JPS60149313A - 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 Mizumoto W4i-t, a plurality of finger members connected to the tip of the arm of the cylindrical case r1 for fruit collection, and 111 extension operation 1 for pulling and moving the target fruit toward the case side. Of course, the present invention relates to a robot hand for fruit harvesting which is erected on the periphery of the mouth of the case in the circumferential direction of the case.

In recent years, fruits such as mandarin oranges and apples? The robot hand is responsible for harvesting safely and efficiently.

In order to satisfy such a request, the Mizumotori's holder has a plurality of finger-like members protruding from the fruit collecting case connected to the tip of the arm, with a bending operation point t1, and a fruit receiving case. We proposed a robot hand for fruit harvesting installed in a fruit harvesting case with bends arranged in the circumferential direction of the fruit harvesting case. 1#:j, fruit in this robot hand? Hold the pattern with finger-like members, and in that state, store the fruit against the technique (the circular part, so-called, is pressed and supported in a predetermined position with a member for pressing the fruit stem provided in the fruit case) Then, cut it with a canter, or make an arm or a case for collecting the fruit by bending or pulling the whole stem (11ν) and cutting the stem or the connection between the stem and the fruit. The entire crop will be harvested.

As for the finger side that is pulled inward of the fruit r case, a structure has been proposed in which it is made entirely of an elastic crystalline phase such as rubber, and is allowed to bend and stretch under air pressure or the like.

However, a drive mechanism such as valves and piping to control the pneumatic pressure for the Tanaka drive is required for each finger, and the space occupied by the drive mechanism is not only difficult to see, but also can be used by others during harvesting. There was an inconvenience that the actuator could get caught on fruits or branches, etc., and there were several cases.

In addition, even if the fruit is not supported properly, the fruit itself is
There was a risk of getting k11.

This was done in view of the above-mentioned circumstances, and its purpose is to simplify the bending and stretching mechanism of the finger members.

In order to achieve the above objectives, the robot hand for fruit harvesting according to the present invention has an outer circumferential surface. A shape-memory metal base coated with a photosensitive material and pre-memorized so that it can be bent inward when heated. established,
The special feature is that the finger members are flexed and expanded by heating and cooling the shape memory alloy.

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

That is, since the finger member is bent and stretched by heating and cooling the shape memory base metal installed inside the flexible member, the actuator (drive mechanism) for bending and stretching the finger member is not exposed to the outside, and , can be configured extremely compactly. For example, it is possible to perform heating and cooling of the shape memory joint, as well as turning on the power to the memory joint and 0FFK. This has the effect of significantly reducing weight and greatly increasing the degree of freedom in its structure.

In addition, in order to bend and stretch using the restoring force of the shape memory alloy,
Even if you accidentally grab the fruit or hit an obstacle, there is no mechanical force in the two claws, so there is no risk of catching the fruit or damaging the finger members. It becomes very low.

Embodiments of the present invention will be described below based on all the drawings.As shown in Figure 0fJ51, a pair of left and right propulsion wheels +11,
After the ntJ, a pair of idle wheels (2) and a plurality of actuators (3) for raising and lowering the vehicle body are equipped with an electric motor 14.
A swivel table (5) that can be driven and rotated is housed in the first part, and a device (A)'k that can be raised and lowered freely is attached to the swivel table (5) at the center of the rotation, and is used for fruit harvesting. The robot hand CB) k is installed in the upper part of the lift device (A), and has the entire structure of the fruit harvesting machine.

Lift device (AH), screw member (7) that is rotatably driven by an electric motor or the like to move the base end of the arm (6) up and down, and guide members for the up and down locus +81, +81
In preparation for ', rotate the screw member (7) forward and backward! 11JV
The arm (61r) is configured to move up and down from c.

The fruit harvesting robot hand CB) comprises:
As shown in FIGS. 1 to 4, the first arm (6a) with a vertical swing operation mark relative to the lift device (N), the arm (
6a) The second arm (6
b), and an eighth arm (6cl) that can be vertically swung with respect to the arm (6b), and a multi-jointed arm with 61 ke, which rotates the cylindrical case (9) for fruit collection on a horizontal axis. A bifurcated support frame (10), which is pivoted around the center (X) so that the eyes can freely rotate, is attached to the tip of the eighth arm (6C). It resembles the present,
And a plurality of finger members tll+ that can be freely bent and stretched to be pulled and moved inside the entire cylindrical case (9) of the fruit to be harvested?
, is erected on the periphery of the opening of the case (9), and
A plurality of pedestal pressing members that can be freely switched between a state in which they are retracted toward the cylindrical booth side and a state in which they protrude from the case (9) so as to cover the fruit to be harvested, in the circumferential direction of the case (9). An arc-shaped cutter (13
1 is pivoted to the case +91 VC so as to be movable in and out, with both ends r as fulcrums.

