JPS61239813A - Robot hand for harvesting fruits - 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] [Field of Industrial Application] The present invention mainly relates to a robot hand used for harvesting fruits such as tangerines and apples, and more specifically, to a robot hand that is used for harvesting fruits such as mandarin oranges and apples. In addition to providing a case for fruit harvesting, contact sensors for detecting fruit are provided at a location immediately above the intake port and on the inside of the case, and are provided at nine locations so as to be freely changeable in position using an actuator. Regarding robot hands.

[Conventional technology]

After the robot hand is automatically guided to the lower part of the fruit to be harvested, it is automatically raised to take the fruit into the cylindrical case for taking in the fruit. Then, the contact centimeter for fruit detection detects that the fruit to be harvested is located directly above the intake port of the cylindrical case for inserting fruit ribs, and then By retiring the contact sensor "117 located above to the inside of the case and raising the hand, the contact sensor detects that the fruit is taken in as desired into the cylindrical fruit-taking case. It is detected again at .

By the way, in order to change the position of the ITt contact sensor between the location directly above the case intake and the location on the inside of the case, conventionally, as shown in FIG. 15, the contact sensor (S) The air cylinder (100) for raising and lowering is provided so as to protrude significantly below the case 02). In other words, air cylinder (100) 1,
Since it was simply installed along the vertical direction, the cylinder tube (102) protruded downward with a length corresponding to the middle M stroke of the piston rond (101).

[Problem that the invention seeks to solve]

Ninth, when guiding the hand toward the fruit to be harvested, as mentioned above, the air cylinder that protrudes largely downward from the case comes into contact with the fruit or the technique that is close to the fruit to be harvested. This has the disadvantage that hand guidance is hindered, and depending on the working conditions, it may be difficult to perform fruit harvesting properly.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to enable the actuator for cross-position operation of a contact sensor for fruit detection to be thrown in a state that does not disadvantage fruit harvesting. be.

Means for Solving Problem C] The characteristic configuration of the present invention is that the actuator is provided so as not to protrude downwardly or largely protrude from the case, and its functions and effects are as follows. be.

[For production]

In other words, by preventing the actuator from protruding significantly downward from the case, the actuator is prevented from coming into contact with other fruits or other objects located near the fruit to be harvested when guiding the hand. It is.

〔Effect of the invention〕

Therefore, it is possible to guide the hand toward the fruit to be harvested in a desired manner even in work conditions where other fruits, branches, etc. are present near the fruit to be harvested, and thereby, A robot hand for fruit harvesting that can be used more conveniently has been obtained.

〔Example〕

As shown in Fig. 2, a pair of left and right propulsion wheels + 1), a pair of front and rear idle wheels (2), and an actuator that can be raised and lowered (
3) A rotating platform (
4) Attachment and lift device (6) that can lower the 111J load freely
is attached to the swivel base (4) at the center of rotation, and the fruit harvesting robot (8) is attached to the upper end of the tray (i5) to constitute a fruit harvesting machine. however,
In the figure, (3) is a motor operation unit for the lift device (6) and the swivel table (4).

The mounting device (5) includes a screw member (6) that drives the base end of the robot (B) up and down, and a guide member (6) that guides the robot (B) up and down.
7) and (7), and is configured to move the robot (B) up and down by forward and reverse movement of the screw member (6).

The fruit harvesting robot (B) is comprised of a base end case (8) that is supported by the lift bag @ (6) so as to be able to rise and fall freely, and a base end case (8) that is supported by the case (8) so as to be able to swing up and down. The first arm (9a), the second arm l'9b) supported by the arm (9a) in a vertically swingable manner, the arm (
9b), the third arm (9c) is supported in a vertically swingable manner.
, and each arm (9a) attached to the tip of its arm (9c), as well as providing each arm (9a)
An electric motor (lO) with an encoder is provided to swing each of the arms (9b) and (9c) separately, so that the hand (H) The apparatus is configured to guide the fruit to the fruit to be harvested and cause the fruit to be harvested.

