JPS6034108A - 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 completely new fruit-harvesting robot hand used in a fruit-harvesting device, such as the one already proposed by the applicant in Japanese Patent Application No. 57-140021.

It is important for this type of robot hand to be configured so that the fruit to be harvested can be reliably inserted into the fruit trapping part of the hand up to one side where the tenon can be cut.
For this purpose, a mechanism that can reliably capture the fruit is required. The positions of the fruits growing on a fruit tree are generally random, and there are cases where two fruits or leaves overlap. Therefore, it is difficult to capture all the target fruits by always approaching from a certain direction (for example, from below the target fruit), and in order to reliably capture such fruits, it is necessary to One example would be a configuration that is capable of grasping fruit, but a typical configuration for such industrial robots would be extremely complex and large-scale, making it impractical.

In view of the above-mentioned circumstances, the present applicant provided a plurality of bendable finger members upright on the periphery of the open end of the tubular fruit storage base end, and the tip portions of these finger members were loosely fitted. A "robotic hand for fruit harvesting" (Patent Application No. 1983-1986) is provided with a wire passing through the fruit, and is structured so that each finger member is bent inward from the open end by pulling the wire.
No. 215853) has already been proposed.

Although this robot hand for fruit harvesting has a relatively simple configuration and can reliably capture the fruit to be harvested, it has the following disadvantages.

That is, in order to bend the finger member by pulling the wire passing through the tip of the finger member in a bolt-like manner, the wire and the finger member slide 1. However, there are disadvantages in that the durability period cannot be extended, and that branches other than fruit may get caught on the wire, causing malfunction.

The present invention has been made in view of the above circumstances, and its purpose is to provide a fruit harvesting robot with a fruit capturing mechanism that can reliably capture fruits to be harvested, while having a relatively simple configuration. There is a need to provide non-ndo.

In order to achieve the above object, the robot hand for fruit harvesting according to the present invention has a proximal end case connected to the tip of the arm, and a state in which it is housed in the case, and a state in which the robot hand protrudes from the case as a whole. In the old method, a plurality of curved finger members, which can be switched to a state of forming a bowl-shaped lid body, are pivotally supported in an annular manner around the case. It is characterized by an aperture structure that allows it to protrude from the case by rotating around the center.

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

That is, when approaching a target fruit, the finger members are housed in the base end case, and the position of the robot hand is controlled so that the target fruit is located in the center gap of the finger members arranged in an annular shape. By protruding the finger members when the target fruit reaches this position, only the target fruit can be reliably captured. In other words, when approaching the target fruit, the finger members do not get caught by surrounding fruits or tricks and get in the way of the approaching movement, allowing the hand to move quickly, and when capturing the target fruit. The curved finger member protrudes to cover the fruit, and the synergistic effect of this protrusion i# and the curved shape of the finger member causes the fruit to be located in the central gap between the finger members arranged in an annular manner. Only the target fruit is captured in the internal space formed by the protruding finger members, and surrounding fruits, branches, and leaves are expelled to the outside of the space even if some of them are on the protruding trajectory. Therefore, it has become possible to capture only the target fruit reliably and quickly. Furthermore, since the aperture structure that accompanies rotation is adopted to cause the plurality of curved finger members to protrude, the drive mechanism thereof can be made very simple.

Note that the robot hand of the present invention can be used not only for fruit harvesting devices but also for general robots f that need to capture objects by rejecting foreign objects near the objects.

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

The robot hand (2) of this embodiment has a bowl-shaped proximal end case (3) attached to the tip of the arm of a fruit harvesting device such as a multi-joint arm (1) or a lever telescopic arm as shown in Fig. 1. It is being

Next, as shown in FIGS. 2 and 3, the proximal end part is housed in the case (3), and the proximal end part 1.1 protrudes from the case (3). The whole and 1. A plurality of curved finger members (4) which can be switched to form a bowl-shaped front body are pivotally supported in an annular manner while partially overlapping the inner recess of the case (3).