As shown in FIG. 5, the finger member (1ll) has a contact sensor (C) at its tip (lla) and a contact sensor (C). (9)? Information gathering OJ for horizontal movement
``It is the same as Noh.

In other words, the cylindrical fruit collecting case (9) is maintained in the dirt floor position by its own weight.

Then, by operating the multi-joint arm (6) or by operating the stand device (Al), the cylindrical case (9) is moved upward from the lower position of the target fruit tray to a height suitable for fruit harvesting, and During the upward movement, the fruit is positioned at the center of the opening of the cylindrical case (9) based on the detection information of the contact sensor (C), and the fruit is positioned at the center of the opening of the cylindrical case (9). ) The fruit to be harvested is bent and driven inward to pull and move the target fruit.Then, the member for suppressing the fruit stem is activated to protrude and cover the fruit to be harvested, and then the cutter 0
3)? It is configured so that it can be operated to cut the stems and collect the harvested fruit.

The member for pressing the fruit stem is an elastic wire such as a wire.
l - One end side of each suppressing member (12) bent into an arc shape? While being pivotally supported on the inner surface of the case (9), the other end side t case i91 (!: through and being pivotally supported, and both ends of the fruit stem pressing member 112)? Its fulcrum as a support? By rotating it around the center, it is possible to move it in and out of the case (9).

When the member for pressing the fruit stem (one day t) is moved in and out of the case (9), the whole inner cylinder (9a) and the outer cylinder (
9b] and the inner cylinder (9a) and outer cylinder (9a).
b) is supported by the inner coal around the vertical 1lIItl(z) in a state of 4-pair rotation, and the member for suppressing the pedicel (1) is supported along the upper-do direction where the other end of the member (1) engages. Slit ti1m
is formed on the outer cylinder (9b), and furthermore, the outer cylinder (7b)'kl! is formed by a link. ! Air cylinder μ6) driven by one revolution
The structure is such that as the outer cylinder (7b) rotates in the forward and reverse directions, the pedestal pressing member 0 to 10 is swung in and out relative to the stem (9).

The cutter has a concave blade part Q61 in the center part of the cutter.
, (16') A pair of arcuate strip-shaped blades σ that are moved relative to each other to perform a cutting action.

(17')'r is provided. Then, connect both ends of the cutter thread to the axis along the radial direction of the case t91 (around Q1, similar to a yokereme-sho, and as you turn your back, connect it to the link (18) fixed to the negative side and the tip of this link (18). ':#frls
A pin (19) is provided for pressing the fruit stalk (an engagement member that engages with the slit circle in the same manner as in 1), and the rotation of the outer cylinder (9b) is provided with a pin (19) to press the fruit stalk. The pressing member (1) is rotated in and out of the case (9),
A gap (S,) is formed at the center of the upper part of the case (9) by the pressing force (12c) of each kerosene pressing force (12c) and the intersection C of this cutter (I3). After 7℃, 11JKibato L161, (16') &
It is made into a vat to cut the fruit stem.

To support the pair of blades 0η, (17') in relative movement, both ends of the outer blade (16) are pivotally supported,
A link spout that engages with one end of the inner blade body (17') is provided, and this link 09) is made into an air cylinder 4) to drive it in the vertical direction. The blade body (17') on the inner side can be moved in response to the force of the blade U on the side. Then, the operation of the air cylinder (20) is applied to the blade portions 061 and (16).
'), that is, the peduncle positioned in the gap (Sl) formed at the center of the case (9) is cut.

As shown in FIG. are erected around the case (9), and the inner surface (21a
) A shape-memory alloy +2Jl of Ni--Ti thread is fixed in advance so that the case (9) is bent inwardly by being electrically heated by an external VC power source (E).

Then, the power supply [Electrification heating 1 energization cutoff VC from EJ
This natural cooling causes the finger member (1) to bend and extend.
This is a marking paulownia for collecting to the outside information on contact with the fruit by the contact sensor (C) which is fixed to 1aJ.

Another embodiment of the mfJ fingertip (11) will be briefly described with reference to FIG.

Basically, similar to the embodiment shown in FIG. Shape memory Aigaya (23
a), and place the case (9) on the inner side (21c).
K is a heating C goyojigoose (9), and a shape memory alloy (23b) which memorizes the shape to be restored to an inwardly bent position is erected, and the two shape memory alloys (23a)
, (28b) are alternately energized and heated to extend the finger part (11) by 11 J.