To explain the above-mentioned hand lifting, as shown in Figs. 3 to 5, the forked support frame
The cylindrical case α2 for fruit intake is attached to the tip of the arm so as to be rotatable around the axis (2) along the longitudinal direction of the arm, and the cylindrical case α2 for fruit intake is attached to the tip of the bifurcated support frame (ll) around the horizontal axis (X). It is configured to be rotatably mounted so that the entire hand can be maintained in an upward position by its own weight.

Then, the four stem-like parts that connect the fruit introduced into the case and the cane, the so-called stem pressing members that press and support the stem in a predetermined position with the protruding operation, can be moved in and out. Attached to the cylindrical case for fruit singer (+2i), an arc-shaped sliding canter (14) for cutting the fruit stem supported by the fruit stem pressing member 0 is used to cut the fruit stem at the predetermined position. It is provided on the case side so that it can swing in and out so that it can be moved into position.

That is, as described later, the fruit harvesting hand (H) is moved to a position below the fruit to be harvested, and then completely moved upward to introduce the fruit into the cylindrical case 021 for fruit intake.
In this state, the fruit stem pressing member α4 is activated to project and support the fruit stem, and the cutter cuts the fruit stem to harvest the fruit.

Further, first to sixth finger-like members (Fl) to (F6) made of rubber, which can be elastically bent inward by air supply, are attached to the opening periphery of the cylindrical case O for taking in fruit. juxtaposed,
By adjusting the air pressure supplied to the finger-like members (Fl) to (F6), the size of the fruit insertion opening formed between the tips of the finger-like members (F, ) to (F6) is adjusted to suit the fruit to be harvested. It is also possible to make changes and adjustments accordingly.

To further explain the cutter 04), two circular arc band plate-shaped blade bodies (14a) + (14b) are connected with a pin so that they can be slid relative to each other in the longitudinal direction in a vertically overlapping state.
Each of the blades (14a) and (14b) is provided with a cutting recess into which the fruit stem can freely enter, in the central portion in the longitudinal direction.

Then, a pair of pins (15a) + (15b) that lock the respective pant parts of each blade body (14a) + (14b) separately,
Cylindrical case 02) VC is rotatably supported through the cylinder and is provided in a circular cylindrical cutter operating member (II).
A rank (l barrel) that engages with a pinion aη provided at the outer end of the hollow case is attached to a pneumatic cylinder Q@ attached to the cylindrical case (l rack), and by the operation of the pneumatic cylinder Q9, a double-edged body ( 14a) + (14b) can be driven relative to each other for cutting.

However, @ in the figure is a cutter support pin that also serves as a balance pin for the stem pressing member θ. Furthermore, when the cutter H is moved in and out of the case, the pneumatic cylinder (1
91 is maintained in a state of communicating with the outside air and expands and contracts as the canter moves forward and backward.

To explain the structure for driving the fruit stalk pressing member 0 and the cutter (141) in and out, the cylindrical member (which is reciprocated and rotated by an electric motor (2υ) is connected to the fruit intake cylindrical case (121). A locking pin (23a) that is internally supported and engages in a long hole (13a) formed in the stalk pressing member (13), and a side opposite to the side where the sliding structure of the cutter 04) is linked. A locking pin that engages in a long hole (14A) formed at the end of the (however, it also serves as a pin for operating the stalk pressing member)
(23b) Put each of them onto the cylindrical member (a), and then
It is constructed so that it can swing in and out as the cylindrical member (a) rotates.

Next, the guiding means for automatically moving the fruit harvesting hand (H) to a position below the fruit to be harvested will be described in detail.

