JPH0653014B2 - Pattern-cutting vine in a fruit and vegetable harvesting hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a belt which is swingable between a cutting position for a handle of a captured fruit and vegetables and a retracted position for retracting the fruit and vegetables so as to allow the introduction of the fruit and vegetables. The first plate-shaped blade is provided and the first
The present invention relates to a handle cutting cutter in a fruit and vegetable harvesting hand, in which a second blade body that slides in the longitudinal direction of the blade body and has a cutting action is slidably connected to the first blade body.

[Conventional technology]

In a handle cutting cutter for such a fruit and vegetable harvesting hand, conventionally, as shown in FIG. 9, a cylinder (100) for slidingly moving a second blade (101b) and a second blade (10).
1b) and the strip plate material (104) continuously provided, are pivotally connected using a pin (P), and the strip plate material (104) is pin ( P) It was designed to swing around the axis. In short, in order to allow the rocking of the fruit cutting cutter (101) with the cylinder (100) fixedly arranged,
I was trying to make a pivotal connection at (P). (Japanese Patent Application Sho 59-13
5894 (see JP-A-61-15616).

[Problems to be solved by the invention]

However, according to the above conventional configuration, the first blade body (101a)
The pin (P), which is different from the pivot pin (103) on which the
Since it forms the swinging pivotally supporting portion of the blade body (101b), the swinging axis core (Q) of the first blade body (101a) and the swinging axis center of the second blade body (101b) are aligned with each other. In such a case, it is necessary to accurately manufacture the swing pivot support portion of the first blade body (101a) and the swing pivot support portion of the second blade body (101b). (101
The rocking axis of b) cannot be matched with the rocking axis of the first blade body (101a), and the pivotal support portion of the second blade body (101b) is twisted. There is a possibility that the blades (101a) and (101b) cannot be swung smoothly.

By the way, in the above-mentioned conventional structure, the pin (P) for the second blade body (101b) is fitted with the pivot pin to which the first blade body (101a) is fitted.
It is arranged to incline with respect to (103), and with rocking,
It is devised to match the swing axis of both blades (101a), (101b) as much as possible while automatically changing the external fitting position of the strip plate (104) to the pin (P) in the pin longitudinal direction. However, even in such a case, there is a possibility that the two blade bodies (101a) and (101b) cannot be swung smoothly.

In addition, the cylinder (100) for operating the second blade is replaced by the first blade (101
It is pivotally attached around the swing axis (Q) of a), and the second blade (101
b) and the cylinder (100) are fixedly connected, and the first blade (101a)
A means for integrally swinging the cylinder (100) and the cylinder (100) is conceivable.In this case, the piping structure for the cylinder (100) must be provided with an accommodation for allowing the cylinder (100) to swing. However, it is difficult to implement because it is necessary to suppress the cost increase.

The present invention has been made in view of the above circumstances, and an object thereof is to enable the first blade body and the second blade body to swing smoothly while achieving simplification of the configuration. It is in.

[Means for solving problems]

A characteristic configuration of the handle cutting cutter in the fruit and vegetable harvesting hand according to the present invention is that a pinion provided with a gear is provided along a circumference centered on the swing axis of the first blade body, and the second blade body is provided. The pinion is provided with a gear that is occlusable and has blades arranged in the longitudinal direction of the blade, and a drive device that rotationally drives the pinion is provided. The operation and effect are as follows.

[Action]

That is, the gear provided to the second blade body is moved along the outer periphery of the pinion while being engaged with the pinion, so that the second blade body swings around the pivot axis and the coaxial axis of the first blade body. The second blade body is slidably driven with respect to the first blade body by moving the gear that engages with the pinion by driving the pinion and rotating the pinion.

〔The invention's effect〕

Therefore, the first and second blades can be swung around the coaxial core, and the pinion is simply driven and rotated around the swing axis of the first blade. Since it can be fixedly installed, therefore, while utilizing the advantage that the pinion drive device can be fixedly installed, the structure is simpler than that of the conventional structure in which separate pivot support connections are provided for the first and second blades, respectively. The first and second blades can be swung smoothly.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 6, a fruit harvesting device (2) is provided at the front of the passenger car body (1), and a fruit storage container is provided on the side of the passenger car body (1).
(3) is provided, and a conveyor device (4) for conveying the fruit from the fruit harvesting device (2) to the storage container (3) is provided to configure a fruit harvesting machine mainly used for harvesting apples and mandarins. Yes, the fruit harvesting device (2) will be described in detail below.

A guide frame (6) that guides the boom mount (5) to move up and down is attached to the front part of the passenger car body (1), and the lifting electric motor (7)
The boom mount (5) and the boom mount (5) are interlockingly connected by a chain (8) so that the boom mount (5) can be adjusted up and down.

