JP6894586B1 - Acquisition device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an acquisition device capable of reducing a burden in harvesting an agricultural product without having a risk of damaging the harvested product when the object to be acquired is an agricultural product. An acquisition device 1 is an acquisition device including an acquisition unit 2 for acquiring agricultural products. The acquisition unit 2 is arranged on the tip side of the acquisition members 3R, 3L and the acquisition members 3R, 3L, which can move from the tip side to the base end side while sandwiching the fruit stalk (near the harvest product) of the harvested product. First cutting portion 4 for separating the portion (fruit stalk (near the harvested product)) sandwiched between the acquisition members 3R and 3L, and the acquisition members 3R and 3L which are arranged on the base end side and sandwiched between the acquisition members 3R and 3L. A grip that is provided at the base end of the acquisition members 3R and 3L and the second cutting portion 5 that separates the harvested product from the portion (fruit stalk (near the harvested product)) and is gripped by the hand of the user (worker). A handle 6 having a portion 6b is provided. [Selection diagram] Fig. 3

Description

The present invention relates to an acquisition device including an acquisition unit for acquiring an object. In particular, the present invention relates to an acquisition device suitably used for harvesting crops such as bell peppers, for example.

Conventionally, harvesting of agricultural products such as bell peppers has been performed manually using scissors or the like because there is a risk of damaging the harvested products if they are harvested by a machine. More specifically, the harvest was carried out by cutting the one closer to the fruit than the stem (see, for example, Non-Patent Document 1 and the like).

JA Tajima Vegetable Garden Homepage Harvesting and Preserving Bell Peppers, [online], [Searched on November 17, 2nd year of Reiwa], Internet <URL; https://www.ja-tajima.or.jp/saien/2013/08 /post_3.html〉

By the way, when shipping a harvest of agricultural products such as bell peppers, if the fruit stem extending from the harvest is in a long state, there is a possibility of damaging other harvests, and it cannot be shipped in this state.
Then, as described above, when agricultural products such as bell peppers are harvested using scissors or the like, it is necessary to remove the fruit stalks after harvesting, which is a burden on the agricultural work.

Therefore, the present inventor has conducted intensive research on the basis of manually harvesting in order to eliminate the risk of damaging the harvested product, and as a result, a novel device capable of reducing the above-mentioned burden on the harvesting of agricultural products. The idea was to come up with the present invention.

The present invention has been made to solve the above-mentioned problems in the prior art, and in particular, when the object to be acquired is an agricultural product, there is no risk of damaging the harvested product, and the burden on the harvesting of the agricultural product is not high. It is an object of the present invention to provide an acquisition device that makes it possible to reduce the number of cases.

In order to achieve the above object, the configuration of the acquisition device according to the present invention is
(1) An acquisition device provided with an acquisition unit for acquiring an object.
The acquisition unit
An acquisition member that can move from the tip end side to the base end side by sandwiching the vicinity of the acquisition object of the object.
A first cutting portion that is arranged on the tip side of the acquisition member and separates a portion sandwiched between the acquisition members from the object.
A second cutting portion that is arranged on the base end side of the acquisition member and separates the acquired object from a portion sandwiched between the acquisition members.
It is characterized by including a handle provided at the base end portion of the acquisition member and having a grip portion gripped by a user's hand.

The configuration of the above-mentioned (1) of the acquisition device of the present invention has the following effects.
That is, the acquisition portion includes an acquisition member, a first cutting portion, a second cutting portion, and a handle having a grip portion.
The acquisition member can move from the tip end side to the base end side by sandwiching the vicinity of the acquisition object of the object.
The first cutting portion is arranged on the tip end side of the acquisition member, and separates the portion sandwiched by the acquisition member from the object.
The second cutting portion is arranged on the base end side of the acquisition member, and separates the acquired object from the portion sandwiched between the acquisition members.
The grip portion is gripped by the user's hand when using the acquisition device.

Therefore, according to the configuration (1) of the acquisition device of the present invention, first, the acquisition device can be easily carried by having a grip portion that is gripped by the user's hand when using the acquisition device. Can be provided.
Further, according to the configuration of the acquisition device (1) of the present invention, after the portion sandwiched between the acquisition members (near the acquisition object) is separated from the object by the first cutting portion, the second cutting portion is used. Therefore, the acquired object can be separated from the portion sandwiched between the acquired members (near the acquired object).
As described above, according to the configuration of the acquisition device (1) of the present invention, it is possible to provide an acquisition device capable of easily acquiring only the acquired object from the object.