The nfr curved finger member (4)... is centered at its pivot center (P
) It is made to protrude from the case (3) by passing around [river], and when it protrudes, it forms a bowl-shaped lid body as a whole, and the tenon passes through the center of the top of the lid body =
For example, a diaphragm structure similar to a camera diaphragm mechanism is used to leave a flexible gap (Al).

A locking pin (5) provided at the lower end of the curved finger member (4) constitutes the rotation mechanism fBl that rotates the curved finger member (4) and the fist around its pivot center CP. A cylindrical member (7) having multiple stages of slits (6) that fit into the fist is provided in the base end case (3), and this cylindrical member is inserted through a belt (8). Rotate (7)! Moving morph f9) 'r: Provided.

Then, the hand (2) is connected to the hand (2) by the contact sensor (10) disposed around the opening periphery of the proximal end case (3).
* After correcting the orientation of the case (3) so that the target fruit is located at the center of the opening of the case (3) with 1≦base@, the cylindrical member (7) is extracted by the morph (9). )
By rotating the slits (6) and moving the positions of the bottles (5) that are engaged with the slits (6), the finger members (4) are simultaneously rotated around the axis (P). Let me,
This finger member (4)... is made to protrude from the case (3) to capture the fruit, and the cutter (C) has the configuration described below.
The tenons are cut by the chute (11), and the fruits captured by the chute (11) are stored in a fruit storage section (not shown) of the main body of the harvesting device.

FIG. 4 is a drawing showing another embodiment of the rotation mechanism (Bl) for protruding and storing the curved finger members (4) with respect to the case (3). This is configuration 1- so that the protrusion and storage of the cylindrical member (7) is directly performed by rotating the cylindrical member (7).

That is, the rack gear (I6) provided on the upper part of the cylindrical member (7)
) engages with the gear (4) to rotationally drive the finger member (4)...
I7) φ is provided as a shaft support (P)K for each finger member (4), and in the same manner as above, the finger member (4) is protruded by rotating the cylindrical member (7) fi'.・It is stored.

It should be noted that the means for fully rotating the cylindrical member (7) shown in FIGS. 2 to 4 may include a mechanism other than the motor (9) shown in FIGS. 2 to 4, such as a combination of a link mechanism and a wire. Good too.

As shown in FIG. 5, the cutter +C1 has two plate-shaped blade members (13) each having a concave blade part (12) and (12 pieces) in substantially the same part in the longitudinal direction. 1. By sliding these two plate-shaped blade members (13) in relatively opposite directions, the blade part (12
), (12 are configured to intersect.

Then, the two-ply plate-shaped blade member (13) ν(13'
) are rotatably supported around the horizontal axis (Q) on the outside of the proximal end case (3), and
One end of the upper blade member 03) is elastically biased toward one end of the horizontal axis X (Q) by a spring (14), and the other end of the horizontal axis The other end side is pivotally supported so as to be slidable in a direction perpendicular to the axis (Q), and after the finger members (4) protrude from the case (3) to capture the fruit, By rotating the cutter (q) around the axis (Q), the finger member (4) - the tenon in the gap formed at the top of the lid body when protruding is inserted into the concave blade part (12), (12 It is cut by cutting.

In addition, as shown in FIG. R1) is pivoted so as to be smaller than R1), and the blade portions (12)+(12) are elastically biased upward, and the blade portions (12)+(12) are configured to be brought into close contact with each other vertically. It is possible to cut tenons well.

