JPH07246016A - Harvesting hand device for fruit vegetable - Google Patents

Abstract

PURPOSE:To simplify the construction of a harvesting hand device for fruit vegetables and improve the efficiency of the take-in work of fruit vegetables. CONSTITUTION:A harvesting hand 4 composed of a cylinder 31 having a suction part 30 at the tip end is attached to a manipulator 3 vertically movable along a post 2 of a traveling machine body 1 and swivelable in lateral and vertical directions. The manipulator 3 is provided with an extensible and contractible frame 12. The suction part 30 is provided with a plurality of divided bill parts 51 tapered forward and openable and closable by an actuator 53. The manipulator 3 is swiveled by a driving means to swing the tip end side of the bill piece 51 with larger amplitude.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for harvesting substantially spherical fruit and vegetables such as mini apples, cherry tomatoes and cherries, and more particularly to a vacuum type attached to a self-propelled harvesting robot or the like. The present invention relates to the structure of the harvesting hand device.

[0002]

2. Description of the Related Art As a prior art of this kind of vacuum suction type hand device for harvesting fruits and vegetables, for example, JP-A-5-85128.
In the gazette, a suction pad is provided at the tip of a cylinder communicating with the negative pressure generator, and the cylinder is provided so as to be movable back and forth between a catching position where the suction pad advances and a handle cutting position where the suction pad retracts. A cutter for cutting the handle E of the fruit and vegetables, and a comb-like cover body having a front end opened for passage of the fruit and vegetables,
A handle holding member that rotates upward along the inner peripheral surface of the cover body is provided. Below the cover body, there is provided a catch portion case that temporarily supports the fruit and vegetables having the handle cut off, and a storage space below the outside. A structure provided with a shutter that opens when being guided to a basket is proposed.

According to this structure, after the fruits and vegetables are adsorbed by the suction pad, the cover body is moved forward to capture the fruits and vegetables inside, and in this state, the handle E holding member is rotated upward. Then, sandwich the fruit and vegetable pattern in the comb teeth of the cover body,
When the suction is released in this state, the cutter is actuated at substantially the same time to cut the handle of the fruit and vegetables, so that the fruit and vegetables are supported by the catching case below.

[0004]

However, according to such a structure, since one fruit and vegetables is taken in the cover body and the handle is cut off by the cutter to remove the fruit and vegetables, the number of parts to be operated is large. However, there is a problem that the control becomes complicated. Further, it takes a long time for one cycle work from sucking the fruits and vegetables with the adsorption pad to cutting the handle of the fruits and vegetables, resulting in a problem that the efficiency of harvesting the fruits and vegetables is very poor.

The present invention solves these problems and provides a harvesting hand device which improves the harvesting efficiency of fruits and vegetables by directly taking in the fruits and vegetables from the suction part of the harvesting hand body. The first purpose and the second purpose are to efficiently perform the subsequent operation of the harvesting hand body depending on the presence or absence of fruit vegetables in the suction section in that case.

[0006]

In order to achieve the above object, the invention according to claim 1 is attached to a manipulator configured to be movable back and forth, and a negative pressure is applied to the inside of the manipulator so as to serve as a passage for conveying fruits and vegetables. A harvesting hand body composed of a formed cylindrical body and a fruit and vegetable suction portion at the tip of the cylindrical body, wherein the suction portion has a plurality of split-type beaks with the front end side formed in a tapered shape. A piece is attached, and a plurality of beak pieces are configured to be opened and closed by an opening / closing actuator, and a driving means for swinging the manipulator so that the tip side of the beak piece has a large amplitude is provided. It is characterized by.

According to a second aspect of the present invention, in the fruit and vegetable harvesting hand apparatus according to the first aspect, the tips of the plurality of beak pieces surround the fruits and vegetables by the opening and closing movement of the plurality of beak pieces. The above-mentioned control means is provided for controlling so that the beak piece is driven to be expanded / contracted a plurality of times again after being swung by the manipulator so that the side has a large amplitude.

According to a third aspect of the present invention, in the fruit and vegetable harvesting hand device according to the first or second aspect, the suction unit is provided with a sensor for detecting the fruit and vegetables, and the beaker uses the sensor. The inside of the piece is provided with control means for controlling the plurality of beak pieces so as to drive the expansion / contraction opening / closing operation in order to detect fruit and vegetables.