In the configuration of the above-mentioned (1) of the acquisition device of the present invention, it is preferable to have the following configuration (2).

(2) The object is a crop and the acquired product is a harvest.

The preferred configuration of (2) above has the following effects.
That is,
The acquisition member can move from the tip end side to the base end side by sandwiching the fruit stem (near the harvested product) of the crop.
The first cutting portion is arranged on the tip side of the acquisition member, and separates the portion (fruit stem (near the harvested product)) sandwiched between the acquisition members from the crop.
The second cutting portion is arranged on the base end side of the acquisition member, and separates the harvested product from the portion (fruit stem (near the harvested product)) sandwiched between the acquired members.
The grip portion is gripped by the user's hand when using the acquisition device.

Here, when shipping a harvested crop (for example, bell pepper), if the fruit stem extending from the harvested product is in a long state, it may damage other harvested products, and it is possible to ship in this state. Can not.
According to the preferred configuration of (2) above, first, by providing the grip portion that is gripped by the user's hand when using the acquisition device, it is possible to substantially manually harvest agricultural products such as bell peppers. .. As a result, it is possible to eliminate the risk of damaging the crops.
Further, according to the preferable configuration of the above (2), the portion (fruit stem (near the harvested product)) sandwiched between the acquisition members is separated from the crop by the first cutting portion, and then acquired by the second cutting portion. The harvested product can be separated from the portion sandwiched between the members (fruit stem (near the harvested product)).
As described above, by using the acquisition device having the preferable configuration of the above (2), it is possible to take the fruit stalk at the time of harvesting the harvested product, and it is possible to ship the harvested product without removing the fruit stalk after harvesting. Since it can be done, it is possible to reduce the burden of farm work.
Therefore, according to the preferable configuration of the above (2), it is possible to provide an acquisition device that does not have a risk of damaging the harvested product and can reduce the burden on the harvesting of the agricultural product.

According to the present invention, in particular, when the object to be acquired is an agricultural product, there is no risk of damaging the harvested product, and it is possible to provide an acquisition device capable of reducing the burden on the harvesting of the agricultural product. Can be done.

Perspective view of the acquisition device according to the first embodiment of the present invention as viewed from diagonally above. Perspective view of the acquisition device according to the first embodiment of the present invention when viewed from diagonally above (state in which the first cutting portion and the first connecting member are removed). Perspective view of the acquisition device according to the first embodiment of the present invention as viewed from diagonally below. A side view showing the configuration of the acquisition device according to the first embodiment of the present invention. Top view showing the configuration of the acquisition device according to the first embodiment of the present invention. Perspective view showing the usage state of the acquisition device according to the first embodiment of the present invention (a state in which the acquisition device is brought close to the object (agricultural product) by gripping the grip portion of the handle). Side view showing the usage state of the acquisition device according to the first embodiment of the present invention (a state in which the portion sandwiched between the acquisition members (fruit stem (near the harvested product)) is separated from the object (agricultural product)). A side view showing the usage state of the acquisition device according to the first embodiment of the present invention (a state in which the acquired material (harvested product) is separated from the portion sandwiched between the acquired members (fruit stem (near the harvested product))). A perspective view of the acquisition device according to the second embodiment of the present invention as viewed from diagonally above (the handle is not shown). Perspective view of the acquisition device according to the second embodiment of the present invention as viewed from diagonally below (the handle is not shown).

Hereinafter, the present invention will be described in more detail with reference to preferred embodiments. However, the following embodiments are merely examples that embody the present invention, and the present invention is not limited thereto.

[Embodiment 1]
(Configuration of acquisition device)
First, the configuration of the acquisition device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.
In the present embodiment, a case where the object to be acquired is a crop and the acquired object is a harvested product separated from the crop will be described as an example.

FIG. 1 is a perspective view of the acquisition device according to the first embodiment of the present invention viewed from diagonally above, and FIG. 2 is a perspective view of the acquisition device viewed from diagonally above (state in which the first cutting portion and the first connecting member are removed). FIG. 3 is a perspective view of the acquisition device viewed from diagonally below, FIG. 4 is a side view showing the configuration of the acquisition device, and FIG. 5 is a plan view (top view) showing the configuration of the acquisition device.