[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 hand, Fig. 2 is a plan view of the main part, Fig. 3 is a sectional view of the main part, and Fig. @4 is a rotation view. FIG. 5 is a plan view of the blade member of the cutter, and FIG. 6 is an explanatory diagram of another embodiment of the cutter. fl)...Arm, (3)...Proximal end case, (4)...Curved finger member, (P)...
...Finger member shaft support center, prisoner...Gap for tenon passage, (12) (12 pieces...Blade part, (13)...
(13')...Plate blade member, (Q)...
・Cutter rotation axis center, (R1・)I(R1)...
... Cutter shaft support radius. Voluntary procedure amendment 1930/1930/-Mon/Jin 11 1. Indication of the case 1988 Patent Application No. 144586 2. Name of the invention Fruit Harvesting Robot No. 3 Relationship with the person making the amendment Patent application Person Address: Itsutsu, Naniwa-ku, Osaka-shi, Osaka Prefecture *／Chome: l12-da2
Issue name (105) Kubota Tekko Co., Ltd. 4, Agent 531 Showa Year Month/Day (shipment date) 8. The full text of the detailed statement of amendments will be corrected as shown in the attached document. 9. Full text correction statement for the list of bulk documents 1 Full text correction Specification 1 Name of the invention Robotic hand for fruit harvesting 2. Robot for harvesting that operates beyond the scope of the claims to support and push the fruit stems into a predetermined position No-nd. A pressure member (for pressure) that can be freely switched between
4) is formed into a band-like shape that is pivotally supported around the proximal end so as to be swingable in and out.
) in the circumferential direction of the booth (3) so as to form a gap (Al) for passing through the fruit stalk between the protruding state. In recent years, there has been a demand for robot hands to safely and efficiently harvest fruits such as tangerines and apples.In order to satisfy such demands, the applicant of the present invention has developed a robot hand that A plurality of finger-like members protruding from the cylindrical booth for fruit intake that has been set up can be bent freely and arranged in the circumferential direction of the cylindrical booth for fruit intake. - We proposed a robot hand for fruit harvesting that is installed in a branch. , the so-called fruit stalk is cut with a cutter, or an arm or fruit intake booth is operated to bend or pull the fruit stalk, thereby cutting the fruit stalk or the connection between the fruit stalk and the fruit. By the way, in the robot hand mentioned above, the fruit is indirectly supported by supporting the fruit, so for example, when cutting the fruit with a cutter, the fruit is harvested. The arm or fruit collection booth may move unexpectedly when pressed by the cutter, or the arm or fruit collection booth may be operated while cutting or bending or pulling the fruit stem. Due to the fact that it is difficult to operate efficiently or accurately for cutting the stem, there is a risk of cutting errors, and there is room for improvement. The first purpose is to provide proper support for the fruit stem for cutting, and the second purpose is to provide adequate support for the fruit stem for cutting.
In addition to the same purpose as the above, the purpose is to simplify the structure of the container that supports the fruit stalk. The characteristic configuration of the first invention is that it can be switched between a state where it is retracted to the side of a cylindrical fruit intake booth connected to the tip of the arm, and a state where it is protruded from the booth and presses and supports the fruit stem in a predetermined position. The present invention is characterized in that a plurality of operable kerat pressing members are provided in the booth, and the effects thereof are as follows. That is, after the fruit intake booth is moved to a proper position for harvesting the target fruit, the stalk pressing member housed in the booth is operated to project, thereby suppressing and supporting the fruit stalks in a predetermined position. This is so that you can do it. Therefore, the stalk can be reliably supported in a predetermined position by the stalk suppressing member, and the stalk cannot be cut with a cutter or folded into the stalk without operating the arm or revenue booth. By applying bending or tensile force, it is possible to accurately cut the stem or the connection between the stem and the fruit, thereby reducing cutting errors and improving fruit harvest. Now I can make it work even better. The characteristic configuration of the second invention includes a state in which the cylindrical booth for fruit collection is connected to the tip of the arm, and a state in which it is protruded from the booth to press and support the fruit stem at a predetermined position 1d. V
A plurality of pedestal pressing members that can be freely switched are provided in the booth, and [0] each of the pedestal pressing members is formed into a band shape that is pivotably supported around the base end so as to be swingable in and out. At the same time, in the protruding state, with the adjacent tip parts overlapped, a gap for passage of the fruit stem is formed between the tip parts.
It is located at points juxtaposed in the circumferential direction of the booth to celebrate,
Its effects are as follows. That is, not only can the same effect as the first invention be obtained, but also by forming the stalk pressing member in the shape of a band whose base end is pivotally attached so as to be able to move forward and backward, for example, Compared to forming the pressing member in the form of a plate-shaped piece that is held and guided so that it can slide in and out, it is possible to simplify the support structure of the fruit suppressing member. As a result of juxtaposition in the circumferential direction of the booth, in order to form a gap for passage of the pericarp between the tips of the pressing members when the husk-pressing members are in a protruding state, by overlapping adjacent tips. , so that the fruit stem does not fall out of the passage gap. In other words, if the tips of adjacent pressing members do not overlap each other, cutting errors may occur due to the fact that the fruit stem may unexpectedly move while entering between the tips of adjacent pressing members during cutting. There are disadvantages to it. By the way, if the manufacturing accuracy and assembly size accuracy of the pressing member is set to 1 so that the edges of the tip of the pressing member are in close contact with each other, the disadvantage mentioned above can be suppressed, but the manufacturing and assembly dimensions are It becomes complicated and cannot be used for X. Therefore, not only can the same effect as the first invention be obtained, but also the structure is excellent in terms of manufacturing and leaf formation, and the stem can be supported appropriately. We have now acquired a robot for fruit harvesting. Embodiments of the present invention will be described below based on the drawings. As shown in Figure 1, a cylindrical booth (3) for fruit collection is attached to the tip of a multi-jointed arm (1) extending from the main body of the harvesting device.
