JPS61124315A - Working machine - 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] [Industrial Application Field] The present invention mainly relates to harvesting, pruning, flower thinning,
This invention relates to a work machine for performing work such as fruit thinning.

[Conventional technology]

Conventionally, in constructing such a working machine, a telescopic manipulator to which various working hands are attached is attached to the vehicle body itself so that it can be moved up and down and swung left and right.

[Problem that the invention seeks to solve]

When constructing a work machine using conventional means, a large manipulator that can extend and retract with a large stroke must be used in order to be able to work at high positions. In order to position the manipulator with high precision, it is necessary to be able to determine the position of the manipulator with respect to the vehicle body with high precision.As a result, the overall structure becomes complicated and expensive.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to simplify the overall configuration while also enabling work at high positions to be performed satisfactorily.

Means for Solving Problem c] The characteristic configuration of the working machine according to the present invention is that a boom that can be raised and lowered is attached to the vehicle body, and at the tip of the boom,
A manipulator that can be freely expanded and contracted is attached so as to be able to swing vertically and horizontally, and at the tip of the manipulator,
This is because a working hand is attached, and its functions and effects are as follows.

[For production]

In other words, by providing a boom that can be raised and lowered relative to the vehicle body and attaching a manipulator to the tip of the boom, it is possible to perform work at a high position while using a manipulator with a small telescopic stroke. Furthermore, since the manipulator can be positioned by positioning the manipulator with respect to the boom with a small expansion/contraction stroke, the positioning accuracy of the tip of the eyebrow break can be increased without particularly increasing the positioning accuracy of the manipulator with respect to the boom.

〔Effect of the invention〕

Therefore, using a manipulator with a small telescopic stroke,
Furthermore, the positioning accuracy of the tip of the manipulator can be improved through a detailed structure, and work can be performed at high positions.This makes it possible to obtain a working machine that is superior in terms of production. It's arrived.

(Example〕 Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 2, a pair of left and right propulsion wheels (2) can be driven independently by a hydraulic motor (+w), casters (2A) located behind the wheels (2), and a driving wheel. A boom (1) that can be raised and lowered by a hydraulic cylinder (3) is attached to the vehicle body (A).
), and a manipulator (B) that can be freely extended and retracted is attached to the tip of the boom (1) so as to be able to swing vertically and horizontally, and the manipulator (B)
A working hand (H) is attached to the tip of the working machine.

The boom (1) consists of a pair of upper and lower links (l
a) and (lb) are provided to form a parallel four-speed link, so that the support part (IC) of the manipulator (B) can be maintained in a predetermined posture regardless of whether it is raised or lowered.

In configuring the manipulator (B), the manipulator (B) shown in FIG.
As shown in the figure, a first arm (B1) on the proximal end side, a second arm (B2) that is telescopically supported on that arm (B1) using a slide rail (4), and a slide on that arm (B2). Each of the third arms (B3) is telescopically supported using a rail (5), and the first arm ('Bl'
A screw shaft (6) rotatably supported on the screw shaft (6) and an electric motor (M) for telescoping operation are connected in a gear-coupled manner, and a piece member (7) externally fitted onto the screw shaft (6) is connected to the second arm (B2). A pair of pulleys (8) attached to and supported by the second arm (B2)
The three places of the annular wire (9) wound over the bottle (10a).

(10b), the first arm (B1) and the third arm (
B3), and are configured to be expanded and contracted by forward and reverse rotation of the electric motor (M).

Then, in order to attach the manipulator (B) to the support part (1c), as shown in FIG.
B1) is provided with a bifurcated connecting frame (11) that pivots vertically swingably around the horizontal axis (X), and the connecting frame (11) is
The support part (1c) is fitted into the support part (1c) so as to be rotatable around the vertical axis (Y), and the electric motor (Ma) for vertical swing operation and the electric motor (Mb) for horizontal swing operation are each connected using a harmonic principle method. It is provided to be driven by the motors (Ma) and (Mb), so that the swinging operation can be performed by both motors (Ma) and (Mb).

Various types of working hands (H) are prepared for carrying out tasks such as harvesting, pruning, flower thinning, fruit thinning, and spraying of chemicals on fruit trees, and these are used interchangeably depending on the task. As an example, to explain the hand (H) for harvesting work, as shown in FIGS. The cylindrical case for fruit intake (13) is attached to the tip of the bifurcated support frame (12) so as to be rotatable around the horizontal axis (0). Thus, the cylindrical case (13) is maintained in a predetermined upward position by its own weight.

