JPS60137210A - 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 relates to a robot hand for fruit harvesting.

In recent years, robot handcarts have been desired to safely and efficiently harvest fruits such as tangerines and apples.

In order to satisfy such a demand, the applicant of the present invention has developed a structure in which a plurality of finger-like members protruding from the fruit intake case connected to the tip of the arm can be freely bent and manipulated. We have proposed a fruit harvesting robot hand that is installed in a fruit intake case and arranged circumferentially. In other words,
In this robot hand, the fruit is supported by finger-like members, and in this state, the handle-like part that attaches the four fruits to the branch, the so-called fruit stem, is cut with a cutter, or the fruit stem is cut off with a cutter. The fruit is harvested by operating the arm or the fruit seeding case so as to bend or pull the fruit stem or the connection between the fruit stem and the fruit.

By the way, regarding the robot hand mentioned above.

Since the fruit stem is indirectly supported by supporting the fruit with finger-like members, for example, when cutting with a cutter, the fruit stem may be pushed by the cutter and move unexpectedly, When the arm or the fruit intake case 7 is operated to cut the stem while bending or pulling, the arm or the fruit intake case acts efficiently or accurately as a stop motion for cutting the stem. Due to the difficulty of
There was a risk of cutting errors, and there was room for improvement.

On the other hand, the robot is configured to be able to properly hold the position of the fruit stem, and is equipped with a member for pressing the fruit stem, which can be freely pushed and retracted from the fruit intake case, and which presses and supports the fruit stem in a predetermined position when the fruit is protruded. A hand structure has also been proposed, but when taking the fruit into the case, there are cases where the fruit itself is accidentally grabbed by the tip of the pedestal pressing member, so there is room for improvement.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to ensure that the fruit to be harvested is taken into the fruit-taking case, and to properly support the fruit stem for cutting the fruit stem. The point is to make it possible.

In order to achieve the above object, the robot hand for collecting fruit according to the present invention has a cylindrical case for taking in fruit connected to the tip of the arm, and has a bending and stretching operation that pulls and moves the target fruit toward the case. A plurality of finger members are arranged in the circumferential direction of the case and erected at the opening periphery of the case, and a plurality of finger members for suppressing and supporting the fruit stem of the target fruit that has been pulled and moved are arranged in the case. The trap is characterized in that it can be freely switched between a state in which it is retracted into the case mIl and a state in which the trap protrudes from the case for suppressing support.

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

That is, the fruit intake case 7 is moved to an appropriate position for harvesting with respect to the target fruit, and the target fruit is pulled and moved by the finger members to be separated from other fruits and surrounding leaves, and then stored in the case. By projecting and operating the kerat pressing member, the kerk can be pressed and supported in a predetermined position.

Therefore, when harvesting a target fruit, only the target fruit is separated from surrounding objects and moved to the case side. After that, the fruit stem can be firmly supported in a predetermined position, and the fruit stem can be cut with a cutter, etc. It is possible to accurately cut by applying bending force or tensile force to the fruit stem without operating the arm or intake case, or to cut the connection between the four stems and the fruit. As a result, it is now possible to suppress mistakes in taking in and cutting, and to perform fruit harvesting even better.

Embodiments of the present invention will be described below based on drawing examples.

As shown in Fig. 1, a pair of left and right propulsion wheels (1).

A rotating platform (6) that is driven and rotated by an electric motor (4) is attached to a vehicle body equipped with a pair of front and rear idle wheels (21) and a plurality of adjustable wheels (3) that can be raised and lowered to raise and lower the vehicle. A flexible lift device (Al) is mounted on a swivel base (5) K with the rotation center VC positioned, and a fruit harvesting robot hand (B) is mounted on the upper end of the lift device (A).
This consists of a fruit harvesting machine.

The lift device (A) is a screw member @ which is rotationally driven by an electric motor or the like and drives the base end of the arm (6) up and down.
The arm (6) is configured to be provided with a guide member and a guide member for a vertical locus, and to move the arm (6) up and down by forward and reverse rotation of the screw member.

A second arm (6a) constituting the fruit harvesting robot hand (B) that can be vertically oscillated (
6b), and a multi-joint arm (6c) that is operable up and down with respect to the arm (6b).
), and the cylindrical case (7) for fruit intake is set horizontally (X
A bifurcated support frame (8), which is pivotably supported at one station so as to be freely swingable, is attached to the tip of the eighth arm (6c), and is pivotably pivoted about an axis (Y1) that is oiled in the longitudinal direction of the arm. The case (7) is equipped with a plurality of finger tracks that can be bent and extended to support and pull and move the fruit to be harvested inside the cylindrical case (7).
A stem suppressing member (9) is installed at the periphery of the opening and can be freely switched between a state in which it is retracted toward the cylindrical case and a state in which it protrudes from the case (7) so as to cover the fruit to be harvested.
A plurality of the above are arranged in a circumferential direction of the case (7),
A handle-like part that connects the fruit to be harvested and the branch, so-called an arc-shaped cutter (10) for cutting the fruit stem, is attached to the case (7) together with the fruit stem pressing member (9) using both ends as fulcrums.
It is pivoted to K so that it can be moved in and out.