A plate-shaped boom (9) is pivotally mounted on the boom mount (5) so as to be horizontally swingable around a vertical axis (P ₁ ), and an electric motor (10) for swinging the boom is provided to the boom (9). ), The articulated telescopic arm (11) is rotatably pivoted about the vertical axis (P ₂ ), and the arm pivoting motor (12) is provided.
A fruit harvesting hand (H) is provided at the tip of (11).

The retractable arm (11) is composed of a first arm on the base end side.
(11a), a second arm pivotally supported at the tip of the first arm (11a)
Each of the arm (11b) and the third arm (11c) pivotally supported at the tip of the second arm (11b) is provided, and the first arm (11b) is provided.
The electric motor (13a) for swinging the arm (11a) with respect to the boom (5) around the horizontal axis, the second arm (11b) as the first arm
Electric motor that swings around the horizontal axis with respect to (11a)
(13b) and electric motors (13c) for swinging the third arm (11c) with respect to the second arm (11b) around the horizontal axis are respectively provided.

In constructing the harvesting hand (H), as shown in FIGS. 1 and 2, a U-shaped base frame (14) in plan view is attached to a telescopic arm.
A bolt is fastened to the tip of the (11), and a catch case (15) is bolted to the tip of the base frame (14).

Connect the ventilation pipe (16) to the tubular part (1
5a) is slidably fitted and supported, and a soft rubber vacuum pad (17) is fitted on the tip of the ventilation pipe (16).
The branch pipe (18) for ventilation is externally attached to the base of the ventilation pipe (16),
A flexible bellows-type hose (19) is connected to the branch pipe (18), and the bellows-type hose (19) is connected to a suction pump (20) by piping as shown in FIG. I am doing it. or,
A negative pressure sensor (21) for detecting the adsorption of fruits on the vacuum pad (17) is attached to the branch pipe (18).

A photo sensor (22) is provided for detecting that the harvesting hand (H) has approached the fruit to be harvested. That is, the light emitting part,
While holding the sensor body (22a) that houses the light receiving part and the like inside the branch pipe (18), the optical fiber cable (22b) for projecting and receiving light fed from the sensor body (22a) is connected to the ventilation pipe (16). ) Through the inside of the vacuum pad (17) to the inside of the vacuum pad (17), and the extended end is supported by the vacuum pad (17) by the holder (23).

The handle of the fruit adsorbed to the vacuum pad (17), a slide type cutter (25) for cutting so-called fruit pruning, and a fruit pimple supporting member (26) for preventing the fruit plucking from leaving the cutter (25).
It is equipped with a stem cutting device.

That is, each of the cutter (25) and the fruit pulp support member (26) is configured in an arc shape and a strip plate shape, and both ends of the cutter (25) and the fruit pulp support member (26) are provided around the coaxial core. Pivotally attaches to the capture part case (15) with the cutter (25) and the fruit-stalk supporting member (26) swaying to the cutting position where the target fruit side is oscillated and the side away from the target fruit. It is configured so that it can be switched to the retracted position. Then, an electric motor (27) for swinging the cutter (25) and the fruit pulp support member (26) is provided, and an air cylinder (28) for driving the cutter (25) is provided, so that the cutting position side is provided. It is configured to support the fruit pruning between the cutter (25) and the fruit pruning support member (26) with rocking, that is, to stand up and cut the supported fruit pruning by the operation of the cutter (25). There is.

Incidentally, as will be described later in detail, the cutter (25) and the fruit pulp support member
When (26) is interlockingly connected to the electric motor (27) through the differential mechanism (29) and either the cutter (25) or the fruit pulp support member (26) comes into contact with the fruit pulp first. In, in the state in which the standing operation of the fruit-stalk supporting member (26) or the cutter (25) that was previously abutted is stopped, it is possible to continue the standing-operation of the other fruit-scaring support member (26) or the cutter (25). I can do it.

Further, a limit switch (30) for detecting the completion of the standing operation and a limit switch (31) for detecting the completion of the retreating operation are attached to the input gear (29A) of the differential mechanism (29). It is provided so that it can be operated at.

An air cylinder for operating the vacuum pad (17)
(24) is interposed between the trap case (15) and the ventilation pipe (16). In other words, the vacuum pad (17) is switched between the catching position in which the vacuum pad (17) is projected to the target fruit and vegetables side from the cutter (25) in the retracted position and the handle cutting position in which it is retracted to the cutter (25) side from that position. You can do it.

Furthermore, the cutter (25) and the fruit pimple supporting member (26),
When viewed from the direction of the swing axis, the swing pad (17) is swung to a side farther from the target fruit than the position orthogonal to the moving direction of the vacuum pad (17), and is retracted.