In this case, unlike the embodiment shown in FIG. 5, the driving force acts even when the finger member (11) is extended, so the bending/stretching cycle can be accelerated, and the elasticity that allows the finger member (11) to return to the upright position can be increased. Components are no longer required, and shape memory Aigaya (23a)
, (23b) can also be reduced.

For example, when using a fruit harvesting machine with the above configuration,
As shown in Figure 1 of JJ, a television camera (F) is installed to detect fruit, and the robot hand (B) is remotely controlled based on the detected information.
When maneuvering, I use a rangefinder to locate the target fruit.
However, the robot hand (
It will be even more convenient if you make the Bl automatically operate IV1] control device (]ll-.

Furthermore, in that case, as shown in Fig. 2, the fork-shaped support frame (
10) is connected to the arm (6c) by a motor 24) equipped with an electromagnetic clutch and an encoder that detects the rotation status
), and is also equipped with an electromagnetic clutch and an encoder.
) and said case (9) by chain (2fi)
It is preferable to rotate the case (9) around the axis (X1), orient the case (9) relative to the fruit in the order of vU, and approach the target fruit.Then, the case (9) reaches the target position. At the point when the 10th motor c241,
When each of the four clutches is disengaged, as described above, case +9) ld Part 1. J-tun automatically maintains the upward posture.

In addition, the member for pressing the fruit stem (I) may be formed into an arc shape using an elastic wire such as a wire, or may be formed into a curved plate shape. Dosuke: State capital (12
c) with a rubber etc., overturn it with +il + paulownia and attach the fruit to +aL and put it on the floor.
It may be used in various ways, and the structure for pressing the fruit stem (the 11th country's concrete 41) can be changed in various ways.

In addition, the 47ζ structure that drives the 1iiJ record 112j for all cases (9) is connected to the inward direction (9a) and outward direction of the case (9) by the air cylinder (15) and link. In addition to relative rotation of the tube (9b), direct rotational drive by a motor etc. (~ may also be possible.Furthermore, the end tip of the stem pressing member (12) and the sulin 1 of the outer tube (9b)
- (In addition to being able to move in and out due to the VC of the joint with 141, a VC gear is provided on one side of each support part of the stem pressing part L12J, and a rank is provided on the outer cylinder (9b) to directly suppress the member. 2) may be rotated around the center of the movement τ and driven in and out by Vζ, and various summary explanations can be made.

In addition, the suppression effect of the light width of each fruit stem (12
c) It is formed into a curved plate shape with a width along the circumferential direction, and in the protruding shape, the F4+I suppressing part (12c
) It is also possible to construct a fruit with an upper IQ of 15 eri;

Further, as the cutter (13), various types of 418 types can be used, and in this embodiment, it is also possible to provide a pond and an independent C which also serve as the part H for pressing the unanae husk. Moreover, the structure for driving it may be driven not only by the air cylinder t21]1 but also by a motor and a link, etc., and can be changed in each case.

In addition, in the example, the IM-shaped case (9) is formed into a cylinder shape, and this case (9) is used to release the fruit to be harvested.
) in the opposite direction to release the fruit, but the case (9) is formed into a cylindrical shape that passes through the top and bottom and is equipped with a chute. ] may be made to release the fruit.

[Brief explanation of drawings]

The drawing is by Ki-ni 1. ++'4 K An example of the robot hand for fruit harvesting is shown in Fig. 1, an overall side view of the fruit harvesting machine, Fig. 2 a plan view of the hand, Fig. 3 a side sectional view of the hand, and Fig. 3 a side sectional view of the hand. FIG. 4 is an explanatory view of cutting the fruit stem, FIG. 5 is a side sectional view of the finger member, and FIG. 6 is a side sectional view of the finger member in a separate example of curvature. (6)...Arm, (9)...Tubular case for fruit collection, (11)...Finger 7iB material, shouting...
... uJ Flexible City, (n) ... Shape memory joint venture. Agent Patent Attorney Kita 4-d Osamu

Claims (1)

[Claims] A cylindrical fruit collecting case (9) is connected to the tip of the arm (6), and a plurality of finger members that can be bent and stretched to move the target fruit by pulling on the side of the case (9) are attached to the case. (9) A robot hand for fruit harvesting, which is arranged vertically in the circumferential direction of the i+1 case (9) and is installed vertically at the opening periphery of the i+1 case (9), and the entire outer periphery is covered with a rounded part (21) with a conspicuous bend. When the case (9) is heated, the case (9) returns to the inwardly bent shape. This is a fruit harvesting robot characterized by operating one or four finger parts by cooling.