The acquisition device 1 of the present embodiment shown in FIGS. 1 to 5 is an acquisition device including an acquisition unit 2 for acquiring the crop C (see FIG. 6).
The acquisition device 1 of the present embodiment specifically attaches a crop F (see FIG. 6) above the ground surface and above the ground surface among the crops C, for example, peppers, tomatoes, citrus fruits, and the like. It is suitably used for obtaining (harvesting) vegetables and fruits such as strawberries, eggplants, and cucumbers.

As shown in FIGS. 1 to 5, the acquisition unit 2 of the acquisition device 1 includes a pair of acquisition members 3R, 3L, a first cutting portion 4, a second cutting portion 5, and a handle 6 having a grip portion 6b. , Equipped with. The grip portion 6b is gripped by the hand of the user (operator) when the acquisition device 1 is used. That is, the acquisition device 1 of the present embodiment is a handheld acquisition device.
According to the configuration of the acquisition device 1 of the present embodiment, by providing the grip portion 6b that is gripped by the user's hand when the acquisition device 1 is used, the crop C such as bell peppers is substantially manually harvested. be able to. As a result, it is possible to eliminate the risk of damaging the crop C.

The pair of acquisition members 3R and 3L have facing surfaces 3r and 3l facing each other, respectively. The acquisition unit 2 sandwiches the fruit stem FS of the crop C (near the harvested product F, see FIGS. 6 and 7) between the facing surfaces 3r and 3l of the pair of acquisition members 3R and 3L, and bases the crop C from the tip side. It can be moved to the end side (the crop F can be pulled from the tip side to the base end side).

The pair of acquisition members 3R and 3L each include an acquisition base 7, a motor gear 8, a plurality of pulleys 9, and an endless belt 10.
Each acquisition base 7 is composed of a rectangular parallelepiped rod body extending from the proximal end side toward the distal end side.
In the pair of acquisition bases 7, the upper surface of the tip portion is connected by the first cutting portion (connecting member) 4, and the upper and lower surfaces of the base end portion are connected by the first and second connecting members 11 and 12. As a result, the pair of acquisition bases 7 are in a state of extending in parallel with each other at a predetermined interval.

The first cut portion 4 is fixed so as to straddle between the facing surfaces 3r and 3l, and when viewed with the tip side facing down, the tip (lower end) has a substantially eight-shaped flat plate shape. Is formed in. As a result, the fruit stem FS of the crop C can be easily inserted between the pair of acquisition members 3R and 3L from the tip side. The first cutting portion 4 is provided with a pair of left and right round blades 13 rotatably on the upper surface on the base end side. Here, the pair of left and right round blades 13 are provided so as to be slightly inclined in a V shape with the blades overlapping each other, whereby the fruit stalk FS of the crop C is provided by the pair of left and right round blades 13. It can be easily cut by pressing it against the central part.
Similar to the first cutting portion 4, the pair of pulley support members 14 are fixed to the lower surface of the tip portions of the pair of acquisition bases 7 with the tips open in a substantially eight-shaped shape.

The first connecting member 11 is horizontally formed from the central portion of the lower bottom of the first member 11a to the base end side with the first member 11a formed in a substantially isosceles trapezoidal shape when viewed with the base end side facing down. It is composed of a vertically long rectangular plate-shaped second member 11b protruding from the surface. The corners at both ends of the lower bottom of the first member 11a are formed in an R shape.
The second connecting member 12 is formed in a substantially horizontally long rectangular plate shape when viewed with the base end side facing down, and the first member 12a in which the central portion of the upper side is cut out and the central portion of the lower side of the first member 12a. It is composed of a vertically long rectangular plate-shaped second member 12b projecting horizontally from the base end side. Each corner of the first member 12a is formed in an R shape.

The motor gear 8 is rotatably provided at each corner of the upper side of the first member 12a of the second connecting member 12. Each motor gear 8 rotates by receiving a driving torque from the motor 15. The motor gear 8 of the acquisition member 3R and the motor gear 8 of the acquisition member 3L are rotated in opposite directions by the control of the motor 15 by the control unit (not shown) (arrows D and E in FIG. 5). See). Although two motors 15 are mounted in the present embodiment, the motors 15 may be composed of one or three or more motors.

The plurality of pulleys 9 include the tip portions of the first cutting portion 4 and the pair of pulley support members 14, the first member 11a of the first connecting member 11, and the lower side (lower side) of the first member 12a of the second connecting member 12. It is rotatably provided on the bottom) part.