As shown in FIG. 6, a television camera (33) as an image pickup means for picking up the fruit to be harvested is provided inside the first arm (11a) of the telescopic arm (11). By the way,
This TV camera (33) can be used to move the passenger car body (1), raise and lower the boom mount (5), horizontally swing the boom (9), and horizontally swing the telescopic arm (11) with respect to the boom (9). It will be set by movement or back and forth swing.

As shown in FIG. 7, a control device (34) configured by using a microcomputer is provided with an image pickup information of the television camera (33), detection information of the photosensor (22), and a negative pressure sensor (2).
The detection information of 1) and the limit switch (3
0) detection information, limit switch for detecting completion of retire operation
Each of the detection information of (31) is input, and based on the information and the information stored in advance, the operation circuit (35) of the telescopic arm drive motors (13a), (13b), (13c), Cutter (25)
The operation circuit (36) of the electric motor (27) for the ups and downs of the bellows support member (26), the control valve (37) for the air cylinder (28) for the operation of the cutter (25), and the output of the vacuum pad (17). The operation command from the control device (33) is given to each of the control valve (38) for the retracting air cylinder (24) and the control valve (39) for the vacuum pad (17), and the harvesting hand (H). Are automatically performed and the fruits to be harvested are automatically harvested. That is, by using the control device (H), as shown in FIG. 6, the harvesting hand (H) is moved in a state in which the suction port of the vacuum pad (17) is directed toward the harvest target fruit (M) side. Hand guidance means that automatically guides the harvest target fruit (M), and hand driving means that automatically operates the guided harvesting hand (H) to cut the fruit stem of the harvest target fruit and harvest. Respectively, and the means will be described with reference to the flowchart of FIG.

That is, the TV camera (23) captures an image of the area where the harvested fruit is located, removes branches and leaves, and performs image processing to extract only the harvested fruit, and the location of the extracted target fruit is determined. Compute the direction.

Vacuum pad (17) based on its calculated direction
The expansion hand (H) is approached toward the fruit to be harvested by extending and retracting the telescopic arm (11) while maintaining the state in which the suction port of is toward the fruit to be harvested.

After the approach operation described above, the detection information of the photo sensor (22) is checked, and when it is determined that the harvesting hand (H) approaches the harvest target fruit, the suction operation of the vacuum pad (17) is started. Then, when it is determined that the harvesting hand (H) is not close to the fruit to be harvested, it is determined whether or not the approach distance is the set value or more, and it is determined that the approach distance is less than the set value. Then, the approach is continued, and when it is determined that the value is equal to or larger than the set value, the approach is stopped, the telescopic arm (11) is shortened, and the harvesting hand (H) is returned to the position before the approach.

After the suction operation of the vacuum pad (17), the harvesting hand
(H) is moved forward to the harvested fruit side by a set distance (for example, 30 to 50 mm). After that, based on the detection information of the negative pressure sensor (21), it is determined whether or not the fruit to be harvested is adsorbed to the vacuum pad (17), and if adsorbed as desired, the vacuum pad (17) is evacuated. While being operated, at the same time, the harvesting hand (H) is moved forward along the vacuum pad moving direction to take in the fruit to be harvested.
If the suction is not performed as desired, the suction operation of the vacuum pad (17) is stopped, and then the telescopic arm (11) is shortened to return the harvesting hand (H) to the position before the approach.

After taking in the fruits to be harvested as described above, the cutter (25) and the fruit-stalk supporting member (26) are activated. Then, based on the detection information of the limit switch (30) for detecting the stand-up operation completion, it is determined whether or not the stand-up operation is completed, and if it is not completed, another object such as a branch is caught. It is judged that there is a trouble such as the cutter (25) and the fruit pulp support member (2
After laying down 6), the telescopic arm (11) is shortened and the harvesting hand (H) is returned to the position before the approach.

If the stand-up operation is completed, stop the suction operation of the vacuum pad (17), and in that state, stop the harvesting hand.
(H) is retracted so that the cutter (25) is located on the base side of the fruit pruning, and then the cutter (25) is driven to cut the fruit plucking. Immediately after cutting, the suction operation of the vacuum pad (17) is started to re-adsorb the fruit after the cutting of the rachis, and then the cutter (25) and the rachis-supporting member (26) are laid down,
Return the telescoping arm (11) to its pre-approach position, project the vacuum pad (17), then vacuum pad (17).
The suction operation of is stopped and the harvested fruits are supplied to the transport device (4).

In addition, when a plurality of fruits are extracted based on the imaging information of one time when calculating the direction in which the fruits to be harvested are located as described above, the extracted fruits on the upper side are extracted from the extracted fruits on the lower side. The work will be continued in the order of harvesting. Therefore, each time the harvesting operation for one fruit is completed, the presence or absence of the unharvested fruit is determined, and when it is present, the harvesting operation is performed by the above-described operation.

Next, the rocking operation structure of the cutter (25) and the fruit pulp support member (26) and the structure of the cutter (25) will be described.

As shown in FIG. 1 to FIG. 5, the first input pinion (41) is attached to the support pin (40) to which one end of the fruit pimple supporting member (26) is externally fitted, and the input pinion is attached. A first rack (42) that engages with (41) is provided. A second input pinion (44) is attached to the tubular member (43) by externally fitting one end of a cutter (25) to the tubular member (43) which is relatively rotatably externally fitted to the support pin (40).
The second to fit the pinion (44) with the outer fitting
A rack (45) is provided. Then, the fruit pulp support member (2
6) side first rack (42) bites the 1st output pinion (4
6) and the second output pinion (47) with which the second rack (45) on the cutter (25) side engages, respectively, the differential mechanism (29)
To prepare for.

That is, a differential case (48) that rotates integrally with the input gear (29A) of the differential mechanism (29) is provided, and a pair of first and second gears that engage with the free-moving bevel gear (49) supported by the case (48). Bevel gears for output (50), (51) are provided, and bevel gear for first output
The pinion (46) for the first output is externally attached to the support shaft (52) to which the (50) is externally attached and the bevel gear (51) for the second output is relatively rotatably externally attached, The second output bevel gear (5
A second output pinion (47) is externally fitted to 1).

To form the cutter (25), a pair of arc-shaped and strip-shaped blades (25a), (25b), using the pin (53) and the long hole (54), the blade longitudinal direction. Is slidably connected to
Then, a blade portion is arranged in parallel in each of the blade bodies (25a) and (25b) along the longitudinal direction of the blade body.

A cutter driving pinion (56) is externally attached to a support pin (55) to which the other end of the fruit-bearing support member (26) is externally fitted so as to be relatively rotatable.

Then, the first blade body (25a) on one side of the pair of blade bodies (25a) and (25b) is fitted onto the pinion (56) so as to be rotatable relative to the second blade body on the other side. At the end of the body (25b),
The pinion (56) is provided with a gear (57) which is occlusable and has teeth arranged in the longitudinal direction of the blade.

Further, the pinion (56) is provided with a gear along a circumference centered on the swing axis (X) of the first blade body (25a), and a gear meshing with the pinion (56). The (58) is connected to a cutter operating air cylinder (28) as a rotation driving device of the pinion (56) by using a relay member (59).

In short, the second blade body (25b), which is slidably attached to the first blade body (25a) pivotably supported in the longitudinal direction of the blade body,
The cylinder (28) is configured to slide to perform a cutting operation, and the gear (57) having the second blade body (25b) is provided along the outer periphery of the pinion (56). By the action of moving while maintaining the occlusal state, the second blade (25b)
While maintaining the linkage between the cylinder and the cylinder (28), the second blade
The swing of (25b) is allowed.

[Another embodiment]

In carrying out the present invention, a concrete configuration of the harvesting hand (H), a telescopic arm provided for guiding the harvesting hand (H).
Various changes can be made to the configuration of each unit, such as the specific configuration of (11).

Further, in the above-mentioned embodiment, the case of harvesting fruits is exemplified, but the invention can be applied to harvesting vegetables such as tomatoes.

[Brief description of drawings]

The drawings show an embodiment of a handle cutting cutter in a fruit and vegetable harvesting hand according to the present invention. Fig. 1 is a plan view of a notch of a harvesting hand, Fig. 2 is a side view of a notch of a harvesting hand, and Fig. 3 Is a vertical sectional front view showing a drive structure of a fruit cutting device, FIG. 4 is a vertical rear view showing a drive structure of a fruit cutting device, FIG. 5 is a schematic plan view showing a slide driving structure of a cutter, and FIG. FIG. 7 is a side view of the fruit harvester, FIG. 7 is a block diagram showing a control configuration, and FIG. 8 is a flowchart showing a control operation. FIG. 9 is a cutaway side view of a conventional example. (25a) …… first blade, (25b) …… second blade, (28) …… drive unit, (56) …… pinion, (57) …… gear, (X) …… swing axis core.

Claims (1)

[Claims] 1. A strip-shaped first blade body (25a) swingable between a cutting position for the handle of the captured fruit and vegetables and a retreat position for retreating to allow the introduction of the fruit and vegetables. ,
A handle cutting cutter in a fruit and vegetable harvesting hand, in which a second blade body (25b) that slides in the longitudinal direction of the first blade body (25a) to perform a cutting action is slidably connected to the first blade body (25a). The pinion (56) provided with a gear is provided along the circumference centered on the swing axis (X) of the first blade body (25a), and the second blade body (25b) is provided with A fruit and vegetable harvesting hand provided with a drive device (28) for rotating the pinion (56), the pinion (56) having a gear (57) which is occlusally free and has teeth arranged in the blade longitudinal direction. Pattern cutting cutter.