JPH01165307A - Apparatus for harvesting fruit vegetables - Google Patents

Abstract

PURPOSE:To selectively use an inclination angle suitable for approach to a fruit vegetable and to lower the probability of harvest failure, by using a vacuum pad having inclined direction and making the direction freely changeable to vertical or horizontal direction based on the expansion direction of an arm. CONSTITUTION:A working hand H is provided with a vacuum pad 10 to suck a fruit vegetable and is attached to a tip end of an expansion arm 5. A 1st gear 27 freely rotatable around an oscillating shaft P1 with a 1st air cylinder 28 is attached to a tip end 5a of the arm 5 and a 2nd gear 29 freely rotatable around an vertical shaft P2 with a 2nd air cylinder 30 is attached to a rear end of the working hand H. Both gears are engaged with each other to constitute an inclination switching means A. In the case of approaching the apparatus toward a harvesting object fruit, the inclination switching means A is actuated when there is an obstruction in front of the objective fruit vegetable and the harvesting apparatus is approached to the fruit while detouring the obstruct.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides that a vacuum pad for adsorbing fruits and vegetables is attached to the distal end of a telescoping arm, and a swinging axis in a direction intersecting the direction of extension and contraction of the arm is provided. Fruit vegetables, which are provided with an inclination switching means that is swingably provided around the vacuum pad and that swings the vacuum pad so as to switch the direction of the vacuum pad between a state that corresponds to the extension and contraction direction of the arm and an inclined state. Concerning harvesting equipment.

[Conventional technology]

This type of fruit and vegetable harvesting device described above is configured to cause the vacuum pad to approach the fruit to be harvested in a straight line by extending the arm in the direction in which the fruits and vegetables to be harvested are located. However, if there are branches or leaves in front of the fruits and vegetables that are being absorbed by the vacuum pad, there is a risk that the branches or leaves will get in the way and the vacuum pad will not be able to properly absorb the fruits to be harvested. In order to be able to approach the vacuum pad from a direction that bypasses branches and leaves that would get in the way of suction, the direction of the vacuum pad relative to the arm's extension and contraction direction can be switched between a state that matches the arm's extension and contraction direction and an inclined state. (See Figure 10).

However, in the past, the set angle could be tilted in one direction, either up or down or left or right, with respect to the state that corresponds to the direction of extension and contraction of the arm.

[Problem that the invention seeks to solve]

However, in the conventional configuration described above, the direction of the vacuum pad can only be tilted in one direction with respect to the state that corresponds to the direction of extension and contraction of the arm.
If there are branches or leaves on the side that can be approached by tilting the vacuum pad, there is a risk that the fruits and vegetables to be harvested will not be able to be absorbed, and an improvement has been desired.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to enable the direction of a vacuum pad with respect to the direction of extension and contraction of the arm to be switched from a state that corresponds to the direction of extension and contraction of the arm to a plurality of different directions. There is a particular thing.

[Means for solving problems]

The characteristic configuration of the fruit and vegetable harvesting device according to the present invention is as follows.

The inclination switching means is configured to be able to freely switch the direction of the vacuum pad from a state in which the direction of the vacuum pad coincides with the direction of extension and contraction of the arm to a state in which it is tilted in both the up and down directions or in both the left and right directions.

[For production]

The direction of the vacuum pad can be changed from a state in which it is aligned with the direction of extension and contraction of the arm to a state in which it is tilted both up and down or in both directions. When it is not possible to approach in the same direction, the detour direction can be selected from either the up and down directions or the left and right directions that are easier to approach.

〔Effect of the invention〕

Therefore, if branches or leaves are in the way and it is not possible to approach the vacuum pad in the same direction as the arm's extension/contraction direction, use the side that is easier to approach, either up and down or left and right. Since it can be used selectively, it has become possible to reduce the probability of harvest failure.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 4 and 5, approximately at the center of a vehicle body (V) equipped with a pair of left and right running wheels (1) at the front and rear,
A rotatable support post (2) is erected, and a boom (3) is attached to the upper end of the support post (2) so as to be movable up and down.

