JPS60133811A - Fruit harvesting robot - 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 applicable to two states: a state in which the arm is retracted to the side of a cylindrical fruit intake case connected to the tip of the arm, and a state in which it protrudes from the case so as to press and support the fruit stem in a predetermined position. A plurality of pedestal pressing members 14j, which can be freely switched, are arranged in the circumferential direction of the 1mj case and provided in the 111th cane, and the ramus suppressing cormorant and the distal end side suppressing part of the material are arranged in the protruding state. The present invention relates to a robot hand for fruit harvesting, in which the fruit stem pressing member is provided with an M double shape in an adjacent Jilt pressure acting part.

Such a robot hand has been developed to safely and efficiently harvest fruits such as mandarin oranges and apples. Since the member was formed into a band-like shape that was pivotally supported around the base end so that it could swing in and out, the protrusion of the member Sometimes, the contact resistance between adjacent suppressing members becomes large, or the trajectory of the ingress and egress is not constant, which may make M) J cutting unstable. There was a risk that it would not be possible to do so, and there was room for improvement.

Additionally, it is necessary to have a structure in which the four-liquid valve pressure member can freely move in and out of the case, and if this suppressing member is supported on a so-called cantilever with respect to the case, it is difficult to maintain the trajectory of the ingress and egress. There was a drawback that the structure of the drive mechanism became unstable and complicated.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable accurate cutting of fruit stems by simple modification.

In order to achieve the above object, the robot hand for fruit harvesting according to the present invention is provided with a pair of support parts that can be supported at t2 in the part for applying one pressure of the fruit stalk so as to be able to swing in and out of the case side. Has a special inheritance in a certain point.

Because of the above characteristics, the following excellent effects have been achieved.

That is, when moving the fruit stalk pressing member into and out of the case,
Since it is pivotally supported by a pair of support parts, there is no need to increase the strength of the stalk pressing member itself, and since it is not supported in a cantilever manner as in the past, its structure can be made extremely simple.

Since the pick is supported on both sides by a pair of support parts, it can be moved in and out of the case by swinging or rotating the stem suppression member around the pivot point of this -row. Therefore, the configuration of the drive mechanism can also be simplified.

1. BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described based on the drawings.

As shown in Fig. 1, a pair of left and right propulsion wheels +1+, 61
A pair of idle wheels (2) at the rear of J, and an outrigger that can be raised and lowered freely
A swivel base (5) that is driven by an electric motor (4) and can be freely rotated is attached to a vehicle body equipped with a plurality of (3), and a lift device that can be raised and lowered (Fig. (5), as well as the robot hand for fruit harvesting (
B) is attached to the upper end of the lift device (5) to constitute a fruit harvesting machine.

The lift device diagram shows a screw member (24) that is rotationally driven by an electric motor or the like and drives the base end of the arm (6) up and down.
1 and the vertical locus is the id member □□□, (25+,
The forward and reverse rotation of the screw member +241 causes the screw arm (6
) is configured to be raised and lowered.

As shown in FIGS. 1 to 4, the fruit harvesting robot hand (B) is composed of a first arm (6a) that can be vertically swung with respect to the lift device +A); ), the second arm (6b
), a multi-jointed arm (6) is provided with a third arm (6c) that can be freely swung downward by one direction relative to the arm (6b), and the cylindrical case 7 (7) for taking in fruit is attached to the horizontal axis. A bifurcated support frame (8) which is freely swingably supported around the circumference of the core (X) is attached to the tip of the third arm (6c) with an axis (Y) along the longitudinal direction of the arm.
), and the case (7
A plurality of pedestal pressing members (9) which can be freely switched to a state of protruding from ) are arranged in a circumferential direction of the case ( ), and a handle-shaped portion connects the fruit to be harvested and the branch; A so-called arc-shaped cutter (10) for cutting the fruit stem is attached to the case (7) with both ends as fulcrums together with the member (9) for suppressing the fruit stem, and further,
A plurality of case guidance contact sensors H are arranged in parallel at the opening periphery of the case (7) to output information for horizontally moving the case (7) to the case (7) which moves away from the fruit when it comes into contact with the fruit.

That is, the fruit intake cylindrical case 7 (7) is maintained in an upward position by its own weight.

Then, the cylindrical case (7) is raised from the lower position of the target fruit to a height suitable for harvesting the fruit by the operation of the multi-joint arm (6) or the lift device (see figure), and the upward movement At times, the fruit is corrected based on the detection information of the contact sensor 02) so that it is located at the center of the opening of the cylindrical case (7), and then the stalk pressing member (9) and the cutter (10) are projected. After the cutter (10) is activated to cover the fruit to be harvested, the cutter (10) is activated to cut the stem and collect the harvested fruit.

To be more specific about the fruit stem pressing member (9), as shown in FIGS. 2 to 4, one end side ( 9a) is pivotally supported on the inner surface of the case (7), and the other end fi
T! I, (9b) are pivotally supported through the case (7), and both ends (9a) of the fruit stem pressing member (9).

By using (9b) as a support and rotating it around its fulcrum, it is configured to be able to move in and out of the case (7).

In order to move the fruit stem pressing member (9) into and out of the case (7), the case (7) is moved between the inner part (7a) and the outer part (7a).
C + Buddha's living room 4 --- Divide into two parts (7b), and add + (7a) to the inner i'+ and outer cylinder (7).
one end (9b) of the peduncle pressing member (9), which is supported internally so as to be rotatable around the vertical axis (2) with respect to b).
A slit (11) extending in the direction of the upper and lower blades with which the tip engages is formed in the outer ff& (7b), and an air cylinder θ that rotationally drives the inner cylinder (7a) by a link θ is provided.
A shaft is provided so that the stem pressing member (4) can be swung in and out of the case (7) as the mJ inner cylinder (7a) rotates forward and backward.