[0009]

EXAMPLES Next, examples embodying the present invention will be described. FIG. 1 is a front view of a self-propelled harvesting robot equipped with the manipulator of the present invention, and FIG. 2 is a side view. In the harvesting robot, a manipulator 3 is mounted on a rotatable column 2 projecting from the upper surface of a traveling body 1 of the manipulator 3 so that the manipulator 3 can be raised and lowered and vertically swung, and a harvesting hand body 4 is attached to a portion of the manipulator 3 near the tip. The visual sensor 40 recognizes the location of the fruit and vegetables K, and the control means 41 such as a computer operates the manipulator 3 and the harvesting hand body 4 so that the fruit and vegetables K are taken into the harvesting hand body 4. The configuration is controlled by.

A battery and an electric motor (not shown) are provided in the traveling machine body 1 to drive the traveling wheels 5. In addition, the power from the electric motor 6 for turning left and right is passed through the speed reducing mechanism 7 including a belt and a planetary gear, and the support 2
Is transmitted so as to rotate about its axis (vertical axis). The main body frame 8 to which the manipulator 3 is attached is the column 2
The main body frame 8 is moved up and down by an electric motor 9 for raising and lowering, which is screwed to the ball screw portion in the above and is mounted so as to be able to move up and down. Since the manipulator 3 may spontaneously fall due to its own weight when the power of the lifting electric motor 9 is turned off, it is preferable to provide a stopper below the lower limit switch on the column 2.
Further, the main body frame 8 is configured to rotate up and down with respect to the support column 2 around a rotation shaft 8a (see FIG. 4). The vertical swing of the manipulator 3 integrated with the main body frame 8 is executed by the power from the vertical swing electric motor 10 via the speed reduction mechanism 11 including a planetary gear or the like. The electric motor 6 for turning to the left and right, the electric motor 9 for raising and lowering, and the electric motor 10 for swinging up and down are AC servo motors each having a rated output of 100 W and a rated rotation speed of 3000 rpm, and are capable of forward and reverse rotation.

With these configurations, the position of the advancing / retreating frame 12 and the position of the harvesting hand body 4 in the manipulator 3, which will be described later, can be moved up and down, and the direction of the tip of the harvesting hand body 4 can be changed between left and right and up and down. In other words, even if the traveling machine body 1 is in the position stopped state, the harvesting hand body 4 can be three-dimensionally changed in posture. In addition, the support shaft 2 is attached to the axis line (vertical axis line) by the left-right turning electric motor 6 and the speed reduction mechanism 7.
By reciprocating left and right, the manipulator 3 attached to the column 2 and thus the tip suction part 30 of the harvesting hand body 4 can be swung left and right with a large amplitude, and the electric motor 10 for vertical swinging can be swung. With the deceleration mechanism 11, the manipulator 3 and thus the tip suction unit 30 of the harvesting hand body 4 can be swung left and right with large amplitude.

The manipulator 3 is constructed so as to move back and forth with respect to the main body frame 8 and to quickly move the harvesting hand body 4 back and forth thereto, one embodiment of which is shown in FIGS. Will be described with reference to. A pair of left and right timing belts 13 and 14 arranged along the longitudinal direction of the advancing / retreating frame 12 are independently rotatably supported by spindles 15 and 16 at the front and rear ends of the advancing / retreating frame 12, respectively. Further, it is wound around the pulleys 18a, 18b, and the longitudinal middle portion of the advancing / retreating frame 12 is slidably supported by the bracket portions 20, 20 protruding from the main body frame 8.

Then, a part of the lower side of one of the timing belts 13 is fixed to a front and rear midway portion on the lower surface of the advancing / retreating frame 12 via a fixing piece 21, and the timing belt 13 has an upper side portion of the advancing / retreating frame 12 above the advancing / retreating frame 12. Forward / backward drive motor 2 mounted on the body frame 8 and capable of normal and reverse rotation
It is wound around a drive pulley 24 that rotates from 2 through a reduction mechanism 23 and is pressed by a pair of idler pulleys 25, 25. A part of the upper side of the other timing belt 14 is fixed to the upper surface side of the advancing / retreating frame 12 via a fixing piece 26, and the harvesting hand body 4 is connected to the lower side of the timing belt 14 via a connecting piece 27. Connect to the mounting bracket 28. Further, the mounting bracket 28 is provided on the lower surface of the advancing / retreating frame 12 of the rail portion 12
It is slidably supported on a.