The endless belt 10 is wound around a plurality of pulleys 9. The endless belt 10 is made of, for example, rubber or the like, and a tooth mold (unevenness) 10a is formed on the outer surface thereof over the entire circumference. Then, the endless belt 10 rotates when its tooth mold 10a meshes with the teeth of the motor gear 8 that rotates in response to the driving torque from the motor 15. As described above, since the motor gear 8 of the acquisition member 3R and the motor gear 8 of the acquisition member 3L are configured to rotate in opposite directions (see arrows D and E in FIG. 5), the acquisition member 3R Both the endless belt 10 and the endless belt 10 of the acquisition member 3L move from the tip end side to the base end side between the facing surfaces 3r and 3l.
In this case, it is preferable that the tooth mold 10a of the endless belt 10 of the acquisition member 3R and the tooth mold 10a of the endless belt 10 of the acquisition member 3L mesh with each other on the facing surfaces 3r and 3l. The pitch and tooth width of the tooth mold 10a of the endless belt 10 can be arbitrarily determined according to the harvested product F.

The second cutting portion 5 is fixed to the base end side of the lower surface of the pair of acquisition bases 7 so as to straddle between the facing surfaces 3r and 3l.
The second cut portion 5 is formed in a substantially square-shaped flat plate shape when viewed with the tip end side facing down, and the tip end portion is fixed with the base end side slightly floating. A pair of left and right round blades 18 are rotatably provided on the upper surface of the second cutting portion 5 on the base end side. Here, the pair of left and right round blades 18 are provided so as to be slightly inclined in a V shape with the blades overlapping each other, whereby the fruit stalk FS of the harvested product F is provided with the pair of left and right round blades 18. It can be easily cut by pressing it against the central part of the blade.
Since the first cutting portion 4 has been described above, the description thereof will be omitted here.

The handle 6 is provided at the base end portion of the pair of acquisition members 3R and 3L.
The handle 6 is a first horizontal member 6a that is sandwiched and fixed by a second member 11b of the first connecting member 11 and a second member 12b of the second connecting member 12, and diagonally downward from the rear end of the first horizontal member 6a. A grip portion 6b that extends and is gripped by a user (operator) hand when the acquisition device 1 is used, a second horizontal member 6c that extends from the lower end of the grip portion 6b to the tip side (front), and a second horizontal member 6c. It includes a vertical member 6d that extends vertically upward from the front end and is fixed to the first horizontal member 6a. The upper and lower ends of the grip portion 6b are formed in an R shape.

The acquisition unit 2 includes a battery (not shown) that serves as a power source for driving the motor 15, and an on / off switch (not shown) for turning the battery on and off is provided on the first horizontal member 6 of the handle 6. There is.
A joystick (not shown) is provided on the first horizontal member 6a of the handle 6, and the rotation of the motor 15 can be controlled by operating the joystick.

The acquisition unit 2 includes a camera 16 located between a pair of left and right motors 15, and includes LED lights 17 located on the left and right sides of the camera 16. The battery is also used as a power source for operating the camera 16 and the LED light 17.
Here, the camera 16 is used to recognize the crop C, the fruit stem FS, and the harvested product F, and the LED light 17 illuminates the crop C, the fruit stem FS, and the harvested product F, and recognizes the crop C, the fruit stem FS, and the harvested product F during the daytime and at night. Used to improve accuracy.

(How to use the acquisition device)
Next, a method of using the acquisition device in the present embodiment will be described with reference to FIGS. 6 to 8.

FIG. 6 is a perspective view showing a usage state of the acquisition device according to the first embodiment of the present invention (a state in which the grip portion of the handle is gripped and the acquisition device is brought close to the object (agricultural product)), and FIG. 7 is the acquisition. A side view showing the usage state of the device (a state in which the part sandwiched between the acquisition members (fruit stalk (near the harvested product)) is separated from the object (agricultural product)), and FIG. 8 shows the usage state of the acquisition device. It is a side view (a state in which the acquired material (harvested product) is separated from the portion sandwiched between the acquired members (fruit stalk (near the harvested product))).

