JPS59213324A - 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 The present invention relates to a robot hand for fruit harvesting used in a fruit harvesting device such as that already proposed by the applicant in Japanese Patent Application No. 57-140021, and more particularly, to The present invention relates to a fruit harvesting robot hand having a plurality of bendable finger members erected between openings.

As for this type of robot hand, a m-shaped robot hand is generally proposed which is equipped with a plurality of bendable fingers in order to reliably capture a robot hand whose shape and size are indeterminate. After all the fruits to be harvested are captured, the tenons are cut with a cutter and stored. At this time, in order to avoid damaging other fruits during transportation, the tenons are cut as short as possible and the tenons are It is necessary to avoid damaging the fruit itself when cutting.

This invention was made in view of the above-mentioned circumstances, and its purpose is to provide a robot hand for fruit harvesting equipped with a cutter arrangement structure capable of cutting the tenon short without damaging the fruit body. .

In order to achieve the above object, an uninvented fruit-shaped, fruit-harvesting robot hand has a cutter that protrudes toward the center of the front opening and cuts the tenon when activated, and a cutter that cuts the tenon at the periphery of the opening and the finger member. It is distinctive in that it is provided on the outside of the

Despite the failure of the above configuration, we have achieved the following excellent effects.

That is, when cutting the tenon, the finger members are located below the cutter and function as a retaining material for the fruit, so there is no risk of damaging the fruit body with the cutter when cutting the tenon, and the finger member is used to open the fruit. While pushing inward,
In addition, since the tenon is cut just above the finger member, the tenon can be reliably shortened.

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

As shown in Fig. 1, a movable main body (not shown) K is attached to a bendable and extendable multi-jointed arm fil, and a fruit harvesting robot hand (2) is attached to a joint (3) at the tip of this arm fil. It can be stored in any direction.

To explain this robot hand (2) in detail, one end of the fruit catching part (4) attached to the joint (3) is formed in the entire fruit inlet (5), and the other end is formed with a fruit inlet (5). The chute (6) for conveying the fruit to a storage section (not shown) is fully connected.

The entire fruit trapping part (4) includes a fruit inlet (5).
A plurality of finger members (8), which are made freely bendable by an elastic member (7) such as a leaf spring, are erected on the periphery of the finger member (8), and the tips of the finger members (8) are completely penetrated in a loose-fitting manner. wire (
Further, a cutter α01 having a structure described later is provided at the open end of the fruit introduction port (5) and on the outside of the finger members (8).

Then, by pulling the wire (9), the finger member (8) is bent inside the fruit introduction port (5) to take the fruit into the catching part (4), and then the cutter 00
) to cut the tenon.

As shown in FIG. 42 and FIG. 3, the cutter αO1 has blade portions (11) and (I
A pair of blade members (
121, (Ifi are provided, and each of them faces each other. After bending the finger member (8) and (7
) The finger members (8) are configured to be driven by sliding on the outer surfaces thereof to cut the tenon.

Therefore, when this cutter (Company) operates, the fruit is not damaged by the finger member (81, fist) between the fruit and the cutter.

Note that the pair of blade members α2. Each blade part of θ force (11)
, (1O is formed so that the side cross section forms an acute angle in the upside down direction, as shown in FIG. 3 above.

Further, the blade member (12+, (lf+) each tip m part (t
a+tαs11, the side cross section of the tool shown in FIG. 4 is the blade portion (It), respectively.

It is cut obliquely in the opposite direction to the inclination of (B'), and is configured so that this blade member (I21.α force) can easily cross.

Furthermore, there is a contact sensor (+41, ki) at the tip of the finger member (8).
In order to introduce the fruit into the introduction port (5), the catching part (4) of the hand (2) is guided in the direction where all the fruits are located based on the fruit contact detection signal of the hand (2).

[Brief explanation of the drawing]

The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, in which FIG. 1 is an overall perspective view of the robot hand, FIG. 2 is a plan view of main parts, FIG. 3 is a side sectional view thereof, and FIG. The figure is a side sectional view of the cutter tip. (4)... Fruit trapping part, (5) Town... opening,
(81 town - finger member, +101... cutter.

Claims (1)

[Scope of Claims] A robot hand for fruit harvesting, comprising a plurality of bendable finger members (8) erected around the opening (5) of the fruit catcher (4), the hand being operable. A fruit harvesting robot in which a cutter 001 for cutting the tenon by protruding toward the center of the front P opening (15) is provided at the periphery of the opening (5) and on the outside of the finger members (81). hand.