An auxiliary boom (4) is attached to the tip of the boom (3) so as to be able to swing freely in the horizontal direction.
An articulated arm (5) is attached to the tip of the arm (5) so that it can rotate and swing vertically.
A work hand (H) for fruit harvesting is attached to the tip of 5) to constitute a fruit harvesting machine.

In the figure, (6) is a hydraulic cylinder for swinging the support post (2), (7) is a hydraulic cylinder for lifting and lowering the boom (3), (8) is an electric motor for swinging the auxiliary boom, (K
) is a box for storing harvested fruits.

The arm (5) is rotated by an electric motor (9a) to rotate the vertical axis (
Y), and is configured to be operated to swing around a horizontal axis (X) by an electric motor (9b), and to be extended and contracted by an electric motor (9C). That is, although the arm (5) is configured as a multi-joint type, it operates as a telescoping arm.

To explain the working hand (1), as shown in Figs. 1 and 2, the vacuum pad (lO) for suctioning fruit is placed in the suction position with its suction port facing the front side of the hand. A branch pipe (12) for ventilation is fitted externally to the tip of the ventilation pipe (11), and a branch pipe (12) for ventilation is provided at the base of the ventilation pipe (11). (I3) is connected.

The branch pipe (1) is attached to the tip of the arm (5).
The base end of 2) is attached to be swingable around the swing axis (P1), and the direction of the work hand (H) can be changed from a state that corresponds to the direction of extension and contraction of the arm (5) to both left and right directions. It is configured so that the set angle can be switched to a tilted state.

Incidentally, a tilt switching means (
The configuration of A) will be described later.

However, the bellows type hose (13) is not equipped with an intake pump (
14) (see Figure 4).

Further, a trapping part case including a cutting device for cutting the fruit stalk, so-called fruit stalk, captured while being attracted to the vacuum pad (10), and a space for storing the vacuum pad (10). (15) is provided.

As shown in FIGS. 1 and 2, the trapping part case (15) includes a proximal end portion (15a) that is externally supported by the ventilation pipe (11) so as to be slidable in the front-rear direction of the hand; An upper cover part (15b) is fixed to cover the upper part of the distal end side and both right and left sides of the hand (H), and a lower cover part (15C) is fixed to the lower part of the distal end side of the base end part (15a). The upper cover part (15b) and the lower cover part (15C) cover the outer peripheral part of the hand.

However, an opening (16) of a size that allows the fruit adsorbed by the vacuum pad (10) to pass through is formed at a location facing the suction port of the vacuum pad (10) (Fig. 9). (See (a) to (c)).

In addition, a slit-like groove (17) through which the fruit stalk is inserted is formed in the portion of the double force bar portions (15b) and (15c) close to the opening (16), so that when harvesting the fruit, Only the harvested fruit sucked by the vacuum pad (10) can be taken into the trapping part case (15), and the handle can be smoothly moved when taking the fruit.

By the way, the lower cover part (15C) has an axis (Q) along the vertical direction in order to discharge downwardly the fruit with the stem cut, which is held in the catcher case (15).
It is attached so that it can swing freely. An air cylinder (18) for laterally opening and closing the lower cover portion (15c) is connected to the trapping part case (15).
It is fixed to the lower part of the proximal end portion (15a) of.

As shown in FIGS. 1 and 2, the handle cutting device includes a clipper-type cutter (19) in the shape of a strip and semicircular arc;
It consists of a handle support member (P1) in the shape of a strip and a semi-circular arc, and both ends of the force lid (19) and the handle support member (P1)) are swingable around the horizontal axis. The base end portion (15a) of the case (15) is pivotally mounted on both left and right sides of the base end portion (15a).

and the cutter (19) and the handle support member (P1))
Each of them has a state in which the handle of the fruit captured in the trapping part case (15) is protruded to the front side of the hand so as to support the handle between them, and a state in which the handle is protruded to the rear side of the hand to form a passage for introducing the fruit between them. In order to switch between the evacuation state and
It is configured to be able to swing in and out using an electric motor (21). Further, an air cylinder (22) for sliding the force lid (19) is provided, and as a result, the cutter (19) and the handle support member (P1) are moved in accordance with the upright operation that swings toward the protruding side. A handle is supported between the handle and the handle, and the supported handle is cut by the sliding operation of the force cover (19) (see FIGS. 9(d) and (e)).

