncle will be described with reference to FIG. FIG. 3A shows the state of the cutting blade before the peduncle cutting operation. The peduncle 1 is held on the peduncle support portion 5 by a manipulator in a state where the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned.
図３（ｂ）に、切断刃で果柄を切断し把持する動作を示す。回転プレート３が回転方向８の方向に回転し、果柄１を切断する。この時、回転プレート３上に備えられた切断刃２を回転させつつ、果柄支持部５に支持された果柄１を切断刃２で斜めに押し切ることで、従来のように切断刃をスライド移動させて果柄を押し切る方法と比較して、果柄の位置の変位が抑制され、小さな力で果柄を好適に切断することができる。また、回転プレート３の切欠と固定プレートの切欠が揃う位置まで回転させずに回転を停止したとき、回転プレート３に設けられた果柄押圧部と、果柄支持部５とによって、果実側の果柄１を押圧していることで果柄を切断後もエンドエフェクタで収穫した果実を把持する。 FIG. 3B shows an operation of cutting and gripping a peduncle with a cutting blade. The rotating plate 3 rotates in the direction of rotation 8 to cut the peduncle 1. At this time, while rotating the cutting blade 2 provided on the rotating plate 3, the cutting blade 2 slides the cutting blade diagonally by pushing the fruit handle 1 supported by the peduncle support portion 5 diagonally. Compared with the method of moving and pushing the peduncle, the displacement of the position of the peduncle is suppressed, and the peduncle can be suitably cut with a small force. Further, when the rotation is stopped without rotating to the position where the notch of the rotating plate 3 and the notch of the fixing plate are aligned, the fruit peduncle pressing portion provided on the rotating plate 3 and the peduncle supporting portion 5 provide the fruit side. By pressing the peduncle 1, the fruit harvested by the end effector is gripped even after the peduncle is cut.
図３（ｃ）に、切断刃が切断動作開始前の位置まで戻る動作を示す。果柄１を切断した切断刃２は、回転プレート３が回転方向８の方向に回転することで移動し、図３（ａ）に示した回転を開始する前の位置まで移動し、停止する。この時、果柄押圧部１０による果柄への押圧力が解除され、果実がエンドエフェクタから離されて収穫される。 FIG. 3C shows an operation in which the cutting blade returns to the position before the start of the cutting operation. The cutting blade 2 that cuts the peduncle 1 moves by rotating the rotating plate 3 in the direction of rotation 8, moves to the position before starting the rotation shown in FIG. 3A, and stops. At this time, the pressing force on the peduncle by the peduncle pressing portion 10 is released, and the fruit is separated from the end effector and harvested.
このように回転プレート３が約半回転して停止することで、果柄を把持しつつ果柄の切断する動作が行われ、その位置から動作前の位置である固定プレート４の切欠と回転プレート３の切欠が揃った位置まで回転して収穫が行われる。これにより、従来の方法で果柄を切断する場合と比較して、簡易な機構で切断時の果柄の変位を抑制し、良好な切断面で果柄を切断し収穫を行うことが出来る。 When the rotating plate 3 rotates about half a turn and stops in this way, the operation of cutting the peduncle while grasping the peduncle is performed, and the notch of the fixed plate 4 and the rotating plate, which are the positions before the operation from that position, are performed. Harvesting is performed by rotating to the position where the notches of 3 are aligned. As a result, as compared with the case of cutting the peduncle by the conventional method, the displacement of the peduncle at the time of cutting can be suppressed by a simple mechanism, and the peduncle can be cut and harvested with a good cut surface.
図４は、回転プレート３の中空部の切断刃部の移動領域９を示している。回転プレート３の中空部の切断刃部の移動領域９は、回転プレート３の中空部領域から、回転プレート３の回転中心から切断刃部までの最短長さを半径とした円形領域を除いたものである。切断刃２は、回転しつつ、果柄を斜めに押し切るように、回転プレート上に備えられており、回転プレートの回転中心軸を含む中央領域には、切断刃が移動しない範囲が生じる場合がある。そのため、果柄支持部５は、図５に示す、回転プレート３の中空部の切断刃部の移動領域９に果柄１が支持されるように備えられている。 FIG. 4 shows a moving region 9 of the cutting blade portion of the hollow portion of the rotating plate 3. The moving region 9 of the cutting blade portion of the hollow portion of the rotating plate 3 excludes a circular region having the shortest length as a radius from the rotation center of the rotating plate 3 to the cutting blade portion from the hollow portion region of the rotating plate 3. Is. The cutting blade 2 is provided on the rotating plate so as to push the peduncle diagonally while rotating, and there may be a range in which the cutting blade does not move in the central region including the rotation center axis of the rotating plate. is there. Therefore, the peduncle support portion 5 is provided so that the peduncle 1 is supported by the moving region 9 of the cutting blade portion of the hollow portion of the rotary plate 3 shown in FIG.