With this configuration, in FIG. 3 and FIG.
When the drive pulley 24 rotates in the direction of arrow A (forward rotation, clockwise rotation in FIG. 3), one of the timing belts 13
Is fixed to the lower surface side of the advancing / retreating frame 12, so that the advancing / retreating frame 12 advances at a speed V in the arrow A ′ direction in response to the movement of the timing belt 13 in the arrow A ′ direction. At this time, the other timing belt 14 is fixed to the bracket portion 20 or the like of the main body frame 8 on the upper side thereof, and the timing belt 14 can rotate separately from the timing belt 13, so that the pulley of the timing belt 14 can be rotated. 18a and 18b rotate reversely (counterclockwise in FIG. 3), and the upper side of the timing belt 14 moves in the direction of arrow B.

As a result, the connecting piece 27 on the lower side of the timing belt 14 and thus the mounting bracket 28 of the harvesting hand body 4 advances in the direction of arrow A'at the speed V with respect to the advancing / retreating frame 12. Therefore, the harvesting hand body 4 advances at a speed of 2V, which is twice the forward speed V of the advancing / retreating frame 12. In other words, since the harvesting hand body 4 moves by a distance 2L that is twice the moving distance L of the advancing / retreating frame 12, the harvesting hand body 4 can be moved back and forth over a long distance while the manipulator 3 is downsized. You can

Next, the structure of the harvesting hand body 4 will be described with reference to FIGS. Harvesting hand body 4
Is equipped with a suction unit 30 to be described later at the tip, and the inside of the fruit vegetables K
A cylindrical body 31 having a cylindrical cross section formed in the transport passage 31a of
It is constituted by a temporary storage part 32 of fruit and vegetables K which is connected to the tubular body 31, and a suction ventilation pipe 33 is connected to the temporary storage part 32 so as to approach the continuous portion with the tubular body 31. , The other end of the suction ventilation pipe 33 is connected to the suction blower 3 on the traveling machine body 1.
4 and is configured to generate a negative pressure (vacuum) in the temporary storage section 32. In this case, the longitudinal axis of the tubular body 31 and the longitudinal axis of the advancing / retreating frame 12 are parallel to each other, and the advancing / retreating frame 12 of the manipulator 3 is held in a substantially horizontal state. It is connected to the cylindrical body 31 at an inclination angle θ in which the side is inclined downward. The cylindrical body 31 and the temporary storage section 32 are preferably made of a transparent synthetic resin material or the like.

The lower end of the temporary storage section 32 is usually closed by a lid 35 via a hinge.
Is configured to be opened and closed by an opening / closing actuator 36 such as an electromagnetic solenoid and an interlocking mechanism 37.
When a certain amount of fruit vegetables K is accumulated in 2, the temporary storage section 3
The storage sensor 38 such as a light-transmitting sensor including the light-projecting unit 38a and the light-receiving unit 38b provided in FIG. 2 operates the opening / closing actuator 36 to open the lid 35, and the fruits and vegetables in the temporary storage unit 32. The K is discharged to the lower funnel-shaped receiving trough 42. The receiving trough 42 is connected to a flexible hose 43, and the fruits and vegetables K dropped in the hose 43 are accumulated in a storage basket 44 on the traveling machine body 1. Instead of the storage sensor 38, the counting detector 39, which is a light-reflecting sensor provided in the cylinder 31, counts the number of fruits and vegetables K that have passed, and when the value reaches a certain value, the lid 35 is opened to store it. You may make it let the basket 44 release the fruit vegetables K.