However, although not shown in the drawings, when either one of them (I9) and the handle support member (P1) comes into contact with the handle first, the cutter (19) that came into contact with it first
Or, with the raising operation of the handle support member (P1)) stopped, the other handle support member (P1)) or cutter (19)
The electric motor (21) is interlocked with the electric motor (21) through a differential mechanism so that the electric motor (21) can be operated continuously. In other words,
The protruding positions of the cutter (19) and the handle support member (P1) are automatically changed according to the position of the handle of the captured fruit.

In the figure, (S1) is a negative pressure sensor for detecting that fruit is adsorbed to the vacuum pad (10), and is provided at the upper part of the branch pipe (12), and the detection information is Based on this, the sliding movement of the trapping part case (15), the swinging movement of the cutter (19) and handle support member (P1)), the sliding drive of the cutter (19), etc. are controlled. It will be activated. (S2) is a previous generation proximity sensor that detects when the vacuum pad (10) approaches the fruit to be harvested within a set distance; The attached signal processing unit (23) and its signal processing unit (23)
), and an optical fiber (24) extending from the branch pipe (12) and the ventilation pipe (11) to the distal end side of the vacuum pad (10). ) will control the start of the suction operation. (S3) is a color image sensor that images an object in the direction of the vacuum pad (10), and is located inside the opening at the tip of the ventilation pipe (11) together with the proximity sensor (S2). It is provided in a stored state and is configured to detect the direction in which the fruit to be harvested is located based on the color and brightness of the imaged information. Moreover, (25) is the image sensor (S
2) is an illumination device that illuminates the front side so that the imaging information is not affected by surrounding brightness; (26) is an air cylinder for sliding the capturing unit (15) back and forth;

Next, the vacuum pad (10) is attached to the arm (5).
) The configuration of the tilt switching means (A) that performs swing operation with respect to the angle .

As shown in FIGS. 1 and 2, the work hand (H)
At the distal end portion (5a) of the arm (5) on which the arm (5) is pivotally supported,
a first gear (27) rotatable around the swing axis (P1);
) is attached, and the first gear (27) is rotated counterclockwise with respect to the length direction of the arm (5) within a range of 90 degrees as a setting angle, and is a two-position switching type. The first air cylinder (28) of the arm (5
) side.

A second gear (2) meshes with the first gear (27).
9) is rotatably attached around the vertical axis (P2) on the side of the branch pipe (12), and rotates its second gear (29) within a range of 90 degrees around the vertical axis (P2). The first gear (2
A second air cylinder (30), which has the same structure as the first air cylinder (28) and is rotated clockwise in the opposite direction to the second air cylinder (30), is fixed to the branch pipe (12) side.

However, the number of teeth of the first gear (27) is the same as that of the second gear (27).
The second gear (29) has twice the number of teeth of the second gear (29).
) is formed with a larger diameter.

Then, as shown in FIG. 3, both the air cylinders (2
8) and (30) are both in the OFF state, the direction of the vacuum pad (10) and the extension/contraction direction of the arm (5) match, and the tip side of the vacuum pad (10) and arm (5) The second air cylinder (3
When only 0) is turned ON, the second gear (29) is rotated 90 degrees while planetarily rotating along the outer periphery of the first gear (27). However, since the number of teeth of the first gear (27) is twice the number of teeth of the second gear (29), as the second gear (29) rotates 90 degrees, The vacuum pad (10) is in a state in which the direction is changed by 45 degrees counterclockwise with respect to the arm (5) (the state shown in (b) in the figure).

Similarly, both air cylinders (2g), (30)
As both are turned on, the first gear (27)
rotates 90 degrees counterclockwise around the vertical axis (P1) on the distal end side of the arm (5), and the second gear (29) rotates planetarily along the outer periphery of the first gear (27). While moving, the first gear (27) is rotated 90 degrees clockwise.
This results in a state in which the direction is changed clockwise by 45 degrees corresponding to the gear ratio (2:1) of the second gear (29) (the state indicated by (C) in the figure).