To explain the cutter (10), as shown in FIG.
A pair of arcuate band-shaped blades (16), (i) are provided, which act as cutting protection when moved relative to each other in the direction of the cutter. , A' is located in the radial direction of the case (7), and the link (I7) is fixed at one end.
And this link (17) is provided with a locking pin θ4 fixed to the tip thereof in the same way as the peduncle pressing member (9) and secured to the sleeve) +11+, and the inner cylinder (7a
) is moved in and out of the case (7) together with the stem pressing member (9), and as shown in FIGS. 8 and 4.
As shown in the figure, the pedestal is inserted into the gap (St) formed in the upper center of the case (7) by the intersecting of the pressing part (9C) of each pedestal pressing member (9) and this ivy (10). After positioning and holding the blade part θ, (15')
It is ino 4-shaped as if the stem is cut off by U).

In order to support the pair of blade bodies (+Q, (1e/) in 1J so that they can move relatively freely, both ends of the outer blade body (11) are pivotally supported, and the inner blade body (16') is supported in a relatively movable manner. A link (17) that engages with one end is provided, and this link (1η) is connected to the air cylinder 09.
), the blade body (16') of the outer stroke of Ril is driven in the inward direction with respect to the blade body (16').
can be moved in its longitudinal direction. As shown in FIGS. 5 and 6, the operation of the air cylinder O → causes a gap (S
The cut hole ψ positioned at 1) is cut.

In addition, when using a 4-fruit harvester with configuration E, extract 1 is the first
As shown in the figure, a television camera (B) that detects fruit is installed, and a robot hand (B) is used based on the detected information.
) should be remotely & vertically controlled, and while checking the position of the target fruit by checking the side distance device etc., the robot hand CBl f: Automatic 7HJ Ij wide will be activated in response to the start operation command. It will be even more convenient if you have one question control device.

Furthermore, as shown in Fig. 2, the bifurcated support frame (8) is connected to the arm (6C) by a motor t2 equipped with an electromagnetic clutch and an encoder for detecting the rotation status.
The i+1 case (7) is rotated around the shaft center (Y1) and the sweater ■ and chain (23), which are also equipped with an electromagnetic clutch and an encoder, are rotated around the shaft center (Y1).
It is preferable to rotate the case (7) around X1 to adjust the direction of the case (7) with respect to the fruit and approach the picture fruit.

Then, when the case (7) reaches the target position, the motor c! 11, +2', and II clutches are not disengaged and qtJ +z13, case (7)
is automatically maintained in an upward position by its own weight.

Next, another example will be described.

The four-stroke pressing member (9) is made of an elastic wire such as a wire in an arc shape, a curved plate shape, and a curved plate shape.
Even so, it's strange. Furthermore, the suppressing part (9c) may be covered with a flexible member such as rubber to protect the fruit from being soaked in hot water, and the member for pressing the fruit (91) may be covered with a flexible member such as rubber. Various changes can be made.

Also, the structure 41 that drives the pedestal pressing member (9) into and out of the ridge (7) is also connected to the air cylinder H and the inner cylinder (7a) of the inner cylinder (7) that connects the link θ. and outer cylinder (7b)
In addition to relative rotation, it is also possible to drive the IF rotation using a motor or the like. Furthermore, the end of the fruit stem pressing member (9) (
9b) In addition to being moved in and out by engagement between the tip and the outward facing (71)) sleeve l-(II+), a gear is provided on one of the support parts (9a) and (9b) of the pedestal pressing member (9). Alternatively, a rack may be provided on the outer cylinder (7b), and the direct suppression member (9) may be moved in and out by rotating around its support, and various modifications can be made.

As the cutter (10), various configurations can be used, and in addition to being used as a member for pressing the fruit stem as shown in this embodiment, it may also be provided independently. 1. The driving structure of 1 may be driven not only by an air cylinder 4 but also by a motor, a link, etc., and various changes can be made.

[Brief explanation of the drawing]

The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention. Fig. 1 is an overall view of the fruit harvesting machine, Fig. 2 is a plan view of the hand, and Fig. 3 is a sectional view of the hand. , FIG. 4 is a plan view of the ramus suppression member when it is projected, and FIGS. 5 and 6 are explanatory diagrams of the operating state of the cutter. (61... Arm, (7)... Cylindrical cane for fruit intake, (9)... Member for pressing 4 stalks,
(9C)...Press [E action part, (9a), (9b
)...Support part. Agent Patent Attorney Osamu Kita

Claims (1)

[Claims] ■ A state in which the arm (6) is retracted to the side of the case (7) connected to the end of the arm (6) for taking in fruit, and the case 7 described in 011 is arranged so as to suppress and support the fruit stem in a predetermined position. A plurality of four-stroke 1111 pressure members (9), which can be switched and made to protrude from the cake (7), are arranged in the circumferential direction of the cake (7) and are provided with a 0υ mark. 4. In the protruding state, the distal end side suppressing part (9C) of the detection pressing member (9) is -
``A robot hand for fruit harvesting, in which the fruit stem pressing member (9) has a diameter of 10 mm in a state where it overlaps the pressing part 1i (9C) in contact with the fruit harvesting member (9C), A robot hand for fruit harvesting, which is equipped with a row of support parts (9a') and (9b) that are pivotally supported so as to be able to move in and out of the nil case (7). The robot hand for fruit harvesting according to claim 0, wherein the member (9) is formed in a semicircular arc shape.