With this structure, the fruit vegetables K picked up by the suction unit 30 described later can be quickly harvested in the temporary storage unit 32 via the cylindrical body 31. Further, if the tube body 31 is shortened and the length of the transport passage 31a for the fruit and vegetables K is shortened, the risk of the fruit and vegetables K being damaged while moving in the transport passage 31a is reduced, and the commercial value of the harvest is impaired. Never. Furthermore, since a certain amount or more of fruit vegetables K are not accumulated in the temporary storage unit 32, the weight of the entire harvesting hand body 4 does not increase so much, and it is not necessary to increase the driving force (load) of the manipulator 3, so that the left and right turning is performed. There is a remarkable effect that the driving means such as the electric motor 6 for raising and lowering, the electric motor 9 for raising and lowering, the electric motor 10 for vertical swinging, and the manipulator 3 can be downsized, and the whole harvesting robot can be downsized.

If the temporary storage section 32 is connected obliquely with respect to the axis of the cylindrical body 31 as shown in FIG. It is possible to reduce the impact of the fall of the fruit vegetables K falling on the temporary storage portion 32 and the damage of the fruit vegetables K.
Then, when the lower portion 32a of the temporary storage part 32 is substantially horizontal or faces downward in the direction of the cylindrical body 31 in the continuous portion of the cylindrical body 31 and the temporary storage part 32, the temporary storage part 32 is formed. A backflow prevention body 45 is provided to prevent the fruit and vegetables K accumulated on the side from flowing back toward the cylindrical body 31. Part 1
As an example, as shown in FIG. 8, it can be realized by projecting the base lower half side of the tubular body 31 into the temporary storage portion 32 by an appropriate length. In this case, by bringing the lower surface side of the backflow preventive body 45 close to the connection port 46 (communication port) of the suction ventilation pipe 33, the fruit vegetables K rolling along the lower side portion 32a of the temporary storage part 32 are stored. Backflow preventer 45
It is preferable to contact the first and then to positively form a gap space with the connection port 46 so that the fruit and vegetables K do not block the connection port 46. As shown in FIG. 9, this connection port 46 is provided on one side surface of the temporary storage part 32 and on the backflow preventer 45.
The opening may be made further downward. In addition,
When the backflow preventer 45 is made of a hard material,
It is preferable to provide a protective member (not shown) such as a sponge material along the edge of the backflow preventer 45 so that the fruit and vegetables K do not collide with and damage the edge.

Next, the structure of the suction portion 30 at the tip of the cylindrical body 31 will be described with reference to FIGS. At the tip of the cylindrical body 31, a beaker piece 51 of a plurality of division types (three divisions in the embodiment) that is opened and closed via a hinge 50 is provided in a tapered shape. A torsion spring (not shown) is inserted in each of the hinges 50 to urge the beak piece 51 in the closing direction. The driving means for simultaneously opening and closing the three beak pieces 51 includes an actuator 53 such as an electromagnetic solenoid and a link mechanism 54, and the ring-shaped connecting body 5 in the link mechanism 54.
5 is loosely fitted to the outer periphery of the tubular body 31, and the connecting body 55 and the proximal end portion of each beak piece 51 are connected by wires 56, respectively, while the pins 57, 57 on both left and right sides of the connecting body 55 are A pair of interlocking rods 60 and 6 rotatably supported by a shaft 59 on a pivot bracket 58 on one side (lower side in the embodiment) of the outer surface of the body 31.
The arm 6 fitted in the long groove 61 of 0 and fixed to the shaft 59.
The second mounting shaft 63 is attached to the actuating pin 53a of the opening / closing actuator 53 that moves back and forth. In this case, the beak piece 51 may be divided into two pieces.

As a result, the open / close actuator 53 is turned off.
When the operation pin 53a is made to project and move N, the free ends of both the interlocking rods 60 are rotated via the arms 62 so as to move backward from the tip of the tubular body 31, and the beak pieces are moved through the respective wires 56. 51 is opened so that the front end side thereof is separated radially outward (see the two-dot chain line state in FIG. 10). When the opening / closing actuator 53 is turned off and the operating pin 53a is retracted, the ring-shaped connecting body 55 moves forward in the opposite manner to the above, and the tips of the three beak pieces 51 are moved by the force of the biasing springs at the 50 locations of each hinge. The sides flank together to form a frustoconical shape. In this state, the area of the opening on the tip side of the beak piece 51 of 3 is slightly smaller than the diameter of the fruit and vegetables K, and when the suction blower 34 operates to create a negative pressure (vacuum) in the cylindrical body 31, the negative pressure is generated. By the action, the fruit vegetables K are sucked into the opening on the front end side of the beak piece 3 of 3. Reference numeral 66 is a suction unit sensor for detecting whether or not fruit vegetables K are present in the suction unit 30 by the plurality of beak pieces 51, and includes a light projecting unit and a light receiving unit. Reference numeral 67 is a bendable cord such as a flat cable for a signal line or an electric power line connected to the actuator 36, the electromagnetic solenoid 64, the sensors 38 and 66, the counting detector 39 and the like in the harvesting hand body 4, Reference numeral 68 denotes a laser beam generating circuit in the visual sensor 40 and a controller for scanning control.