The stem pressing member (4) can be freely switched between a state in which it is retracted to the booth (3) side and a state in which it protrudes from the booth (3) and presses and supports the fruit stem in a predetermined position.
) are provided in the booth (3), and a chute (11) that guides to the fruit storage section (not shown) of the main body of the fruit harvesting device in the booth (3) is installed in the booth (3).
When the cutter (0) for cutting the fruit stem is installed in the booth (3), a plurality of contact sensors (10) are connected to the lower part of the booth (3) and guide the booth (3) to the fruit. )
A fruit harvesting robot (2) is attached to the periphery of the opening. In other words, the revenue cylindrical booth (3) located below the target fruit harvesting station is raised to a height suitable for fruit harvesting, and the contact sensor (10) is activated during the upward movement.
) Based on the detection information of the fruit intake cylindrical booth (3
), the direction of the booth (3) is corrected so that it is located at the center of the opening, and then the stem suppressing member (4) is operated to protrude to support the fruit stem, and the cutter ta+ is activated to remove the fruit stem. The structure is such that the stalk is cut and the harvested fruit is guided by a chute (river) and collected in the fruit storage section.The stalk pressing member (4) is explained as follows: Each of them is formed into a band shape bent along a curved surface, and the pressing member (4) is pivoted around the base end (Pl) so as to be able to swing forward and backward. When the pressing member (4) is in the protruding state and the adjacent tip parts overlap each other, there is a gap tA for passing through the fruit stem between the tip parts.
They are arranged side by side in the circumferential direction of the booth (3) so as to form 1. Each of the suppressing members (4) swings around the axis along the radial direction of the booth (3), and even in the retired state and in the middle of swinging, the distal ends of the suppressing members 14) are adjacent to each other. Its length is determined so that Vc1 returns. To explain the mechanism (Bl) for driving the peduncle suppression member + 41 laterally forward, the cylindrical member (7) is fitted and supported in the booth (3) in a circumferentially rotatable state, and the suppression member ( A slit (6) along the vertical direction is formed in the cylindrical member (7) to be engaged with the retaining pin (6) provided at the base end Vc of 4). A non-motor (9) for rotationally driving the cylindrical member (7) is provided, so that the pedestal pressing member (4) is oscillated in and out as the cylindrical member (7) operates in the forward and reverse directions. The cutter to+ has a pair of arcuate strips that have concave blade portions (12) and (12') in the center of the longitudinal direction, and that are moved relative to each other in the longitudinal direction to perform a cutting action. A cutter body X1→, (1!3') is provided.Then, both ends of the cutter (01) are pivotably pivoted around an axis fQ1 along the radial direction of the booth (3). It is grooved so that it can be moved forward and backward so that it protrudes only when cutting the fruit stalk.The inner blade body (18') supports the pair of blade bodies gs) and (18') so as to be relatively movable. 18'), and an elongated hole for engaging the support shaft (with one thread along the longitudinal direction) is formed at one end of the outer blade body (2). A spring (14) is provided to tension the other end of the blade body (1) in the longitudinal direction, and the outer blade body (13')
The inner drive blade body (13') is fixedly supported and is movable relative to the inner drive blade body (13'). Next, another embodiment will be described. FIG. 4 shows another embodiment of the rocking drive mechanism (Bl) for the pedestal pressing member +41VC, and shows a rack gear (16jVc mooring gear Oη) provided at the upper edge of the cylindrical member (7).
The proximal end Vce of the pressing member (4) is grooved so that the pressing member (4) is driven to swing as the cylindrical member (7) rotates. FIG. 6 shows another embodiment of the cutter FC+ for cutting the fruit stem,
Make the radius (R2) of the inner blade body (18') smaller than the radius (R1) of the outer blade body (R□),
(13') The Vc structure 1ffi is provided so that only the blade part (1 part, (L2') part) in each part is strongly contacted by the spring displacing force. As a means for rotating the shown cylindrical member (7), a mechanism other than the motor (9), such as a combination of a link ms and a wire, etc., may be adopted. The structure IA can be modified in various ways, such as a multi-jointed pear or a telescopic type. 4. Brief description of the drawings The drawings show an embodiment of the fruit harvesting robot hand according to the present invention, and FIG. A perspective view, FIG. 2 is a plan view of the cylindrical booth portion, and FIG. 3 is a cutaway side view of the cylindrical booth portion.
FIG. 4 shows another embodiment of the swing drive mechanism. FIG. 5 is a developed plan view showing the cutter in an exploded state, and FIG. 6 is a schematic side view showing another embodiment of the cutter. fx)...Arm, (3)...Tubular booth for fruit intake, (4)...Member for pressing the fruit stalk,
t13), (18')...Blade body, tAl・
...Gap for passing through the fruit stem, (0...Cutter for cutting the fruit stem. Agent: Osamu Kitamura, patent attorney)

