JPS59210827A - Fruit catching method of root 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 The present invention relates to a fruit-harvesting robot hand having a cylindrical fruit-catching portion at the tip of the hand, as already proposed by the applicant in Japanese Patent Application No. 57-215853. Concerning force law.

In this type of robot hand, when capturing fruit, it is necessary to reliably capture only the target fruit into the fruit capturing section, distinguishing it from leaves and other adjacent fruits.

The present invention has been made in view of the above circumstances, and its purpose is to provide a method for reliably capturing a target fruit by separating the target fruit from leaves and adjacent fruits. It is in.

In order to achieve the above object, the fruit capturing method of the fruit harvesting robot hand according to the present invention is characterized in that the target fruit is captured in the fruit capturing section while the entire capturing group is rocked back and forth and left and right. have

-1- Because of the notation method, the following effects were achieved.

That is, since the target fruit is captured while the entire capturing group is swung from side to side after kifl, the resistance due to contact of the fruit with the inner wall of the capturing section is reduced, and the target fruit can be captured reliably.

Furthermore, even when capturing a fruit to be harvested from among fruits such as mandarin oranges, where multiple fruits are close together, the swinging action of the capturing section will prevent the fruit from being adjacent to the target fruit. Since the target fruit is automatically separated from other fruits, it is now possible to reliably capture the target fruit.

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

As shown in Figure 1, the fruit harvesting device has a movable main body (
It is attached to an arm il+ having a joint (2) (not shown), and a fruit-catching robot hand (3) is provided at the tip of the arm il+ so that its direction can be changed freely by a joint (4).

The robot hand (3) has one end configured as a fruit storage base opening (5) serving as a fruit catching section, and the other end is connected with a fruit conveyance chute (6). , and is configured to transport the fruit caught by this shooter (61) to a storage section (not shown).

To describe the entire structure of the robot hand (3) in detail, there are a plurality of bendable finger members (7) on the periphery of the ink opening (6).
... by completely erecting the finger members (7), providing wires (8) that loosely fit through the tips of these finger members (7), and by fully pulling the wires (8). Member (7)...Bend it all inward and insert the wire (8
) The finger members (7) are configured to automatically extend when fully loosened.

Then, the target fruit '4 iAl i the finger member (7)...
ij''/into the inside of the opening (5) (
=, as shown in Figure 2, the entire opening (5) is +yl
This is done while rocking backwards and side to side.

Thereafter, the optical sensor (9) provided in the opening (5)
) detects the introduction of the fruit, the wire (8) is pulled and the finger member (7) is bent completely inward to take the fruit into the opening part (5) and cut into the tenon by the cutter (10). The target fruit 51 is then stored.

Incidentally, the swinging of the opening (5) may be performed together with the "-valve operation" of the entire opening (5) for introducing the target fruit IAI into the opening (6), or with the sequence of this -J-valve operation. This may be done alternately with the first step.

[Brief explanation of drawings]

The drawings show an embodiment of the fruit catching method of the robot hand for fruit harvesting according to the present invention, and FIG. 1 is an overall perspective view of the robot hand, and FIG. 2 is an explanatory diagram of the swinging motion of the hand. (6)...Tubular fruit trapping part.

Claims (1)

[Claims] A method for capturing fruits of a fruit harvesting robot hand having a cylindrical fruit capturing part (5) at the tip of the hand, in which if a target fruit is captured in the fruit capturing part (5), this capturing part (
6) A fruit picking method using a robot hand for fruit harvesting, which is characterized in that the whole robot hand is swung back and forth 171 and left and right.