Next, referring to the functional block diagram of FIG. 13, the harvesting hand body 4 is automatically moved toward the fruit vegetables K to be harvested, and the captured fruit vegetables K are stripped from the handle E and harvested. To explain the configuration of the control means 41 for controlling, a central processing unit 80 such as a microcomputer.
Is provided with a read-only memory (ROM) 81 that stores a program for executing the harvesting work, and a readable / writable memory (RAM) 82 that stores various data at any time.
An image of fruit vegetables K to be harvested is picked up by the visual sensor 40 provided in the image processing device 83, the image data thereof is processed by the image processing device 83 to identify the fruit vegetables K, and the coordinate calculation circuit 84 is used to move on the traveling machine body 1. Distance data (coordinate data) from a preset origin to the fruit and vegetable K is obtained and input to the central processing unit 80 together with the fruit and vegetable K presence / absence determination data. Further, the detection signals of the suction section sensor 66, the count detector 39, and the storage sensor 38 are also input to the central processing unit 80.

In accordance with these data and signals, in the central processing unit 80, the drive circuit 85 for the traveling section, and the lift drive circuit 8 for the lift electric motor 9 for moving the manipulator 3 up and down.
6, electric motor 6 for turning left and right to turn the support column 2 left and right
Left / right swing drive circuit 87, a vertical swing drive circuit 88 for the up / down swing electric motor 10, a forward / backward drive circuit 89 for the forward / backward frame 12, a suction blower 34, an opening / closing actuator 53 of the beak piece 51, a lid. An output signal is issued to operate the opening / closing actuator 36 and the electromagnetic solenoid 64.

Next, referring to the flow chart of FIG. 14, a control mode such as the operation of the suction unit 30 will be described. Following the start, in step S1, the visual sensor 40 captures an image of the fruit vegetables K to be harvested and an image is obtained. After executing the process
In step S2, the three-dimensional coordinate position of the fruit vegetable K such as the distance data from the preset origin on the traveling machine body 1 to the fruit vegetable K is calculated. Based on this coordinate position data, in step S3, control is performed to bring the suction unit 30 of the harvesting hand body 4 closer to the fruit vegetables K. That is, the manipulator 3 is moved up and down by the operation of the up-and-down drive circuit 85, and further, the manipulator 3 and the harvesting hand body 4 that are attached to the column 2 by the operation of the up-and-down swing drive circuit 88 and the operation of the left-and-right swing drive circuit 87. Fruits and vegetables K that should be harvested in the direction of the tip
Then, the advancing / retreating drive circuit 89 is actuated to move the suction portion 30 closer to the fruit K. At this time, the advancing speed of the advancing / retreating frame 12 is high until the suction part 30 approaches the fruit vegetables K as appropriate, and the suction part 30 moves by a low speed in an appropriate distance section immediately before the fruit vegetables K. It is preferable to eliminate the mistakes in the suction work described later due to the fruit bunches of the fruit vegetation K shaking by colliding with the fruit vegetation K.

Then, the negative pressure from the operating suction blower 34 is made to act on the suction ventilation pipe 33, and the fruit vegetables K are sucked onto the tip of the beak piece 51 (step S4). At this time, as shown in FIG.
It is preferable to support the fruit and vegetables K so as not to drop at the tip of a support rod 65 that is vertically rotated by a rotary electromagnetic solenoid 64 provided on the lower side of the.