図５は、回転プレート３が回転方向８の方向に回転し、果柄１を切断する動作を示している。この時、果柄１は果柄押圧部１０によって果柄支持部５上に押圧されて把持されている。 FIG. 5 shows an operation in which the rotating plate 3 rotates in the direction of rotation 8 to cut the peduncle 1. At this time, the peduncle 1 is pressed and gripped on the peduncle support portion 5 by the peduncle pressing portion 10.
図６は、果柄１が切断され、果実の果柄１が果柄支持部５と果柄押圧部１０によって把持された状態で回転プレートが停止し、マニピュレータで収穫籠まで搬送するときの状態を示している。 FIG. 6 shows a state in which the peduncle 1 is cut, the peduncle 1 of the fruit is held by the peduncle support portion 5 and the peduncle pressing portion 10, the rotating plate is stopped, and the fruit stalk 1 is transported to the harvest basket by the manipulator. Is shown.
図７は、収穫籠の上で固定プレート４の切欠と回転プレート３の切欠が揃った状態になるまで回転プレート３が回転して停止し、果柄１への押圧が解除され果実が落下する状態を示している。 In FIG. 7, the rotating plate 3 rotates and stops until the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned on the harvest basket, the pressure on the peduncle 1 is released, and the fruit falls. Indicates the state.
図８、図９、図１０は、第二切断刃を備えたエンドエフェクタを示している。切断刃２と第二切断刃１１とを、図４に示すように回転プレートの中心付近に切断刃が移動しない領域をつくるように設置し、この切断刃が通過しない領域内を通過する形で固定プレートと連結した果柄支持部を設けることで、果柄支持部５を挟んだ両側で切断刃を回転させ、切断刃２と第二切断刃１１とを位置と角度が異なるように設けることで、果柄支持部５を挟んだ両側で、異なる回転角度で果柄を切断することが出来る。 8, 9, and 10 show an end effector with a second cutting blade. As shown in FIG. 4, the cutting blade 2 and the second cutting blade 11 are installed so as to create an area where the cutting blade does not move near the center of the rotating plate, and the cutting blade passes through the area where the cutting blade does not pass. By providing the peduncle support portion connected to the fixed plate, the cutting blades are rotated on both sides of the peduncle support portion 5, and the cutting blade 2 and the second cutting blade 11 are provided so that their positions and angles are different. Therefore, the peduncle can be cut at different rotation angles on both sides of the peduncle support portion 5.
上記の機構により、切断刃２で果柄を切断して停止し、収穫籠の上まで搬送した後、回転プレート３を回転させて第二切断刃１１によって果柄支持部５より果実側の位置で果柄を切断し、果実を落下させて収穫することが出来る。収穫する果実の果柄を短くすることで、収穫した果実が果柄によって傷つけられることが抑制され、果実の商品価値を高く保つことができる。 By the above mechanism, the peduncle is cut by the cutting blade 2 to stop, and after being transported to the top of the harvesting basket, the rotary plate 3 is rotated and the position on the fruit side from the peduncle support portion 5 by the second cutting blade 11. You can cut the peduncle with and drop the fruit to harvest. By shortening the peduncle of the fruit to be harvested, it is possible to prevent the harvested fruit from being damaged by the peduncle and keep the commercial value of the fruit high.
図１１は、果柄支持部５上に果柄を押圧する方向に回動する押圧部を回転プレート３によって押圧することで、果柄を把持する機構を示す概略図である。果柄を押圧する方法は、回転プレートによって動作する果柄押圧部を備えていれば任意であり限定されない。例えば、弾性体によって果柄を押圧するように付勢した果柄押圧部を設け、回転プレートに備えられたカムによって、固定プレート４の切欠と回転プレート３の切欠が揃った状態の時に果柄への押圧を解除するようにしても良い。 FIG. 11 is a schematic view showing a mechanism for gripping a peduncle by pressing a pressing portion that rotates in a direction of pressing the peduncle on the peduncle support portion 5 with a rotating plate 3. The method of pressing the peduncle is arbitrary and not limited as long as it includes a peduncle pressing portion operated by a rotating plate. For example, a peduncle pressing portion urged to press the peduncle by an elastic body is provided, and the peduncle is in a state where the notch of the fixed plate 4 and the notch of the rotating plate 3 are aligned by the cam provided on the rotating plate. You may try to release the pressure on.
なお本発明は上記各実施形態に限定されることはなく、本発明の範囲内において種々の変形例を採用できる。その他、上述した実施形態における各構成要素の材質、形状、寸法、配置箇所などは本発明を達成できるものであれば任意であり、限定されない。 The present invention is not limited to each of the above embodiments, and various modifications can be adopted within the scope of the present invention. In addition, the material, shape, dimensions, arrangement location, etc. of each component in the above-described embodiment are arbitrary as long as the present invention can be achieved, and are not limited.
