JPH0889048A - Harvesting hand device for fruit vegetables - Google Patents

Abstract

PURPOSE: To obtain a harvesting hand device for fruit vegetables, useful for cherry tomato, eliminating useless operation of an auxiliary tool, having improved operation efficiency, constituted of a cylinder having an inner part made into a transportation route for fruit vegetables by negative pressure. CONSTITUTION: This harvesting hand device for fruit vegetables consists of a cylinder 31 which is attached to a manipulator constituted movably forward and backward and has an inner part made into a transportation route for fruit vegetables by negative pressure and a suction part of fruit vegetables at the tip of the cylinder 31. The suction part is equipped with plural split beak pieces 44 with making their tip sides become narrower toward the tip so as to open and close widely and narrowly the beak pieces by an opening and closing actuator. Further, the cylinder 31 is provided with an auxiliary tool 50 for collecting fruit vegetables, projecting forward from the tips of the beak pieces 44 and a cylinder sensor 52 for sensing passage of fruit vegetables in the cylinder 31. When passage of fruit vegetables in the cylinder 31 is recognized immediately after opening of the beak pieces 44, the auxiliary tool 50 is not operated or the number of operations is reduced.

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 vegetables such as mini apples, cherry tomatoes and cherries. More specifically, the present invention relates to a vacuum device mounted on a self-propelled harvesting robot. The present invention relates to the structure of the harvesting hand device.

[0002]

The present applicant has already applied for an invention of a hand device for harvesting fruits and vegetables, which is mounted on a manipulator, and which is composed of a cylindrical body and a suction portion composed of a plurality of beak pieces that open and close. Already done. Among these, an auxiliary tool is attached to the cylindrical body to assist the intake of fruit and vegetables by opening and closing the beak piece, and the auxiliary tool is configured to operate in synchronization with the opening and closing of the beak piece. There is.

[0003]

However, fruit vegetables may be smoothly taken into the cylinder due to the negative pressure in the cylinder only by expanding and closing the beak piece. In this case, it is not necessary to operate the auxiliary tool, and nevertheless, for all fruits and vegetables to be used for harvesting, the auxiliary tool is operating following the operation of the beak piece, There was a problem of inefficiency.

[0004]

The present invention uses the following means in order to solve the above problems. That is, a harvesting hand body that is attached to a manipulator configured to be able to move back and forth, and has a tubular body formed inside so as to serve as a fruit and vegetable conveying path by negative pressure, and a fruit and vegetable suction portion at the tip of the tubular body. In the suction part, a plurality of split type beak pieces each having a tapered front end side are mounted so as to be opened and closed by an opening / closing actuator, while the cylindrical body is provided with the beak. Auxiliary tool for picking up fruits and vegetables protruding forward from the tip of the piece, and a detection means for detecting passage of fruits and vegetables in the barrel are provided, and passage of fruits and vegetables in the barrel is made immediately after the opening of the beak piece. When it is recognized, the auxiliary tool is not activated or the number of times of activation is reduced.

[0005]

[Function] When fruit and vegetables are taken into the cylinder only by opening the beak piece, the detecting means senses this and the assisting tool does not operate,
Immediately shifts to the next fruit and vegetable harvesting work, improving work efficiency.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the structure of the present invention will be described based on the embodiments shown in the accompanying drawings. 1 is a front view of a self-propelled harvesting robot equipped with a fruit and vegetable harvesting hand device of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a schematic plan view of a manipulator, FIG. 4 is a schematic side view thereof, and FIG. Is also a front cross-sectional view, FIG. 6 is a side view of the suction part in the harvesting hand body, FIG. 7 is a side view showing the rotation structure of the claw body guide, FIG. 8 is a front view of the same, and FIG. 9 is a sensor in the harvesting hand body. FIG. 10 is a schematic wiring diagram showing the mechanism, and FIG. 10 is an internal configuration diagram of the visual sensor device.

First, the construction of a self-propelled harvesting robot equipped with a harvesting hand device will be described with reference to FIGS. 1 and 2. The overall structure is such that a manipulator 3 is mounted on a rotatable column 2 projecting on the upper surface of a traveling machine body 1 so as to be able to move up and down and vertically, and a harvesting hand body 4 is attached near the tip of the manipulator 3. Therefore, the visual sensor device 39 described below recognizes the location of the fruit vegetables K, and the control means 40 such as a computer operates the manipulator 3 and the harvesting hand body 4 so that the fruit vegetables K are taken into the harvesting hand body 4. It is controlled by.

The traveling machine body 1 is provided with a battery and an electric motor (not shown) to drive the traveling wheels 5, and the power from the left and right electric motors 6 on the traveling machine body 1 is transferred to a belt. The manipulator 3 is driven to rotate right and left by transmitting the support 2 to rotate about its axis (vertical axis) via a reduction mechanism 7 composed of a planetary gear or the like. Further, the main body frame 8 to which the manipulator 3 is attached is screwed to a ball screw portion of the support column 2 and is mounted so as to be able to move up and down, and is vertically driven by a lifting electric motor 9 provided at the upper end of the support column 2. In addition, it is preferable to provide a stopper below the lower limit switch on the support column 2 so that the manipulator 3 does not drop by its own weight when the power of the lifting electric motor 9 is turned off. Further, the main body frame 8 is configured to rotate up and down with respect to the support column 2 around a horizontal rotation shaft (not shown), and the vertical swing drive of the manipulator 3 integrated with the main body frame 8 is performed. The power from the up-and-down swing electric motor 10 is generated via the speed reduction mechanism 11 including a planetary gear and the like.
The electric motors 6, 9 and 10 can rotate in the forward and reverse directions.

As described above, the manipulator 3 moves up and down,
The harvesting hand body 4 integrally provided with the harvesting hand body 4 can be three-dimensionally changed in posture while the traveling machine body 1 is in a stopped state because the harvesting hand body 4 is configured to be horizontally rotated and vertically rotated.
Further, in the manipulator 3, the harvesting hand body 4 is configured to be able to move back and forth. This configuration will be described with reference to FIGS. First, the pair of left and right timing belts 13 and 14 arranged along the longitudinal direction of the advancing / retreating frame 12 of the manipulator 3 are independently rotatable on the support shafts 15 and 16 at the front and rear ends of the advancing / retreating frame 12. It is wound around supported pulleys 17a, 17b and 18a, 18b, and a longitudinal midway portion of the advancing / retreating frame 12 is slidably supported by bracket portions 20, 20 projecting from the main body frame 8.

These left and right timing belts 13 and 14
Among these, a part of the lower side of the timing belt 13 near the main body frame 8 is attached to the advancing / retracting frame 1 via the fixing piece 21.
It is fixed to a part of 2 and the upper side of the advancing / retracting frame 1
2 is disposed above 2, and is wound around a drive pulley 24 that is rotationally driven from a forward / backward drive motor 22 that is mounted on the body frame 8 and that can be rotated in the forward and reverse directions, and is further wound around idler pulleys 25, 25. ing. Then, a part of the upper side of the other timing belt 14 is fixed to the upper surface of the advancing / retreating frame 12 via a fixing piece 26, and a part of the lower side thereof is connected to the harvesting hand via a connecting piece 27. It is connected to a mounting bracket 28 of the body 4. Further, the mounting bracket 28 is slidably suspended by a rail portion 12a formed at the lower part of the advancing / retreating frame 12.

With such a configuration, the harvesting hand body 4
Is moved by a distance twice the moving distance of the advancing / retreating frame 12, so that the harvesting hand body 4 can be advanced / retreated over a long distance while the manipulator 3 is downsized.

Here, the forward / backward control of the harvesting hand body 4 will be described. As shown in FIG. 1, a visual sensor device 39 is arranged on the main body frame 8 in the same direction as the harvesting hand body 4. The body frame 8 is attached to the manipulator 3, and the harvesting hand body 4 (in the stored state),
The position is changed integrally with the visual sensor device 39 by moving the manipulator 3 up and down, turning left and right, or turning up and down. With the movement of the manipulator 3, first, the fruit and vegetable K is detected by the visual sensor device 39. As shown in FIG. 10, a light emitting element 39a and a light receiving element 39b are fixedly provided in the visual sensor device 39, and the light from the light emitting element 39a is reflected by the light emitting mirror 39c toward the fruit vegetables K and the fruit vegetables. When the light is reflected by the class K, the reflected light is reflected by the light receiving mirror 3
9d receives light and further reflects it to the light receiving element 39b. The light emitting mirror 39c and the light receiving mirror 39d are provided.
Is changed in phase by the mirror swing actuator 39e in the same phase, and the distance and direction from the harvested hand body 4 in the stored state to the fruit and vegetables K are detected from the tilt and displacement amounts of these mirrors, and a detection signal is output. 8 is input to the control means 40 as shown in FIG. 8, and the advance / retreat drive motor 24 is based on the detected value.
Is controlled to move the harvesting hand body 4 forward and backward.

Since the distance detection may cause an error due to noise or the like, it is inspected whether or not it is functioning correctly before the work. For this inspection, an upper portion of the harvested hand body 4 in the stored state is As shown in FIGS. 1, 2, and 9, a white plate 29 is fixedly installed. The white plate 29 and the visual sensor device 3
The distance to 9 is a constant value L, and before the work, the white plate 29 is first sensed by the visual sensor device 39 to confirm whether the detected value matches the constant value L or not. Constant value L
If an error occurs, the actual distance detection value of the fruit and vegetables is corrected based on the deviation width, and then the harvesting hand body 4 is extruded.

The inspection of the error in the distance detection may be performed before the whole work, or every time when the fruit and vegetables K are detected, that is, before the harvesting hand body 4 is extended. It takes 1 to 2 seconds from the detection of the fruit vegetables K to the distance calculation, but even if the error inspection is performed immediately before this, the time does not change so much. The white plate for inspection may have another color, but the white plate 29 is preferable because it has high reflectance and there is no similar color (white type) under the working environment.

Further, in the visual sensor device 39, light having a wavelength which is considered to be the fruit and vegetables K over a certain area is received by the light receiving element 39b.
It is said that there is fruit vegetable K when it is received by
Therefore, even if a thin branch or a handle is present in front of the fruit vegetable K, the harvest hand body 4 detects the presence of the fruit vegetable K and
Even though the branches and the like interfere with the harvesting, the fruit and vegetables K to be detected are moved forward and backward in order to be harvested many times. Therefore, the number of forwards and backwards movements of the harvesting hand body 4 is measured, and when the number of times reaches a certain number, the harvest of the fruit vegetable K is stopped and the harvestable fruit vegetable K is harvested (for example, the traveling machine body 1 is sized). It is configured to move or move the manipulator 3).

The movement control configuration of the manipulator 3 and the harvesting hand body 4 on the traveling machine body 1 is as described above.
Next, a specific configuration of the harvesting hand body 4 will be described with reference to FIGS. 6 to 9. As shown in FIG. 9, the harvesting hand body 4 includes a cylindrical body 31 having a cylindrical cross section, which is provided with a suction part 30 described later at the tip thereof and in which a conveying passage 31a for the fruit and vegetables K is formed, and the cylindrical body 31.
And a temporary storage section 32 for the fruit and vegetables K that is connected to the. A suction ventilation pipe 33 is connected to the temporary storage portion 32 so as to be close to a connecting portion with the tubular body 31, and the other end of the suction ventilation pipe 33 is connected to the traveling body shown in FIGS. One suction blower 34 is connected to generate a negative pressure (vacuum) in the temporary storage section 32. The cylindrical body 31
The temporary storage section 32 is preferably made of a transparent synthetic resin material or the like.

The lower end of the temporary storage section 32 is normally closed by a lid 35 via a hinge, and the lid 3 is closed.
5 is a structure that can be opened / 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 the temporary storage section 32, a light projecting section 38a provided in the temporary storage section 32 is provided. And a light receiving section 38b, a storage sensor 38 such as a light passage type sensor is operated, the opening / closing actuator 36 is operated to open the lid 35, and the fruit and vegetables K in the temporary storage section 32 are received in a funnel shape below. Discharge to gutter 41. The receiving trough 41 is connected to a flexible hose 42, and the fruit and vegetables K that have dropped inside the hose 42 are accumulated in a storage basket 43 on the traveling machine body 1. Instead of the storage sensor 38, the passage number of the fruit and vegetables K detected by the cylinder sensor 52 described later may be counted, and the lid 35 may be opened when the number reaches a certain number. With the configuration described above, 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 tubular body 31, and further in the harvesting basket 43 of the traveling machine body 1. It can be stored.

Next, the cylindrical body 31 of the harvesting hand body 4
The structure of the suction portion 30 at the tip will be described. Suction part 30
Is a plurality of constricted beak pieces (three-divided type in this embodiment), which are arranged at the tip of the tubular body 31, and the lowermost beak piece 45 is a tubular body. The left and right beak pieces 44, 44 are fixed to the tube 31 and are attached to the tube body 31 via hinges 44a so that they can be opened and closed freely. Closed beak pieces 44 ・ 45
When the fruit and vegetables K are adsorbed at the tip, the left and right beak pieces 44, 44 are opened so as to be taken into the cylindrical body 31.

The opening / closing drive mechanism for the beak pieces 44, 44 will be described. In the lower part of the middle of the tubular body 31, the tubular body 31
Is attached with a beak piece drive motor 46 having an output rotating shaft in a direction orthogonal to the longitudinal direction of the beak piece drive motor 46.
Is an electric motor with a speed reducer, which pivotally supports one end of a rotary link 46a on the rotary shaft, decelerates the rotary link 46a to a constant rotational speed, and rotationally drives the rotary link 46a. The rotary link 46a is
A left and right pair are provided. An opening / closing link 47 is pivotally connected between the outer end of each rotary link 46a and each beak piece 44. The opening / closing link 47 includes the left and right beak pieces 44, 44.
A left and right pair are provided with respect to. In this way, the rotation link 46a is driven by driving the beak piece driving motor 46 at a constant speed.
And the link 47 for opening and closing moves forward and backward by the crank motion, and the beak piece 44 opens and closes. The beak piece 44 is in a closed state in the initial state (when the beak piece drive motor 46 is not driven), and the beak piece 44 is opened once during one rotation of the rotary link 46a and then closed. Return to. That is, the motor is driven to rotate the rotary link 46a once for each harvest of one fruit or vegetables K.

Conventionally, the rear end of a link extending from the beak piece 44 such as the opening / closing link 47 is pivotally connected to an electromagnetic solenoid, and the link and the beak piece are made to follow it by the driving of the electromagnetic solenoid. After opening and after actuation, the hinge was biased toward the closing side to quickly return to the closed state, but since the operating speed of the electromagnetic solenoid was fast, the opening movement of the beak piece did not occur. There was a risk that other fruits and vegetables in the vicinity could be blown away due to the sudden impact when opened, or the fruits and vegetables adsorbed at the tip of the beak piece might come off due to the negative pressure inside the cylinder. . If the opening action of the beak piece is slowed, even if the beak piece that opens is hit by another adjacent fruit and vegetables, the impact will be weak and the fruit and vegetables will not fly off. The adsorbed fruits and vegetables will surely be sucked into the cylinder due to the suction pressure in the cylinder without the position of the beak piece being displaced suddenly. Therefore, in order to delay the opening / closing movement of the beak piece, the beak piece 44 is opened and closed by driving the beak piece drive motor 46, which is a motor with a speed reducer, in place of the electromagnetic solenoid. Further, by the crank motion of the opening / closing link 47 driven by the motor, the hinge 44a can be returned to the closed state at a slow speed without urging the hinge 44a toward the closed side by the spring or the like.

As shown in FIG. 6 or FIG. 9, the beak piece 44 (45) has a suction portion sensor 51 composed of a visual sensor device or the like.
Is provided. This is to detect whether or not fruit vegetables K are present inside the tip side of the beak piece 44 after the opening of the beak piece 44. After adsorbing the fruit and vegetables K and after opening the beak piece 44, the fruit and vegetables K still remain at this position, which means that the fruit pith remains connected to the stem. When the suction part sensor 51 detects this, the beak piece 4
4 ・ 44 is closed and the harvesting hand body 4 is slid in the storing direction, or the harvesting hand body 4 is operated by moving the strut 2 to the left or right or rotating the manipulator 3 up or down, and the fruit stem is removed from the stem. Let it go.

Further, in order to detect passage of the fruit and vegetables K, a cylindrical body sensor 52 composed of a light reflection type sensor, a proximity sensor, a pressure sensor or the like is provided in the cylindrical body 31 as shown in FIG. 6 or 9. It is arranged like this. When the cylindrical sensor 52 detects the passage of the fruit and vegetables K, the uptake of the fruit and vegetables K is confirmed, the process proceeds to the uptake of the next fruit and vegetables K, and the number of the fruit and vegetables K stored in the temporary storage unit 32. Is also used for counting, and as described later, it is also related to operation control of the beak piece 44 and the claw 50.

Next, the claw body 50 which is an auxiliary tool for taking the fruit and vegetables K into the cylindrical body 31 will be described. Beak piece 44/44
The negative pressure in the suction part 30 becomes small at the moment when the opening is opened, so that the fruits and vegetables K are separated from the suction part 30 and fall unless they are supported by something. Therefore,
The claws 50 are arranged so as to push the fruit vegetables K from the outside toward the inside of the cylinder 31. First, a pair of left and right rotary links 48a is provided on the lower portion of the tubular body 31 near the tip thereof, on the output rotary shaft of the pawl drive motor 48 that is an electric motor with a reduction gear (arranged in the direction orthogonal to the longitudinal direction of the tubular body 31).・ 48
a, one end of a is pivotally supported, the rear ends of the pawls 50, 50 are pivotally supported by the outer ends of the rotary links 48a, 48a, and the pair of pawls are pivotally supported by both side surfaces of the pawl drive motor 48. Guide 49.4
The left and right claw bodies 50 are passed through the guide holes formed at the tip of 9, and the claw body guides 49, 49 are biased upward by tension springs 49a, 49a from the tip of the cylindrical body 31. In this way, the pair of left and right claw bodies 50, 50 are arranged in front of the suction section 30. The pair of left and right is provided because, if only one piece is arranged in front of the central portion of the suction section 30, when the fruit and vegetables K adsorbed to the suction section 30 are tilted to the left or right, they may not be supported. is there.

With the above structure, the claw bodies 50, 50
Is a rotary link 48a driven by the pawl drive motor 48.
Crank motion due to the rotational drive of No. 4 and the regulation by the pawl guide 49, and the tip end of the beak piece 44 as shown by the locus X in FIG.
The position that is located immediately below the beak piece 44 and is not in front of the suction unit 30 is the initial position, that is, the standby position T.
As a result, when the pawl body 50 (and the rotary link 48a) reaches the standby position T, the limit switch is operated to
The pawl drive motor 48 is configured to stop driving.

When the fruit vegetables K are taken in, when the fruit vegetables K are caught between the beak piece 44 and the claw body 50 and suction is not performed smoothly, and the claw body 50 is pushed in as it is, the fruit vegetables are There is a risk that the class K will be crushed. Therefore,
As described above, when a certain amount of load or more is applied to the claw body guide 49 that is biased upward by the tension spring 49a from above, the claw body 49 is resisted against the biasing force of the tension spring 49a as shown in FIG. The guide 49 rotates downward to release the load. That is, when the fruit and vegetables K supported between the claw body 50 and the beak piece 44 are caught, the claw body 50 is loaded downwards by the load more than the urging force of the tension spring 49a. Then, the pressing force is not applied to the fruits and vegetables K, and the situation in which the fruits and vegetables K are crushed is eliminated.

The interlocking timing of the opening / closing drive of the beak piece 44 and the drive of the pawl 50 will be described. First, the claw body 50 is at the standby position T shown in FIG. 6 until the harvesting hand body 4 extends to the suction position and the fruit K is adsorbed to the tips of the beak pieces 44 and 45. And, the fruit and vegetables K are beak pieces 44 and 45.
The beak piece is attracted to the tip, the beak piece drive motor 46 starts driving, and the beak piece 44 starts to open. Here, in the case where the passage of the fruit and vegetables K is confirmed by the cylinder sensor 52, the fruit and vegetables K are smoothly introduced into the cylinder 31 only by the adsorption of the beak pieces 44 and 51 and the opening of the beak piece 44. Since it has been taken in, the pushing motion of the claw body 50 is unnecessary, and the claw body drive motor 4
8 is not driven, and the beak piece drive motor 46 is driven so that the beak piece 44 is also immediately closed, and the harvesting hand body 4 shifts to the next work of taking in the fruit and vegetables K.

When the cylinder sensor 52 does not recognize the passage of the fruit K into the cylinder 31, the claw body driving motor 48 immediately starts driving, and at the locus X, the tip of the claw body 50 is moved. , Rotating while supporting the fruit and vegetables K between the beak piece 44,
The claw body 51 approaches toward the beak piece 44 in the opened state,
The fruits and vegetables K are pushed into the cylindrical body 31 and returned to the standby position T. At this point, the beak piece 44 is held in the open state. Here, when the tubular body sensor 52 does not detect the passage of the fruit and vegetables K, the claw body drive motor 48 drives the claw body 50 again. In this way twice nail 50
If the passage of the fruit and vegetables K is not recognized even after the actuation, it is considered that suction is not possible anymore. Therefore, after the nail body 50 is operated twice, the cylindrical sensor 52 does not pass through the fruit and vegetables K. Whether it is detected or not, the beak piece 44 is closed, and the next fruit vegetable K is taken in.

Conventionally, the pawl 50 was fixedly operated twice when the beak piece 44 was opened, but as described above, the beak piece 44 is operated.
Based on the passage detection of the cylindrical sensor 52 in the opening of the, the operation of the claw body 50 is eliminated, shortened to once,
Useless claw body 5 because it is configured to operate flexibly
Since the operation of 0 is eliminated, and further, the opening / closing movement of the beak piece 44 is adapted to change according to the detection of the cylinder sensor 52, the fruit vegetables K are smoothly taken into the cylinder 31. In the case where the fruit and vegetables K are taken in, the work efficiency is greatly improved because the process immediately takes in the next fruit and vegetables K without being wasted in the intake of the fruit and vegetables K.

A series of harvesting operations will be described for the self-propelled harvesting robot in which the harvesting hand body 4 configured as described above is mounted on the traveling machine body 1 so that the posture can be controlled by the manipulator 3. The traveling machine body 1 travels through the ridges or the like formed in the house or the like by a certain width and then stops, and at the stopped position, the pillar 2 is horizontally swung or the manipulator 3 is vertically moved and vertically rotated to produce a fruit or vegetables. Detection of K by the visual sensor device 39 is performed. When the fruit vegetables K are detected, the harvesting hand body 4 extends to the harvest position of the fruit vegetables K, and the fruit K is adsorbed to the tips of the beak pieces 44 and 45 of the suction unit 30 by the negative pressure of the suction blower 34. Then, the above-mentioned series of work for taking in the fruit vegetables K is performed. When the tubular sensor 52 detects passage of the fruit and vegetables K,
If the harvest of the fruit vegetables K is completed, the harvesting hand body 4 is retracted, and the next fruit vegetables K are detected by the movement of the stanchion 2 or the manipulator 3 and the detection of the visual sensor device 39 in the same manner as described above. The fetching work is repeated. In the detection of fruit vegetables K by the visual sensor device 39, as for the fruit vegetables K that cannot be taken in, as described above, if the taking-in operation is repeated several times, the process is changed to take in the next fruit vegetables K. Therefore, work efficiency is improved without wasting work.

[0030]

Since the present invention is constructed as described above,
The following effects are obtained. That is, in the fruit and vegetable harvesting hand device, as in claim 1, when the detecting means for detecting passage of the fruit and vegetables in the cylinder detects passage of the fruit and vegetables in the cylinder immediately after the opening of the beak piece, the auxiliary tool Since it is configured not to operate or to reduce the number of times of operation, unnecessary use of the auxiliary tool is eliminated. Since the number of cherry tomatoes and the like is very large, the work efficiency can be significantly improved by reducing such a wasteful operation every time one fruit and vegetables is taken in.

[Brief description of drawings]

FIG. 1 is a front view of a self-propelled harvesting robot equipped with a fruit and vegetable harvesting hand device of the present invention.

FIG. 2 is a side view of the same.

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

FIG. 4 is a schematic side view of the same.

FIG. 5 is a front sectional view of the same.

FIG. 6 is a side view of a suction unit in the harvesting hand body.

FIG. 7 is a side view showing the rotation structure of the pawl guide as well.

FIG. 8 is a front view of the same.

FIG. 9 is a schematic wiring diagram showing a sensor mechanism in the harvesting hand body.

FIG. 10 is an internal configuration diagram of the visual sensor device.

[Explanation of symbols]

 3 Manipulator 4 Harvesting hand body 30 Suction part 31 Cylindrical body 44 Beak piece 45 Beak piece 46 Beak piece drive motor 47 Open / close link 48 Claw body drive motor 49 Claw body guide 50 Claw body 51 Suction part sensor 52 Cylindrical body sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G01V 9/00 C 9406-2G

Claims (1)

[Claims] 1. A cylindrical body, which is attached to a manipulator configured to be movable back and forth, and whose inside is formed as a conveyance path for fruit and vegetables by negative pressure, and a fruit and vegetable suction portion at the tip of the cylinder. A harvesting hand body, in which the suction part is provided with a plurality of split-type beak pieces whose tip side is tapered.
While being mounted to open and close by an opening and closing actuator, an auxiliary tool for picking up fruits and vegetables protruding forward from the tip of the beak piece is sensed in the cylinder, and passage of fruits and vegetables in the cylinder is sensed. A detection means is provided, and when the passage of fruit and vegetables is observed in the cylinder immediately after the opening of the beak piece, the auxiliary tool is not operated or the number of times of operation is reduced. Harvesting hand device.