JPS59106221A - Cutter structure - 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 The present invention is particularly suitable for use as a cutter structure, for example, as a cutter for tenon cutting of a fruit harvesting device as already proposed by the present applicant in Japanese Patent Application No. 140/1983. Regarding the cutter structure.

In the above-mentioned tenon cutting cutter, it is important to cut the tenon at a position as close to the fruit as possible without damaging the fruit to be harvested. To do this, we need to remove the fruit and its tenon from a! It is a truly distinct hill, and the tenon position must be detected.

However, in general, the way the fruit grows is random,
Since the tenon is not always located at the center of the upper part of the fruit, the tenon position is detected and based on the detected information,
Although automatic cutting is difficult, it is very difficult to detect the position itself.

Suekan Bll was created in view of the above circumstances, and its purpose is to have a relatively simple structure,
It is an object of the present invention to provide a cutter structure that can automatically cut an object (tenon) at a predetermined position if the position of the object to be cut (tenon) is within a predetermined capture range.

In order to achieve the above object, the cutter structure according to the present invention has one end of the wire fixedly attached to one end of the proximal member, and the other end of the wire fixedly attached to the other end of the proximal member. The device is configured to be retractable, and the wire is configured to intersect with the front edge of the proximal member when the wire is retracted.

Because of this feature configuration, if the object to be cut is located in the space surrounded by the wire, it will be pulled into the front edge force of the proximal member by the wire and will be cut. Since the wire was brought into contact with the edge of the IIT, the wire could be reliably cut by crossing the front edge of the proximal member.

Therefore, the cutter structure according to the present invention can be particularly suitably used in the fruit harvesting device as described above.

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

FIG. 1 shows a basic conceptual diagram of the cutter structure according to the present invention.
One end of the C wire (10) is fixed, and the other end of the wire (10) is retractable along the other end of the proximal end member (11). The wire (lO) and the front edge (IIB) of the proximal member +111 are configured to intersect. The front edge of the proximal end member (11) has a convexly curved shape and a blade portion (IIC). In addition, as shown by the dotted line in the figure, a V-shaped recess f (, 1 ID) may be formed in the center of the front edge of the base end member (11),
Alternatively, a thin rope wire may be used as the wire (10) without forming the blade portion (IIC), and the wire itself may be configured as a blade member.

FIG. 2 and subsequent figures show various embodiments in which the cutter structure of the present invention having the above configuration is applied to a fruit harvesting device.

As shown in Figure 2, the fruit harvesting device has a movable main body (
(not shown) is attached with a bendable arm (1),
At the tip of this arm flll is a robot hand for fruit harvesting (
2) is attached to the hand (2), and a fruit conveying chute (
3) are installed in succession.

To explain this robot hand (2), +4)
(d) A cylindrical base end, which is configured to be able to control its direction with respect to the arm +1), and is moved by the arm 111 to introduce the fruit to be caught into the interior through the introduction port (5). (6) are fingers for capturing fruit provided around the fruit inlet (5) of the base end (4).

(7) is a contact sensor provided at the tip of the finger (6), which sends a signal to the control device to control the arm (1) when capturing the fruit. (8) A photoelectric sensor that detects whether the fruit has entered the inside of the hand (2) to the position where the tenon can be cut.

As shown in FIGS. 8 and 4, the structure of the finger (6) is as shown in FIG.
C] is composed of a coiled spring and can be freely bent. A hole 1gl passing through the tip (6A) VC and the tip end (6A) is provided, and a wire (10) is provided to pass through the hole 1gl in a loose fit. By pulling the wire (lO), the folds (6) are automatically and simultaneously bent into the fruit inlet (5).

The wire wire has one end fixed to the − side end (IIA) of the proximal end member f11), which is provided in the cylindrical proximal end portion (4).
This is done by winding the wire (10) using a drive device (not shown) such as a motor (the winding mechanism is not shown).

In addition, @R (IIB) of the proximal end member +11) has a blade part (
11C), and is configured to function as a cutter for cutting the tenon by the intersection of the wires (10).

The fruit harvesting robot hand (2) is constructed as described above, and its control 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 the signal from the center 1t11 where the fruit is formed by the fingers (6)...
Introduce it into the gap. Once the fruit has penetrated far enough, the photoelectric sensor (8) will detect this fruit, and at this point the wire (
10) is pulled by a drive device (not shown) to bend the fingers (6) to capture the fruit and draw the tenon of the fruit toward the proximal member (11).Then, the proximal member +Ill The intersection of the front edge (IIB) and the wire (lO) automatically cuts the tenon of the fruit and picks the fruit.The picked fruit passes through the inside of the base end (4). The chute (3) sends the fruit to a storage section (not shown). When the fruit has been picked, the wire (10) is loosened and the fingers (6) stand upright by their own spring force.

Below, I will explain Betsuji's side.

In addition, in each of the examples shown below, the above-mentioned FIGS.
Components with the same numbers as those in the drawings have the same functions.

FIG. 5 is a drawing showing the configuration of the separate male side of the present invention,
The base end member 1111 is not fixedly attached to the finger (6), but is provided at an intermediate portion on the drawing side of the wire (10), and when the wire (10) is drawn, the finger (6)
)-- is arranged inside the fruit inlet (+1), and at the same time V
The C-bending end member f11) is projected inside the fruit inlet (5), and the tenon is automatically cut in the same manner as described above.

Note that the base end member 1111 is not used, and the wire (10) is made of a relatively thin rope or the like, and the tenon is cut by the wire (10) itself by squeezing the wire (10). Good too.

Furthermore, as shown by the dotted line in FIGS. 8 to 5, a V-shaped recess (I
ID) may be provided. In this case, the recess (II
C) acts as a guide when cutting the tenon, and the tenon can always be cut at a constant position, making automatic tenon cutting more reliable.

[Brief explanation of the drawing]

The drawings show an embodiment of the cutter structure according to the present invention, and the first
The figures are a basic conceptual diagram, Fig. 2 is an overall view of the robot hand for fruit harvesting, Fig. 8 is a plan view of the ll1W section, Fig. 4 is a side view thereof, and Fig. 5 is a drawing showing the configuration of the separate male side. be. (10)...Wire, (11)... Proximal member, (IIB)... Proximal member front edge, (lI
C)...Blade portion, (11r))...V-shaped recess. JP-A-59-106221 (4)

Claims (1)

[Claims] ■ One end of the wire (10) is connected to one side t of the base end member fill.
4, the other end of the wire (lO) is configured to be retractable along the other end of the proximal end member (111, and the wire (lO) is connected to the proximal end by pulling the wire (lO). A cutter structure characterized in that the front R (IIB) of member !11) is configured to intersect. (2) The cutter structure according to claim 0, wherein the wire (lO) itself is configured as a blade member. (1) The cutter structure according to claim 0, straddling (2), characterized in that a blade portion (llc) is formed on the front line of the proximal end member (111). The cutter structure according to any one of claims 0 to 0, characterized in that the front edge has a convexly curved shape. ■ A V-shape is formed at the center of the edge of the base end member (11). Mold recess (
1. The cutter structure according to any one of claims 0 to 0, characterized in that the cutter structure is formed by forming a cutter structure (ID).