First, as shown in FIG. 6, while the grip portion 6b of the handle 6 is gripped by one hand, the on / off switch is turned on by the other hand. As a result, the motor 15 is driven, and the tooth mold 10a of the endless belt 10 meshes with the teeth of the motor gear 8 that rotates in response to the driving torque from the motor 15, and the endless belt 10 starts to rotate.
In this case, the motor gear 8 of the acquisition member 3R and the motor gear 8 of the acquisition member 3L rotate in opposite directions under the control of the motor 15 by the control unit (see arrows D and E in FIG. 5). Then, the endless belt 10 of the acquisition member 3R and the endless belt 10 of the acquisition member 3L both move from the tip end side to the base end side between the facing surfaces 3r and 3l.

Next, with the grip portion 6b of the handle 6 gripped by one hand, the acquisition device 1 is brought close to the crop C, and the fruit stalk FS (near the harvest product F) of the crop C is placed on the tip side of the acquisition portion 2. 1 Insert into the tip of the cutting portion 4. Then, the fruit stalk FS of the crop C is pulled in while being sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L, and is moved to the base end side. As a result, the fruit stalk FS is pressed against the central portion of the pair of left and right round blades 13 of the first cutting portion 4 to be cut. That is, the portion (fruit stem FS (near the harvested product F)) sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L is separated from the crop C, and the state shown in FIG. 7 is obtained.

Next, the harvested product F further moves to the proximal end side in a state where the fruit stem FS is sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L (see arrow A in FIG. 7).
Then, as shown in FIG. 8, the fruit stalk FS is pressed against the central portion of the pair of left and right round blades 18 of the second cutting portion 5 and is cut. That is, the harvested product F is separated from the portion (fruit stem FS (near the harvested product F)) sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L, and the harvested product F falls downward (FIG. 8). See arrow B).
The harvested product F that falls downward is housed in a separately prepared harvesting container.

Here, when the harvested product F (for example, bell pepper) of the crop C is shipped, if the fruit stem FS extending from the harvested product F is in a long state, there is a possibility of damaging other harvested products F, and this state. Cannot be shipped.
As described above, when the acquisition device 1 of the present embodiment is used, the portion sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L from the crop C by the first cutting portion 4 (fruit FS (harvest product). (Near F))) is separated from the portion (fruit FS (near harvest F)) sandwiched between the endless belts 10 of the pair of acquisition members 3R and 3L by the second cutting portion 5. be able to.
As described above, by using the acquisition device 1 of the present embodiment, it is possible to take the fruit stalk FS at the time of harvesting the harvested product F, and it is possible to ship the harvested product F without taking the fruit stalk FS after the harvest. , It is possible to reduce the burden of farm work.

[Embodiment 2]
(Configuration of acquisition device)
Next, the configuration of the acquisition device according to the second embodiment of the present invention will be described with reference to FIGS. 9 and 10.
In this embodiment as well, the case where the object to be acquired is a crop and the acquired object is a harvested product separated from the crop will be described as an example.

FIG. 9 is a perspective view of the acquisition device according to the second embodiment of the present invention viewed from diagonally above (the handle is not shown), and FIG. 10 is a perspective view of the acquisition device viewed from diagonally below (the handle is not shown). ).

The acquisition device 21 of the present embodiment shown in FIGS. 9 and 10 is an acquisition device including an acquisition unit 22 for acquiring the crop C (see FIG. 6).
The acquisition device 21 of the present embodiment also attaches the harvested product F (see FIG. 6) among the crops C, particularly above the ground surface and above the ground surface, for example, peppers, tomatoes, citrus fruits, and the like. It is suitably used for obtaining (harvesting) vegetables and fruits such as strawberries, eggplants, and cucumbers.

As shown in FIGS. 9 and 10, the acquisition unit 22 of the acquisition device 21 has a pair of acquisition members 23R and 23L, a first cutting portion 24, a second cutting portion 25, and a handle having a grip portion (shown). ), And. The grip portion is gripped by the hand of the user (operator) when the acquisition device 21 is used. That is, the acquisition device 21 of the present embodiment is also a handheld acquisition device.
According to the configuration of the acquisition device 21 of the present embodiment, by providing the grip portion that is gripped by the user's hand when the acquisition device 21 is used, the crop C such as bell peppers can be harvested substantially manually. Can be done. As a result, it is possible to eliminate the risk of damaging the crop C.

The pair of acquisition members 23R and 23L have facing surfaces 23r and 23l that face each other, respectively. The acquisition unit 22 can move from the tip end side to the base end side by sandwiching the fruit stem FS (near the harvested product F) of the crop C between the facing surfaces 23r and 23l of the pair of acquisition members 23R and 23L. (It is possible to pull the harvest F from the tip side to the base end side).