Then, the six stalk pressing members (14) that press and support the so-called stalk, which is the handle-like part that connects the fruit introduced into the case and the fruit, in a predetermined position with the protruding operation, are moved in and out. An arcuate sliding cutter (15) is attached at the predetermined position to freely attach to the fruit intake cylindrical case (13) and to cut the stalks supported by the stalk pressing member (14). It is attached to the case side so that it can swing in and out so that it can be moved to the cutting position for cutting the fruit stem.
However, (16) in the figure is rotatably fitted and retained in the cylindrical case (13) in order to move the stalk pressing member (14) and force lever (15) in and out with forward and reverse operation. It is a cylindrical body with a pin (17) that locks each of a stalk pressing member (14) and a cutter (15).

Further, (18) is an electric motor that rotates the cylindrical body (16), and (19) is a fluid pressure cylinder that slides the pair of blade bodies (15a) and (15b) that constitute the cutter (15). , (20) are finger-like members erected on the edge of the mouth of the case.

That is, the hand (H) is guided to the lower position of the fruit to be harvested as described later, and then moved upward to introduce the fruit into the cylindrical fruit intake case (13), and in that state, The fruit stalk pressing member (14) is operated to protrude to support the fruit stalk, and the cutter (15) cuts the fruit stalk.
The fruit will be harvested.

Next, the fruit harvesting procedure will be explained.

That is, first, the vehicle body (8) moves near the fruit tree and the hand (H) is positioned below the fruit tree. TV camera (S) attached to the manipulator (B)
) to recognize the growing direction of the fruits to be harvested, select the fruits to be harvested from among the fruits shown on the monitor (not shown) of the television camera (S), and collect the detection information of the television camera (S). A control device (not shown) into which the selection information is input automatically operates the manipulator (B) and the work hand (I) to complete the harvesting work. The above procedure completes the harvesting work within the range that can be recognized by the TV camera (S>. After that, the boom (S>
1) is raised to move to the next work range and complete the harvest work within the range that can be recognized by the television camera (S) as described above. Thereafter, while raising the boom (1) and setting a new work range, the harvesting work is completed at the vehicle body stop position. After the vehicle body (A) is driven to the next working position, the harvesting work is performed as described above.

Examples according to c] Next, another example will be described.

When preparing various types of work hands (H) for harvesting, pruning, flower thinning, fruit thinning, spraying chemicals, etc. on fruit trees, these hands () I)
We also prepare programs for each type of hand (
It would be good to be able to select a program in conjunction with the replacement of H).

Furthermore, it is convenient to prepare a machine equipped with a car body (A) and a boom (1) with various specifications that can accommodate working conditions such as the height of fruit trees, under shelves, and on slopes.

Furthermore, when configuring the vehicle body (A), the configuration of each part such as the steering structure can be changed in various ways, such as making the vehicle body (A) a four-wheeled type in which all of the front and rear wheels can change direction.
) can also be changed in various ways.

The present invention can be applied not only to constructing working machines for fruit trees but also to constructing various working machines that perform work at high positions.

[Brief explanation of the drawing]

The drawings show an embodiment of the working machine according to the present invention, in which Fig. 1 is a side view of the working machine, Fig. 2 is a schematic plan view of the machine, Fig. 3 is a cutaway side view of the manipulator, and Fig. 4 is a side view of the manipulator. 5 is a longitudinal sectional view of the manipulator, FIG. 6 is a cutaway front view showing the support part of the manipulator, and FIGS. 7 and 8 are a plan view and cutaway side view showing the hand. . (1)...Boom, (A)...Car body,
(B)... Manipulator, (H)...
Working hand, (S)...Television camera for recognizing work object.

Claims (1)

[Scope of Claims] [1] A boom (1) that can be raised and lowered is attached to the vehicle body (A), and a manipulator (B) that can be freely extended and retracted is attached to the tip of the boom (1) for vertical and horizontal swinging operations. A working machine that can be freely attached and has a working hand (H) attached to the tip of the manipulator (B). [2] The working machine according to claim 1, wherein the manipulator (B) is equipped with a camera (S) for recognizing a work object.