Claims (1)

[Claims] ■ A proximal case (3) is connected to the tip of the arm (1), and the arm (1) is stored in the case (3);
A plurality of curved finger members (4) that can be switched between protruding from the case (3) and forming a bowl-shaped lid as a whole.
)-- in an annular manner around the periphery of the case (3), and by rotating the plurality of curved finger members (4) about their pivot centers (P), )
A robot hand for fruit harvesting characterized by having a constriction structure so as to protrude from the fruit. ■ 6ft Curved finger member (4)@・In the state where it protrudes from the case (3) and forms a bowl-shaped lid body as a whole, a gap prisoner that can pass through the tenon is provided at least in the center part. The robot hand for fruit harvesting according to claim 0, characterized in that the robot hand is configured so as to leave the fruit. ■ The opening of the proximal end case (31) has a concave blade portion (12) + (12) in the longitudinal direction substantially in the middle, and both ends thereof are rotated around the axis (Q). The two plate-shaped blade members (13) and (13') that are rotatably supported on the shaft are overlapped, and the two plate-shaped blade members (13) are slid in relatively opposite directions. The fruit harvesting method according to claim 0, characterized in that the cutter is provided with a cutter configured to intersect the blade portions (12) + (12) by Robot hand. ■ The robot hand for fruit harvesting according to claim 0, characterized in that at least one of the plate-shaped blade members (13) and (13) is elastically biased in the longitudinal direction. ■ The plate-shaped blade members (13) + (13') have their pivot radii (R1) j (R*) changed, respectively, so that the plate-shaped blade members (13) + (13') are in close contact with each other vertically at least at the blade MS (12) t (12). The fruit-harvesting robot hand according to claim 0 or 0, characterized in that it is pivot-supported.