The pair of acquisition members 23R and 23L each include an acquisition base 27, a plurality of main rollers 28, a plurality of auxiliary rollers 29, and an endless belt 30.
Each acquisition base 27 is formed in a shape (for example, a substantially triangular shape) in which the width seen from the upper surface becomes narrower from the base end side to the tip end side. As a result, the leaves of the crop C and the like are scraped off, and it becomes easy to approach the harvested product F.

The plurality of main rollers 28 are rotatably provided at the apex positions on the outer periphery of the acquisition base 27, respectively. The main roller 28 is arranged so that the outer edge protrudes from the outer circumference of the acquisition base 27. One of the plurality of main rollers 28 is rotated by driving a motor (not shown). It should be noted that any one of the plurality of main rollers 28 may be rotated by a gear member that transmits the drive of the motor. The main roller 28 of the acquisition member 23R and the main roller 28 of the acquisition member 23L are configured to rotate in opposite directions under the control of a motor by a control unit (not shown).

The plurality of auxiliary rollers 29 are provided on the facing surfaces 23r and 23l of the acquisition base 27. Here, the acquisition unit 22 sandwiches the fruit stem FS (near the harvested product F) of the crop C between the facing surfaces 23r and 23l of the pair of acquired members 23R and 23L, and bases the harvested product F from the tip side. It can be moved to the end side (the harvest F can be pulled from the tip side to the base end side). By arranging the plurality of auxiliary rollers 29 on the facing surfaces 23r and 23l, respectively, it is possible to maintain the holding force between the facing surfaces 23r and 23l.

The endless belt 30 is wound around a plurality of main rollers 28 and a plurality of auxiliary rollers 29. The endless belt 30 is made of a material having a relatively high surface friction coefficient, such as rubber.
As in the case of the first embodiment, a tooth mold (unevenness) may be formed on the outer surface of the endless belt over the entire circumference. In this case, it is preferable that the tooth profile of the endless belt of the acquisition member 23R and the tooth profile of the endless belt of the acquisition member 23L mesh with each other on the facing surfaces 23r and 23l. Further, the pitch and the tooth width of the tooth mold of the endless belt can be arbitrarily determined according to the harvested product F.

The first cutting portion 24 and the second cutting portion 25 are fixed so as to straddle between the facing surfaces 23r and 23l, respectively.
As shown in FIG. 9, the first cutting portion 24 is provided on the tip end side of the upper surface of the acquiring portion 22 in a state of being fixed to the acquisition base 27 of the pair of acquisition members 23R and 23L. The first cutting portion 24 has a blade on the tip end side that is inclined from the tip end side toward the base end side.
As shown in FIG. 10, the second cutting portion 25 is provided on the base end side of the lower surface of the acquiring portion 22 in a state of being fixed to the acquisition base 27 of the pair of acquisition members 23R and 23L. The second cutting portion 25 has a blade on the tip end side that is inclined from the tip end side toward the base end side.
It is preferable that the blades of the first cutting portion 24 and the blades of the second cutting portion 25 are inclined in opposite directions.

The handle is provided at the base end portion of the pair of acquisition members 23R and 23L.
Similar to the first embodiment, the handle may have a grip portion that is gripped by the hand of the user (operator) when the acquisition device 21 is used.

The acquisition unit 22 includes a battery (not shown) that serves as a power source for driving the motor that rotates any of the plurality of main rollers 28, and an on / off switch (not shown) that turns the battery on and off near the handle. ) Is provided.

(How to use the acquisition device)
Next, a method of using the acquisition device in this embodiment will be described.

First, with the grip portion of the handle gripped by one hand, the on / off switch is turned on with the other hand. As a result, the motor is driven and the main roller 28 starts to rotate.
In this case, the main roller 28 of the acquisition member 23R and the main roller 28 of the acquisition member 23L rotate in opposite directions under the control of the motor by the control unit, and the endless belts 30 of the pair of acquisition members 23R and 23L are on the tip side. In the direction of rotation from the outside toward the facing surfaces 23r and 23l (see arrows G and H in FIG. 9).