Incidentally, when the first air cylinder (28) is turned on while the second air cylinder (30) is turned off, the vacuum pad (10) is turned clockwise by 90 degrees (Fig. It is also possible to switch to the state shown in (d).

With this, the air cylinder (28) has a simple structure and is a two-position switchable type that rotates the pair of gears (27) and (29) over a range of 90 degrees as a set angle.
30) while using the vacuum pad (10)
The direction of the arm (5) can be changed freely from a state in which the arm (5) is tilted at a set angle of 045 degrees in both left and right directions.

The direction in which the direction of the vacuum pad (10) is changed by the inclination switching means (A) will be explained as follows.
As shown in FIG. 10, the vacuum pad (10)
When the vacuum pad (10) approaches the fruit (F) to be harvested, which is on the extension line of the direction in which the direction of , branches (F1) and leaves (not shown)
If there is an object that obstructs the approach, there is a risk that the vacuum pad (10) will not be able to properly suction the fruit (F), but in such a case, the inclination switching means (^) The vacuum pad (10) is operated to switch the direction of the vacuum pad (10) to the left or right to approach the fruit (F) from the left side or the right side, bypassing objects that get in the way.

However, the arm (5) is arranged so that the vacuum pad (10) moves straight toward the center of the fruit (F).
In response to the inclination of the vacuum pad (10) with respect to ), the rotation operation of the arm (5) about the vertical axis (Y) and the expansion/contraction operation are performed in coordination.

Next, the configuration of each part will be explained in detail.

As shown in FIG. 4, the boom (3) is formed into a parallel link, and a pulling side parallel link (3b) is provided inside a boom forming member (3a) forming the parallel link.
) so that the boom (3
), the auxiliary boom (4) can be maintained in a horizontal position regardless of the vertical position of the boom (4).

Then, the boom (3) is attached to the support post (2).
), the boom forming member (3a) and the auxiliary boom (4).
Both connecting pins (31b) connecting the boom forming member (3a) are provided below both ends of the boom forming member (3a) and at locations outside the boom forming member (3a). The space formed between the inner lower surface of the member (3a) and the parallel link (3a) is made as wide as possible, and the space is used to connect the bellows type hose (13) and the arm ( 5) and work hand (
Wiring for the various sensors and actuators attached to H) and piping for supplying compressed air to operate the various air cylinders are inserted so that these wiring and piping are not exposed to the outside.

To explain the configuration for rotating the support post (2), as shown in FIGS. A movable pinion (32) is fixedly attached, and a rack (33) meshing with the pinion (32) is slidably driven in the vehicle width direction by the turning hydraulic cylinder (6).

In FIG. 7, (34) is a lock pawl that can freely engage the pinion (32), and the pinion (3
The occlusal state for 2) can be freely switched.

That is, the lock claw (34) is connected to the binion (32).
It is possible to switch between a state in which the support post (2) is fixed so that it does not rotate by engaging with the binion, and a state in which the support post (2) can be rotated by releasing the state in which the support post (2) is engaged with the binion (32). ing. Therefore, it has a simple and compact structure, and can be used when moving the vehicle or the boom (3).
) When working for a long time with the boom (3) facing in a predetermined direction, the boom (3) can be easily fixed at the current swing position to prevent it from swinging carelessly.

As shown in FIGS. 4 and 5, an engine (ε) for driving the traveling wheels (1), the suction pump (14), etc. is located on the front side of the vehicle body (V). It is installed in.

However, as shown in FIG. 8, the engine (8) is
Anti-vibration rubber (3
8) is attached to the upper part of the engine bed (37) supported through the engine bed (37), so that the vibrations of the engine (ε) are hardly transmitted to the vehicle body (V).

The engine bed (37) is formed to have a concave cross section when viewed from the front, and a U-shaped support member (41) is provided at the bottom of the engine bed (37).
) is fixed, and an oil pump (39) and a generator (40) are attached to the support member (41).