As shown in Figure 2, a television camera (8) as an imaging means for recognizing the direction of the fruit to be harvested is attached to the upper part of the third arm (9c), and a monitor displays the image taken by this camera (4). (2F5 is installed, and a light pen (B) is installed to select the fruit to be harvested from among the fruits displayed on the monitor (B), and the fruit harvesting hand (H) approaches the fruit to be harvested within a set distance. The %3 arm (9
c) provided at the upper end and detection information therefrom;
A control device (C) is provided that outputs an operation command based on the arm drive motor (rotation information of the field and swivel table (4), elevation information of the lift device (6), and control information stored in advance). .

In other words, as shown in the flowchart of FIG. 10, when the target fruit (goods) among the fruits imaged by the television camera is indicated by the light pen, the direction in which the target fruit (goods) to be harvested is located. The swivel table (4), the lift device (6), or the arm (9a) + (9b) I (9C) performs arithmetic detection processing and directs the movement direction of the hand (6) toward the target fruit based on the result. The direction is adjusted by activating the arm, and then the hand () I)
The target fruit side VC is moved a set distance, and each time the hand (H) is moved a set distance, the direction of the target fruit is calculated and detected, and the hand (H) is moved in the detected direction. It turns out. When the spot distance sensor (b) detects the target fruit, the target fruit is decelerated and then harvested as described later.

However, as mentioned above, moving the set distance a predetermined number of times (n
), if the spot distance sensor does not detect it, it will be determined that it is impossible to harvest, and the hand handle will be returned to the predetermined position. In addition, the predetermined times (rt
) can be obtained as a value obtained by dividing the arm extension/contraction amount by the set distance to be moved.

To configure the spot distance in centimeters, as shown in FIG. 6, a light emitting element (a) and a light receiving element (b) for detecting the light projected from the light reflected on the fruit are provided, respectively. The distance is then determined based on the amount of light received by the light receiving element (b).

The harvesting operation will be explained in detail below.

As shown in Figure 1, detecting the fruit (goods) to be harvested,
-t, b*abo"actual test 61" -t > f (S
) 'k・1'' Real number case 0 plow fruit intake (D)
At the same time, the actuator (C) is installed on the top of the actuator (C) that operates to change the position between the position directly above the case (C) and the position retracted inward of the case (C). 12a).

The actuator (c) includes the contact sensor? The bellows to which the lower part of (S) is attached is placed between the bottom wall (12a) and the contact sensor r(s) and the bottom wall (12a), and the bellows is urged toward the shortening side. A spring □□□ is provided, and a hose ＠υ is provided to guide pressurized air from the air compressor provided on the vehicle body into the bellows device, and pressurized air is supplied to the inside of the bellows. and the contact sensor 4/'' (S) located on the inside of the goose α force is moved to a position directly above the intake port) against the biasing force of the spring. It is.

In addition, (E, ), (E, ), (E3), (E4) in Figure 4
As shown in FIG. 9, the pressurized air from the air compressor is transferred to each actuator on the hand side an
This is a control valve for switching between supplying and not supplying to Fl)...

Then, as shown in the flowchart of FIG. 11, as the hand (6) is raised as described above, the contact sensor! /'' When (S) acts to detect, the sensor (S)
is moved downward by the actuator (c), and then as the hand (6) is further raised, when the contact sensor (S) detects the detection again, the raising operation of the hand (6) is stopped and the state is changed. , the fruit stalk pressing member (13
1 and cutter 04 are operated upward, and the cutter (I4
) will be activated to cut.

When the contact sensor (S) is positioned directly above the production member (2) and operated upwardly, when the contact sensor (S) is in a non-detection state, the contact sensor (S) is placed in the non-detection state. )
When any of the finger-like members (Fl) to (S6) performs a detection action, the finger sensor is moved horizontally in the direction of the finger sensor that has performed the detection action, and is inserted into the opening formed by the finger-like members (Fl) to (F6). Be sure to include fruit. Further, when the contact sensor (S) does not act to detect even if the lifting operation is performed by a predetermined amount, it is determined that harvesting is impossible, and the harvester is operated to return to the desired position.