In addition, as shown in FIG. 7, the finger member (+21) has its tip (12a) formed as a contact sensor, and when it comes into contact with the fruit, it horizontally moves the case (7) away from the fruit. It is configured so that it can collect the following information.

That is, the fruit intake cylindrical case (7) is maintained in an upward position by the eleven layers.

Then, by operating the multi-joint arm (6) or operating the lift device, the cylindrical case (7) is moved upward from a position below the target fruit to a height suitable for harvesting the fruit, and
During the upward movement, the fruit is adjusted to be located at the center of the opening of the cylindrical case 7 (7) based on the detection information of the contact sensor (12a), and the finger member (121 is
7) Move the target fruit by pulling it by bending it inward. After that, the fruit stem pressing member (9) and the cutter (+
After operating the cutter (1o) to cover the fruit to be harvested, the cutter (1o) is extended to cut the stem and collect the harvested fruit.

In detail, the Irtl medicinal stalk pressing member (9)K is as follows.
As shown in FIGS. 2 to 4, one end side (9a
) is pivotally supported on the inner teeth of the case ()), and the other end sub (9b) is pivotally supported through the case (7),
Both ends (9m) of the member for pressing the fruit stalk (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 keratin suppressing member (9) into and out of the case (7), the case (7) is divided into two parts, an inner cylinder (7$1) and an outer cylinder (7b), and an inner fliil. (7
a) is fitted and supported in the outer cylinder (7b) in a state where it can freely rotate around the vertical axis (Z), and the other end (9b) of the member for suppressing the fruit stem (9) engages with the tip. A slit (++) extending downward is formed in the outer cylinder (7b), and an air cylinder 04 for rotating the inner cylinder (7a) by a link 0 is provided to rotate the inner cylinder (7a) in forward and reverse directions. The structure is such that the member for suppressing the fruit stem (4) is swung in and out of the case (7) as the member is actuated.

To explain the cutter llo+K, as shown in FIG. 5 and FIG. A pair of circular arc phosphor plate-like blades 01 that perform a cutting action by being
(16 holes are provided. Both ends of the cutter (10) are pivoted so as to be swingable around an axis (Q) along the radial direction of the case (7), and fixed to one end 1 at 11. The slit H is fixed to the tip of the link (lη and this link 0η) and is fixed to the tip of the link 0η, and is
A retaining pin 0 is provided which engages with the inner cylinder (7a), and by rotationally driving the inner cylinder (7a), the case (
7), and as shown in FIG. 8 and FIG.
c) and this cutter (101 is formed in the upper center of the case (7) by the intersecting kernels, after the Fji (S+) positions and holds the fruit stem, the blade part fullli),
(It is configured to cut the fruit stem by 15 pieces.

In order to support the pair of blade bodies (le') relatively movably, both ends of the outer blade H are pivotally supported, and one end of the inner blade (16) is engaged. By driving this link (1'6 in the vertical direction by an air cylinder HE), the inner blade body (16) is As shown in FIGS. 5 and 6, the blade portion Q is moved by the operation of the air cylinder.
6), (15') recess, that is, the case (7)
The peduncle positioned in the gap (S+) formed in the center is cut.

To be more specific about the finger member (1 cut), as shown in FIG. 7, the case (7) has a hollow cylindrical body whose curved surface except for the inner surface (12b) is bellows-shaped and has elasticity such as rubber. −
the lower end of which is erected on the periphery of the opening of the case ();
It is fixed to the inside of the cylinder (a) of the nozzle that sends compressed air, and a contact sensor (■) configured as a switch such as a limit switch that is turned on and off by contacting the fruit is fixed to the tip side. It is.

Then, due to the air pressure sent out and exhausted through piping (not shown), the hollow cylindrical body (A) is moved only inward of the case (7) by the action of the bellows part (12c) formed on its outer circumference. It is designed to be bent.

In addition, the extension of the finger member (!) is caused by the elasticity of the hollow cylinder (a) and its elasticity itself to return to the iK standing position. The bushing provided on the side surface of the nozzle (2) 1 passes through the inside of the hollow cylindrical body (as described above) and is taken out to the outside via the bushing.