また、駆動力の伝達方法はベルトに限らず、回転プレートを回転駆動し、停止させることのできる方法であれば任意である。例えば、複数の歯車を用いた方法である。 Further, the method of transmitting the driving force is not limited to the belt, and any method can be used as long as the rotating plate can be rotationally driven and stopped. For example, it is a method using a plurality of gears.
また、回転プレートの回転方向は限定されない。同一方向に1回転して動作開始前の回転プレートと固定プレートの切欠が揃った位置まで移動し1回の収穫を行うことも出来るし、果柄を切断し果実を搬送した後、逆方向に回転し動作開始前の回転プレートと固定プレートの切欠が揃った位置まで移動し、1回の収穫を行うことも出来る。 Further, the rotation direction of the rotating plate is not limited. It is also possible to rotate once in the same direction and move to the position where the notches of the rotating plate and the fixed plate are aligned before the start of operation, and harvest once, or after cutting the peduncle and transporting the fruit, in the opposite direction. It is also possible to rotate and move to the position where the notches of the rotating plate and the fixing plate are aligned before the start of operation, and perform one harvest.
また、果柄支持部の形状は、U字形に限定されるものではなく、本発明を達成できるものであれば任意であり、限定されない。例えば、角形や扁平した形状である。 Further, the shape of the peduncle support portion is not limited to the U shape, but is arbitrary and is not limited as long as the present invention can be achieved. For example, it has a square or flat shape.
１ 果柄
２ 切断刃
３ 回転プレート
４ 固定プレート
５ 果柄支持部
６ ベルト
７ モーター
８ 回転方向
９ 回転プレート中空部の切断刃部の移動領域
１０ 果柄押圧部
１１ 第二切断刃
1 Peduncle 2 Cutting blade 3 Rotating plate 4 Fixed plate 5 Peduncle support 6 Belt 7 Motor 8 Rotation direction 9 Rotating plate Hollow cutting blade moving area 10 Peduncle pressing part 11 Second cutting blade
Claims (2)
回転中央領域が中空で外周縁から中空部まで切欠が設けられた、モーターで回転駆動される回転プレートと、
回転プレートと隣接配置された、外周縁から回転プレート中空部の果柄を支持する位置まで切欠が設けられた固定プレートと、
刃部が回転軸垂直方向になる角度で、回転プレート上に固定された切断刃と、
固定プレートと連結した、果柄の長手方向が切断刃と垂直になるように果柄を支持する果柄支持部と、
回転プレートの切欠と固定プレートの切欠が揃っていないとき、果柄支持部に果柄を押圧し把持する果柄押圧部と、
を備えるエンドエフェクタ。 An end effector with a cutting blade that cuts the peduncle of a leafy vegetable or fruit tree, or the peduncle of a fruit tree. Rotational drive with a hollow central region and a notch from the outer periphery to the hollow part. With a rotating plate
A fixed plate arranged adjacent to the rotating plate and provided with a notch from the outer peripheral edge to a position supporting the peduncle of the hollow portion of the rotating plate.
The cutting blade fixed on the rotating plate at an angle where the blade is perpendicular to the axis of rotation,
A peduncle support that is connected to the fixed plate and supports the peduncle so that the longitudinal direction of the peduncle is perpendicular to the cutting blade.
When the notch of the rotating plate and the notch of the fixed plate are not aligned, the peduncle pressing part that presses and grips the peduncle against the peduncle support part,
End effector with.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6986322B1 (en) * | 2021-05-09 | 2021-12-22 | 康史 萩原 | Electric cutting machine for pruning |
| JP7064276B1 (en) * | 2021-10-03 | 2022-05-10 | 康史 萩原 | Harvesting equipment end effector |
| CN115119623A (en) * | 2022-07-08 | 2022-09-30 | 安徽中科智能感知科技股份有限公司 | Flexible picking terminal of intelligent fruit and vegetable harvesting mechanical arm |
| WO2023218496A1 (en) * | 2022-05-07 | 2023-11-16 | 康史 萩原 | Harvesting-device end effector |
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2020
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6986322B1 (en) * | 2021-05-09 | 2021-12-22 | 康史 萩原 | Electric cutting machine for pruning |
| JP7064276B1 (en) * | 2021-10-03 | 2022-05-10 | 康史 萩原 | Harvesting equipment end effector |
| WO2023218496A1 (en) * | 2022-05-07 | 2023-11-16 | 康史 萩原 | Harvesting-device end effector |
| CN115119623A (en) * | 2022-07-08 | 2022-09-30 | 安徽中科智能感知科技股份有限公司 | Flexible picking terminal of intelligent fruit and vegetable harvesting mechanical arm |
| CN115119623B (en) * | 2022-07-08 | 2024-06-07 | 安徽中科智能感知科技股份有限公司 | Flexible picking tail end of intelligent fruit and vegetable harvesting mechanical arm |
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