Next, with the grip portion of the handle gripped by one hand, the acquisition device 21 is brought close to the crop C (see FIG. 6), and the fruit stem FS (near the harvest F) of the crop C is brought into a pair of acquisition members. It is inserted between the facing surfaces 23r and 23l from the tip side of 23R and 23L. Then, the fruit stalk FS of the crop C is pulled in while being sandwiched between the endless belts 30 of the pair of acquisition members 23R and 23L, and is moved to the base end side. Then, as a result, the fruit stalk FS is pressed against the blade of the first cutting portion 24 and cut. That is, the portion (fruit stem FS (near the harvested product F)) sandwiched between the endless belts 30 of the pair of acquisition members 23R and 23L is separated from the crop C, and the state shown in FIG. 9 is obtained.

Next, the harvested product F further moves to the proximal end side in a state where the fruit stem FS is sandwiched between the endless belts 30 of the pair of acquisition members 23R and 23L (see arrow I in FIG. 9).
Then, as shown in FIG. 10, the fruit stalk FS is pressed against the blade of the second cutting portion 25 and cut. That is, the harvested product F is separated from the portion (fruit stem FS (near the harvested product F)) sandwiched between the endless belts 30 of the pair of acquisition members 23R and 23L, and the harvested product F falls downward (FIG. 10). See arrow J).
The harvested product F that falls downward is housed in a separately prepared harvesting container.

Since the effects produced by the configuration of the acquisition device 21 of the present embodiment are the same as the effects produced by the configuration of the acquisition device 1 of the first embodiment, the description thereof will be omitted.

The acquisition device 21 is provided with a small container (not shown) containing a disinfectant solution around the round blades 13 and 18, and includes a mechanism for disinfecting the round blades 13 and 18 when the harvested product F is acquired. You may have.

In the first and second embodiments, the case where the object to be acquired is a crop and the acquired object is a harvested product separated from the crop has been described as an example. However, the present invention is not necessarily limited to such applications.
The acquisition device of the present invention may be used for pruning, defoliation, and pruning of agricultural work, or may be used as a hand for an industrial robot in another industry (manufacturing industry, service industry), for example, a metal shaft. It can also be suitably used for gripping elongated rod-shaped parts, picking up overlapping films (thin films) and paper one by one, and removing burrs such as resin molding in the manufacturing industry.

Further, in the first embodiment, the handle 6 is a first horizontal member 6a fixed to the base end portions of the pair of acquisition members 3R and 3L, and a grip portion extending diagonally downward from the rear end portion of the first horizontal member 6a. 6b, a second horizontal member 6c extending from the lower end of the grip portion 6b to the tip side (front), and a vertical member 6d extending vertically upward from the front end of the second horizontal member 6c and fixed to the first horizontal member 6a. The case where the above is provided has been described as an example. That is, the case where the handle 6 is formed in a ring shape has been described as an example. However, the present invention is not necessarily limited to such a configuration.
The handle in the acquisition device of the present invention may have a grip portion provided at the base end portion of the acquisition member and gripped by the user's hand when the acquisition device is used. For example, the handle may have a substantially columnar grip portion extending from the base end portion of the acquisition member toward the base end side.

1,21 Acquisition device 2,22 Acquisition part 3R, 3L, 23R, 23L Acquisition member 3r, 3l, 23r, 23l Facing surface 4,24 First cutting part 5,25 Second cutting part 6 Handle 6a First horizontal member 6b Grip part 6c 2nd horizontal member 6d Vertical member 7,27 Acquisition base 8 Motor gear 9 Pulley 10,30 Endless belt 10a Tooth type (concavo-convex)
11 1st connecting member 11a, 12a 1st member 11b, 12b 2nd member 12 2nd connecting member 13, 18 Round blade 14 Pulley support member 15 Motor 16 Camera 17 LED light 28 Main roller 29 Auxiliary roller C Agricultural product F Harvest product FS Fruit stalk

Claims (2)

It is an acquisition device equipped with an acquisition unit that acquires an object.
The acquisition unit
An acquisition member that can move from the tip end side to the base end side by sandwiching the vicinity of the acquisition object of the object.
A first cutting portion that is arranged on the tip side of the acquisition member and separates a portion sandwiched between the acquisition members from the object.
A second cutting portion that is arranged on the base end side of the acquisition member and separates the acquired object from a portion sandwiched between the acquisition members.
An acquisition device including a handle provided at a base end portion of the acquisition member and having a grip portion gripped by a user's hand. The acquisition device according to claim 1, wherein the object is an agricultural product and the acquired product is a harvested product.

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