JPS61104039U - - Google Patents
Info
- Publication number
- JPS61104039U JPS61104039U JP18802984U JP18802984U JPS61104039U JP S61104039 U JPS61104039 U JP S61104039U JP 18802984 U JP18802984 U JP 18802984U JP 18802984 U JP18802984 U JP 18802984U JP S61104039 U JPS61104039 U JP S61104039U
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- cylindrical case
- intake opening
- actuator
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000020983 fruit intake Nutrition 0.000 claims description 6
- 235000013399 edible fruits Nutrition 0.000 claims description 4
- 238000003306 harvesting Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
図面は本考案に係る果実収穫用ロボツトハンド
の実施例を示し、第１図及び第２図はハンドの一
部切欠き側面図、第３図は制御作動を示すフロー
チヤート、第４図はハンドの移動状態を表わす説
明図、第５図及び第６図はハンドの平面図、第７
図は制御構成を示す概略図である。第８図は従来
のハンドの移動状態を表わす説明図である。
１２……果実取入用筒状ケース、３２……アク
チユエータ、３３……果実取入用開口、３４……
第１接触センサ、３５……第２接触センサ、３６
……押圧部材、９ｃ……アーム。
The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, FIGS. 1 and 2 are partially cutaway side views of the hand, FIG. 3 is a flowchart showing the control operation, and FIG. 4 is a flowchart of the hand. 5 and 6 are plan views of the hand;
The figure is a schematic diagram showing the control configuration. FIG. 8 is an explanatory diagram showing the movement state of a conventional hand. 12... Tubular case for fruit intake, 32... Actuator, 33... Opening for fruit intake, 34...
First contact sensor, 35...Second contact sensor, 36
...Press member, 9c...Arm.
Claims (1)
３３が上方を向く回動位置に復帰付勢した状態で
、アーム９ｃの先端に枢着すると共に、前記筒状
ケース１２の開口周縁部に、果実検出用第１接触
センサ３４の複数個を周方向に並べて立設し、前
記果実取入用開口３３の直上方箇所と前記ケース
１２の内方側に引退した箇所とに亘つてアクチユ
エータ３２にて位置変更自在な第２接触センサ３
５を設けた果実収穫用ロボツトハンドであつて、
前記果実取入用開口３３がアーム９ｃから離れる
側に向う傾斜姿勢に変更するように、前記筒状ケ
ース１２を押圧する押圧部材３６を、前記アクチ
ユエータ３２にて押圧作用位置と押圧解除位置と
に切換操作されるように設けてある果実収穫用ロ
ボツトハンド。 The fruit intake cylindrical case 12 is pivoted to the tip of the arm 9c in a state where the fruit intake opening 33 is biased to return to the rotational position facing upward, and the opening periphery of the cylindrical case 12 is pivoted. A plurality of first contact sensors 34 for detecting fruit are arranged in a circumferential direction, and an actuator is installed between a location directly above the fruit intake opening 33 and a location retracted to the inside of the case 12. A second contact sensor 3 whose position can be changed freely at 32
A robot hand for fruit harvesting equipped with 5,
The actuator 32 moves the pressing member 36 that presses the cylindrical case 12 between a pressing position and a pressing release position so that the fruit intake opening 33 is tilted away from the arm 9c. A robot hand for fruit harvesting that is designed to be operated by switching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18802984U JPS61104039U (en) | 1984-12-11 | 1984-12-11 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18802984U JPS61104039U (en) | 1984-12-11 | 1984-12-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61104039U true JPS61104039U (en) | 1986-07-02 |
Family
ID=30745504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18802984U Pending JPS61104039U (en) | 1984-12-11 | 1984-12-11 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61104039U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106416607A (en) * | 2015-11-21 | 2017-02-22 | 泉州市知产茂业工业设计有限公司 | Full-automatic corn stigma picking machine |
-
1984
- 1984-12-11 JP JP18802984U patent/JPS61104039U/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106416607A (en) * | 2015-11-21 | 2017-02-22 | 泉州市知产茂业工业设计有限公司 | Full-automatic corn stigma picking machine |
| CN106416607B (en) * | 2015-11-21 | 2019-07-02 | 泉州市知产茂业工业设计有限公司 | A kind of full-automatic corn palpus picking machine |