Then, in the state where the fruit vegetables K are sucked in this way, the tips of the three beak pieces 51 are slightly opened to suck the fruit vegetables K so as to surround the insides of the tip ends of the plurality of beak pieces 51 ( Step S5). In step S6, the suction part sensor 66 provided on the beak piece 51 determines whether or not the fruit and vegetables K are located inside the tip side of the beak piece 51. If yes in step S6 (when there is a fruit vegetable K inside the beak, in other words, when the fruit vegetable K is surrounded by a plurality of beak pieces), in this state as it is, the fruit stem portion of the fruit vegetable K is left. Remains attached to the stem and cannot be detached. Therefore, the opening / closing actuator 5
3 to close the beak piece (step S7),
Next, the tip side of the manipulator 3 is vertically swung a plurality of times (three times in the embodiment) (step S8). As a result, the fruit stem portion of the fruit vegetables K can be separated from the stem, and thereafter, the fruit stems are transported to the temporary storage unit 32 by the negative pressure of the tubular body 31 and the temporary storage unit 32, and one fruit vegetable K is harvested. The work of taking in the hand body 4 is completed.
Note that this swinging operation may be performed by rotating the support column 2 so that the harvesting hand body 4 swings left and right, or by performing up and down swinging and left and right swinging simultaneously.

As shown in FIG. 12, if the handle E portion of the fruit and vegetable K is caught in the opening / closing gaps of the plurality of beak pieces 51, it will hinder the subsequent harvesting work. By performing the opening / closing operation (expansion / contraction operation) of the beak piece 51 a plurality of times (1 to 3 times in the embodiment), the catch E of the fruit and vegetable K on the beak piece 51 is released.

In the case of no in step S6 (when there is no fruit or vegetable K inside the beak), the opening / closing actuator 53 is operated again to open / close the beak piece 51 about 1 to 3 times (expansion / contraction operation). Is executed multiple times (step S
10). The number of times of this operation (1 to 3 times in the embodiment) is input in the data in advance, and if the number of times is counted in step S11 and the predetermined number of N times is performed, it is determined that the fruit vegetables K are inside the beak. Assuming that the process proceeds to step S7, and the above-mentioned work of taking in the fruit and vegetables K is performed. 1
When the work of loading one fruit vegetable K is completed, another fruit vegetable K is identified by the visual sensor 40 and the same operation as described above is repeated.

In the present invention, the manipulator 3
Has adopted a configuration in which the advancing / retreating frame 12 moves forward / backward with two pairs of timing belts, but may have a configuration of an arm moving forward / backward by another actuator. Harvesting hand body 4
It is also possible to connect a bellows tube for passing fruit and vegetables K to the bottom of the temporary storage section 32 in (1) to directly convey the fruit and vegetables K sucked into the tubular body 31 to the storage basket 44.

When a plurality of fruit vegetables K, such as cherry tomatoes, are fruiting in tufts, one fruit and vegetables K is taken in by the suction unit 30 and the manipulator 3 is swung in a shape. If this is done, the entire fruit cluster will fluctuate, and the subsequent visual sensor 40 recognition work for fruit vegetables K will be hindered.
Since there is inconvenience that the entire fruit cluster is broken from the stem and falls off, the harvesting hand body 4 and the like is provided with a stem-holding rod having a Y-shaped tip, which is not shown, and the stem-holding rod is harvested. It may be configured so as to be pressed against the stem near the tuft portion of the fruit or vegetable K to be used.

[0031]

As described in detail above, the first aspect of the present invention is as follows.
The fruit and vegetable harvesting hand device of the described invention is attached to a manipulator configured to be able to move forward and backward, and a cylindrical body formed to become a fruit and vegetable conveying passage by negative pressure inside,
A harvesting hand body constituted by a fruit and vegetable suction portion at the tip of the cylindrical body, wherein the suction portion is equipped with a plurality of split-type beak pieces formed in a tapered shape at the tip side, While the beak piece is configured to be opened and closed by an opening / closing actuator, a driving means for swinging the manipulator so that the tip side of the beak piece has a large amplitude is provided, and thus a plurality of beak pieces are provided. A beak piece,
By narrowing the tip side so that it becomes a constricted tip and opening and closing the fruit vegetables from a state of negative pressure suction, surrounding the fruit vegetables inside the beak piece, and then, by manipulating the manipulator, The vegetables can be stripped inside the beak pieces. Therefore, it is not necessary to use a member for holding the cutter and the handle of the fruit and vegetables as in the prior art, the number of required parts is reduced, and the structure is extremely simple. And, since the operation of the harvesting work is only the operation of expanding and closing the plurality of beak pieces and the swinging operation of the manipulator, the control mode is extremely simple, and the harvesting work can be performed quickly and efficiently. Produce an effect.