In other words, by installing the engine (E) that generates large vibrations and the auxiliary equipment driven by the engine (8) in a low position using the vibration-isolated engine bed (37), the vehicle body (V) In addition to reducing the vibration of
The center of gravity is kept as low as possible.

Further, as shown in FIGS. 4 and 5, the vehicle body (V) is entirely covered with a cover (42) having a smooth outer wall surface, so that when the vehicle body (V) is moved, etc. ) to prevent fruit trees from being damaged by the various equipment installed in the equipment.

Then, using the cover (42), the engine (E) and the air tank (43) mounted on the rear side thereof are connected.
A heat shield plate (44) is provided to separate the equipment from various equipment such as the equipment.

However, the cover (
42) Windows (45) fitted with dustproof mesh members for exhausting heat from the engine (B) are formed on both left and right sides of the engine (B). .

In FIG. 4, (46) is a support member for the air tank (43), and (47) is a support member for the work hand (H) and arm (5).
) is a control unit case that houses a control device that controls the operation of various parts.

[Another example]

In the above embodiment, the inclination switching means (A) for changing the direction of the vacuum pad (10) in both left and right directions with respect to the arm (5) is provided by a pair of gears (27).

(29) and rotary air cylinder (28), (
30), but like the pivot operation configuration of the support post (2), it is also possible to use a rack and a binion to change the direction with a telescoping air cylinder. Good too.

Further, in the above embodiment, the vacuum pad (10) is configured to change its orientation in the left-right direction, but it may be configured to change its orientation in the up-down direction, and the inclination switching means (A) The specific configuration can be changed in various ways.

Further, in the above embodiment, the case where the present invention is applied to a fruit harvesting machine is illustrated, but the present invention can be applied to various fruit and vegetable harvesting devices, and includes a work hand (H), an arm (5)
, auxiliary boom (4), boom (3), and vehicle body (V)
The specific configuration of each part, such as the structure, can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the fruit and vegetable harvesting bag and strawberry according to the present invention,
Figure 1 is a cutaway side view of the working hand, Figure 2 is a plan view of the same,
Fig. 3 is an explanatory diagram of the tilt switching state, Fig. 4 is a cutaway side view of the fruit harvester, Fig. 5 is a plan view of the same, and Fig. 6 is an enlarged rear view of the main parts showing the configuration of the actuator for swinging the boom. Figure, 7th
The figure is the same plan view, Figure 8 is a front view of the main part showing the structure of the engine installation, Figures 9 (a) to (d) are explanatory diagrams of the harvesting operation, and Figure 10 is the state of changing the inclination of the vacuum pad. It is a top view for explanation. (5)...Extendable arm, (10)...
...Vacuum pad, (27)...First gear, (2B)...First fluid pressure actuator,
(29)...Second gear, (30)...
Second fluid pressure actuator, (A)...Inclination switching means, (P1)... Rocking axis.

Claims (1)

[Claims] 1. A vacuum pad (10) for adsorbing fruits and vegetables is attached to the tip of a telescoping arm (5), and a swinging axis ( The vacuum pad (10) is provided so as to be swingable around the vacuum pad (10) in order to switch the direction of the vacuum pad (10) between a state that corresponds to the direction of extension and contraction of the arm (5) and a state that is inclined.
), the fruit and vegetable harvesting device is provided with an inclination switching means (A) for swinging the
The fruit and vegetable harvesting device is configured such that the direction of the vacuum pad (10) can be freely switched from a state in which the direction of the vacuum pad (10) coincides with the direction of expansion and contraction of the arm (5) to a state in which it is tilted in both the up and down directions or in both the left and right directions. 2. The tilt switching means (A) is configured to rotate the swing axis (P
_1) A first gear (27) that is rotatable around the
a two-position switching type first fluid pressure actuator (28) that rotates the gear (27) at a set angle with respect to the arm (5); 10) A second gear (29) rotatably supported on the side, and a two-position switchable second gear that rotates the second gear (29) at a set angle with respect to the vacuum pad (10). Fluid pressure actuator (30
) The fruit and vegetable harvesting device according to claim 1, comprising: