JPS59102323A - Robot hand for harvesting fruit - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] End 1 is a completely new 4-fruit harvesting device that uses a fruit harvesting device such as that already proposed by Honda 1 Page in Japanese Patent Application No. Regarding robotic hands for harvesting.

In this type of robot hand, it is necessary to provide a cutter for cutting the tenon of the captured fruit on the finger member that captures the fruit, but the structure of the cutter itself, the structure of the drive mechanism, When designing the position of the hand, there are various requirements such as ensuring that the overall size of the hand does not increase and the claws do not become large, and that the tenon of the fruit must be cut with a safety level of λ. Therefore, its design is extremely difficult.The object of the present invention is to provide a robot hand for fruit harvesting equipped with a cutter that can meet such special needs.

In order to achieve the above object, the fruit harvesting robot according to the present invention has a cutter installed in the bendable finger so as to protrude from the tip of the finger when the finger is bent. It has certain features that make it very useful.

Due to the 75-degree feature configuration, various effects such as those described below are exhibited. In other words, we have adopted a structure in which the cutter is installed inside the bendable fingers that are used to catch and grip the fruit, so no special space is required for the cutter, and this makes the entire hand compact. A) When you bend your fingers to grasp the fruit,
The cutter automatically protrudes from the tip of the finger only when it is necessary to cut the tenon.
Since the cutter is stored in the fingers when the hand is moved with the fingers extended (open), there is no risk of damaging the technique or the fruit or injuring someone. There is no risk of it happening! It is safe with just one tentative cut, and can perform tenon l/7 cuts well when necessary.It also employs a structure that uses the bending action of the four loaves itself as the motive force for the protrusion and operation of the cutter. Because of this, a special device was required to drive the cutter, which was extremely advantageous in terms of making the entire hand more compact and lighter.

Ru.

As shown in FIG. 1, the fruit harvesting device of this embodiment has an arm (1) that is extendable for 1 m attached to a movable main body (not shown), and the tip of this arm (1) is used for fruit harvesting. A robot hand (2) is attached, and a fruit conveying chute (3) for conveying fruits to a storage section (not shown) is connected to the hand (2+) to form an S structure.

This robot hand (2) will be described in detail with reference to FIG. While being moved by the arm (1), the entire finger is rotatably held around the hand axis (Xi It'fl). These are fingers placed around the periphery for capturing fruit.

A contact sensor (7) is provided on the outside of the tip of this finger (6), and sends a signal to the control device +m for controlling the arm fl) when capturing the fruit. (8) is a photoelectric sensor that detects whether the fruit has entered the inside of the hand (2) to the position where tenon cutting is possible.

As shown in FIGS. 2 and 3, the structure of the six fingers (6) is such that a tenon cutter (9) protrudes from the tip when the finger (6) is bent. +10
1. Female hollow link with outer rotational link (II).
・are connected in series so as to be able to freely swing to form the external shape of the finger (6). 121#'i', a rubber body fixed to each link (10) inside the finger (6). l
It is made of a slender tip that can be bent and has a double-edged blade at its tip.
131 is a wire for bending the finger, the tip of which is fixed to the bottle 04 inside the distal link (IQ+), and is pulled out from the bottom of the proximal link (10) through the internal hollow part of each link +101. Coupled to the drive (not shown) is a roller bin provided in each link (1o) for sliding the wire 00f.

The fruit harvesting robot hand (2) is constructed as described in 1 below, and its illumination is performed as follows.

That is, the robot hand (2) is first moved toward the position of the fruit detected by the fruit position detection means (not shown), and at this time, the contact sensor (7) provided at the tip of the finger (6) The position of the hand (2) is corrected by signals from the fingers (6), and the fruit is introduced into the central gap formed by the fingers (6). When the fruit has entered sufficiently, a photoelectric sensor (8)
detects the bottom of the fruit, so at this point wire 031
is pulled by a drive (not shown) to bend the fingers (6) and capture the fruit. Next, hand (2) moves to the hand axis IXI.
By rotating firmly, the cutter (9) protruding from the tip of the finger (6) cuts the tenon and picks the fruit.

The picked fruit passes through the inside of the proximal end (4) and is sent to the storage section (not shown) by the chute (3). When the fruit picking rfy, #) is finished, the wire (131 occupies the center) The bent fingers (6) stand upright due to the spring force of the cutter (9) and move on to picking the next fruit.

FIG. 4 shows a finger structure according to another embodiment, in which the outer shape of the finger (6) has a spring structure and can be bent.

In another embodiment of the hand, the number of fingers is not limited to three, and a larger number of fingers may be provided.

4 +r1j11i explanation of the drawings 1 The drawings show an embodiment of the robot hand F for fruit harvesting according to the present invention, FIG. 1 is a perspective view of the robot hand, FIG. 2 is a side view of the robot hand in an upright state, Fig. 3 is a side view of the finger in its layered state, and Fig. 4 is a sectional view taken along line IV-■ in Fig. 2.
FIG. 5 is a side view of a finger according to another embodiment.

(6) Finger, (9) Cutter.

Claims (1)

[Claims] ■ A cutter (9) is installed inside the bendable finger (6) so that the finger (6) protrudes from the tip of the finger (6) in a bent position. A robot hand for fruit harvesting characterized by: (2) The fruit harvesting robot according to claim 0, wherein the irI marking finger (6) has a chain structure. ■ The robot hand for fruit harvesting according to claim 0, characterized in that the lift finger (6) has a spring structure.