According to a second aspect of the present invention, in the fruit and vegetable harvesting hand apparatus according to the first aspect, the front end sides of the plurality of beak pieces are surrounded by the opening and closing movements of the plurality of beak pieces so that the tip ends of the plurality of beak pieces are surrounded. A manipulator is used to swing the manipulator so that the amplitude becomes large, and then a control means is provided to control the beak pieces to open and close several times, so that the beak pieces surround the fruit and vegetables. When picking up fruit and vegetables by swinging the head, even if the handle of the fruit and vegetables is caught in the gap between the plurality of beak pieces, the effect of being able to remove the catch by expanding and closing the beak piece afterwards Play.

Further, the invention of claim 3 is the fruit and vegetable harvesting hand device according to claim 1 or 2, wherein the suction part is provided with a sensor for detecting fruit and vegetables, and the beaker is a sensor. To detect fruits and vegetables inside the piece,
Since the control means for controlling the plurality of beak pieces to drive the expansion / contraction opening / closing operation is provided, the beak pieces are expanded / closed / opened / closed in a state where no fruit and vegetables are present inside the beak piece, or a manipulator. Thus, it is possible to improve the harvesting work of picking up fruits and vegetables without having to execute useless operations such as swinging the head.

[Brief description of drawings]

FIG. 1 is a front view of a harvesting robot.

FIG. 2 is a side view of the harvesting robot.

FIG. 3 is a schematic plan view of a manipulator.

FIG. 4 is a schematic side view of a manipulator.

5 is a partially cutaway sectional view taken along the line VV of FIG.

6 is a partially cutaway sectional view taken along the line VI-VI of FIG.

FIG. 7 is a diagram for explaining a moving action of the advancing / retreating frame.

FIG. 8 is a side sectional view of a harvesting hand body.

9 is a view taken along the line IX-IX in FIG.

FIG. 10 is a side view of the suction unit.

FIG. 11 is a front view of a suction unit.

FIG. 12 is a perspective view showing a state where fruit vegetables K are surrounded inside the beak piece of the suction part.

FIG. 13 is a functional block diagram of control means.

FIG. 14 is a control flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine 2 Support 3 Manipulator 4 Harvesting hand 10 Electric motor 12 for vertical swing 12 Forward / backward frame 13,14 Timing belt 22 Forward / backward drive motor 30 Suction part 31 Cylindrical body 33 Suction ventilation pipe 34 Suction blower 40 Visual sensor 41 Control means 51 Beak piece 53 Opening / closing actuator 66 Suction sensor

Claims (3)

[Claims] 1. A cylindrical body, which is attached to a manipulator configured to be movable back and forth, and whose inside is formed to serve as a fruit and vegetable conveying passage by negative pressure, and a fruit and vegetable suction portion at the tip of the cylindrical body. In the harvesting hand body, the suction part is equipped with a plurality of split-type beak pieces formed in a tapered shape at the tip side, and the plurality of beak pieces are expanded / closed by an opening / closing actuator. On the other hand, a harvesting device for fruit and vegetables is provided with driving means for swinging the manipulator so that the tip side of the beak piece has a large amplitude. 2. The manipulator is swung so that the tip side of the plurality of beak pieces has a large amplitude in a state in which fruit and vegetables are surrounded by the expansion and closing movements of the plurality of beak pieces, and then the beak pieces are again moved. 2. The harvesting device for fruit and vegetables according to claim 1, further comprising control means for controlling the driving so as to open and close a plurality of times. 3. The suction unit is provided with a sensor for detecting fruit and vegetables, and the plurality of beak pieces are driven to open and close in order to detect fruit and vegetables inside the beak piece by the sensor. The fruit harvesting hand device according to claim 1 or 2, further comprising a control means for controlling.