In addition, when using the fruit harvesting machine with the above configuration, for example, as shown in FIG.
1 to remotely control, and to remotely control,
It would be more convenient to include a control device that automatically operates the robot hand (B) based on a starting operation command while confirming the position of the target fruit using a distance measuring device or the like.

Furthermore, in that case, as shown in FIG.
8) The arm (6c) is connected by a motor (262) equipped with an electromagnetic clutch and an encoder that detects the rotation status.
The case (7) is rotated around the axis (Y) of the fruit, and the case (7) is rotated around the axis (Y) by the motor α and chain ■, which are also equipped with an electromagnetic clutch and an encoder. It is advisable to adjust the direction of 7) to approach the target fruit.

Then, when the case (7) reaches the target position, when the motor clutches and @ clutches are disengaged, the case (7) is automatically maintained in the facing position by its own weight, as described above. becomes.

Next, another example will be described.

The fruit stem pressing member (9) may be formed into an arc shape using an elastic wire such as a wire, or may be formed into a curved plate shape. Further, the suppressing portion (9c) may be covered with a flexible member such as rubber to protect the fruit from damage, and the specific structure of the pedestal pressing member (9) may be modified in various ways. can.

In the evening, the structure for driving the member for suppressing the fruit stem (9) into and out of the case (7) also includes an air cylinder (14) and a link (
Inner tube (7a) and outer tube (7b) of 1 gonyo chicene (7)
In addition to relative rotation, it is also possible to drive the rotation directly by a motor or the like. Furthermore, the end (9) of the member (9) for pressing the fruit stalk (9)
b) In addition to being moved in and out by engagement between the tip and the outer cylinder (7b) +I11, a gear is provided on one of the support parts (9a) and '(9b) of the pedestal pressing member (9), Outer cylinder (7
A hook may be provided in b), and the direct pressing member (9) may be rotated around its support portion to be driven in and out, and various modifications can be made.

Further, as shown in FIGS. 8 and 9, each of the pressing portions (9C) at the tip of each stalk pressing member (9) is formed into a curved plate shape with a large width along the circumferential direction. In the protruding state, there is a peduncle passage gap Pj! formed by the intersection of the pressing portions (9C). It may be configured to cover the fruit from the top while leaving the (S+).

Rack handles bolted to the back of each stalk pressing member (9) and exit/exit guides that engage with the stalk pressing member (9) are attached to the case (7). At the same time, a worm clll is provided to hold the rack (c), and supports the pedestal pressing member (9) so as to be movable in and out of the case (7).

The worms (3I) for each of the one-carp pressing members (9) are rotated integrally in the forward and reverse directions by a belt motor or the like, so that they are driven in and out.

Further, the cutter (1O) can be of various configurations, and may be provided independently, such as a cutter that also serves as a member for pressing the fruit stalk as shown in this embodiment. Further, the driving structure may be driven not only by an air cylinder (l@) but also by a motor and a link, and various changes can be made.

In addition, in the embodiment, the cylindrical case (7) is formed into a cylindrical shape with a bottom, and the case (7) is turned in the opposite direction to release the fruit to be harvested. Case (7
) is formed into a cylindrical shape that passes through the top and bottom and is equipped with a chute,
After cutting the stem, the fruit may be automatically released.

Further, the finger member +12) can also be modified in various ways, such as being formed using a spring material or being formed into a multi-joint type.

[Brief explanation of drawings]

The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, in which FIG. 1 is an overall 0111 side view of the fruit harvesting machine, FIG. 2 is a plan view of the robot hand, and FIG. 3 is a side sectional view of the robot hand. , FIG. 4 is a plan view when the member for pressing the fruit stalk is protruded, FIGS. 5 and 6 are explanatory diagrams of the cutter operating state, and FIG.
The figure is a side sectional view of the finger member, and FIGS. 8 and 9 are drawings showing another embodiment, with FIG. 8 being a plan view of the main part, and FIG. 9 being a sub-sectional view thereof. (6)...Arm, (7)...Tubular case for fruit intake, (9)...Member for pressing the fruit stalk,
0 odor...finger parts. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] ■ A cylindrical case (7) for taking in fruits is arranged in a circumferential direction of the case (7) with the red books of the arm (6) arranged in the case (7).
A plurality of pedestal pressing members (9) which are erected around the opening periphery of 7) and which suppress and support the peduncles of the target fruit that has been pulled and moved are placed in the case+7) in the state of being retired by rjllJ and being suppressed. A robot hand for fruit harvesting that can be freely switched between a state in which it protrudes from a mJ mark (7) for support. (2) The robot hand for fruit harvesting according to claim 0, wherein the member (9) for suppressing the fruit stem is located at a position inside the finger member (O).