Further, after the hand (I()) is returned to the desired position and the fruit to be harvested is artificially removed, the contact senna (S) is raised by the aforementioned spring-〇 biasing force to close the case intake. It returns to the position tM directly above (D).

[Another example]

Another embodiment of the actuator (2) for operating the position change of the contact sensor 4j'' (S) shown in the above embodiment will be explained based on FIGS. 12 to 14. As shown in FIG. 12,
The contact sensor "l" (S) is provided in the upper position by the biasing force of the bias spring ←l) to the extension side, and the contact sensor "l" (S) is provided between the contact sensor f (S) and the lower part of the hand (H). A shape memory alloy (6) serving as an actuator is provided through an insulator (an insulator), and the welding center-r(s)
When the fruit comes into contact with the shape memory alloy (6), the shape memory alloy (tree) is brought into a conductive state and heated by a power source provided on the vehicle body side, shortening the shape memory alloy (6) and moving the contact sensor (S) downward. It is configured to be moved. In the figure, ■ is a cord for leading to the power source on the vehicle body side.

Furthermore, as shown in FIGS. 13(a) and 13(b), a pantograph-type link mechanism is provided on the bottom wall (12a) of the hand (6), which is biased toward the shortening side by a helical spring. , an operating phase air cylinder is provided below the pantograph (44), and the pantograph and the cylinder are connected by pulleys (47a) = (47b) of various sizes.
) and wires (Ya) I (Yb), and based on the detection signal of the contact sensor (s) attached to the top of the pantograph (), the cylinder is operated to expand and contract. The contact sensor (S) is configured to be raised or lowered by expanding and contracting the contact sensor (S).

Furthermore, as shown in FIGS. 14(a) and 9(b), a bank graph type sunk mechanism decoy is provided on the bottom 1i (12a) of the hand (6), and the puncture grab type sunk mechanism decoy is integrated with the bottom 1i (12a) of the hand (6). rR, the rack that engages with the loaded gear 4 is bolted to the tip of the rod fixing 4 of the cylinder (2) υ fixed δ to the bottom wall (12a), and the pantograph (
48) Contact sensor installed at the top? Based on the detection signal (S), the cylinder @υ is telescopically operated to rotate gear 4, thereby raising or lowering the pantograph type sunk mechanism.

In carrying out the present invention, various modifications may be made to the specific configuration of the fruit harvesting hand, the specific configuration of the imaging device, and the specific configuration of the fruit direction detection device and the automatic hand movement device that constitute the hand guiding device. can.

[Brief explanation of the drawing]

The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, FIG. 1 is a vertical side view of the robot hand, FIG. 2 is a schematic diagram showing the control configuration, and FIGS. 3 and 4 are diagrams of the robot hand. 5 is a vertical sectional side view of the robot hand, FIG. 6 is a perspective view of the distance sensor, FIGS. 7 and 8 are side views showing the linkage structure between the cutter and the pneumatic cylinder, and FIG.
The figure is a side view of the robot hand, FIG. 10 is a flowchart showing the control operation, and FIG. 11 is a flowchart showing the harvesting operation. FIG. 12 is a vertical cross-sectional view showing another embodiment of the mounting part of the contact sensor, and FIG.
Figures 4(a) and 4(b) are a front view and a side view showing another embodiment of the mounting portion of the contact sensor. FIG. 415 is a longitudinal sectional side view showing a conventional example of a mounting portion of a contact centimeter. (121... fruit shame case, (c)...
... Actuator, (D) ... Fruit intake port, (S) ... Contact sensor for fruit detection.

Claims (1)

[Claims] A fruit intake case (12) is provided with a fruit intake port (D) at the top, and a fruit detection contact sensor (S) is provided.
, the part directly above the intake port (D) and the case (12
) Actuator (2)
8) A robot hand for fruit harvesting which is provided in a manner that the actuator (28) does not protrude downwardly of the case (12) or does not protrude significantly. robot hand.