JPS6210724U - - Google Patents
Info
- Publication number
- JPS6210724U JPS6210724U JP10295885U JP10295885U JPS6210724U JP S6210724 U JPS6210724 U JP S6210724U JP 10295885 U JP10295885 U JP 10295885U JP 10295885 U JP10295885 U JP 10295885U JP S6210724 U JPS6210724 U JP S6210724U
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- intake port
- robot hand
- storage space
- harvesting
- 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
- 235000013399 edible fruits Nutrition 0.000 claims description 15
- 235000020983 fruit intake Nutrition 0.000 claims description 4
- 238000003306 harvesting Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 1
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図はバキユーム装置の装着
部を示す果実捕捉部の概略縦断側面図、第2図は
制御作動を示すフローチヤート、第3図は収穫作
動を示すフローチヤート、第4図及び第5図はロ
ボツトハンドの平面図、第6図はロボツトハンド
の縦断側面図、第7図は接触センサの装着部を示
す縦断側面図、第8図イ、ロはカツタと空気圧シ
リンダとの連係構造を示す側面図、第9図は距離
センサの平面図、第10図は制御構成を示す概略
図である。第11図はバキユーム装置の装着部の
別実施例を示す果実捕捉部の概略縦断側面図であ
る。
8……果実捕捉部、9……果梗支持部材、D…
…バキユーム装置、K……果実収納空間、T……
果実取入口。
The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, FIG. 1 is a schematic longitudinal sectional side view of the fruit catching section showing the mounting section of the vacuum device, FIG. 2 is a flowchart showing the control operation, and FIG. The figure is a flowchart showing the harvesting operation, Figures 4 and 5 are a plan view of the robot hand, Figure 6 is a vertical side view of the robot hand, Figure 7 is a vertical side view showing the mounting part of the contact sensor, 8A and 8B are side views showing the interlocking structure between the cutter and the pneumatic cylinder, FIG. 9 is a plan view of the distance sensor, and FIG. 10 is a schematic diagram showing the control configuration. FIG. 11 is a schematic longitudinal sectional side view of a fruit catching section showing another embodiment of the mounting section of the baquium device. 8...Fruit catching part, 9...Fruit support member, D...
... Bakyum device, K... Fruit storage space, T...
Fruit intake.
Claims (1)
実取入口Tを備える果実捕捉部8を設け、前記収
納空間K内に収納された果実から延びる果梗を所
定位置に支持する果梗支持部材9を、前記果実取
入口T側に突出する支持作用位置と前記果実取入
口Tから離れる側に引退する退避位置とに亘つて
切換操作自在に設けた果実収穫用ロボツトハンド
であつて、前記収納空間K内の果実が前記取入口
T側へ移動することを阻止するように、果実を前
記収納空間Kの底部側に吸引するバキユーム装置
Dを備えさせてある果実収穫用ロボツトハンド。 A fruit stem support member that has a fruit storage space K inside and a fruit trapping part 8 with a fruit intake port T at the top, and supports the fruit stem extending from the fruit stored in the storage space K at a predetermined position. The robot hand for fruit harvesting is provided with a robot hand 9 that can be freely switched between a supporting position protruding toward the fruit intake port T and a retracted position retiring toward the side away from the fruit intake port T, The robot hand for fruit harvesting is equipped with a vacuum device D that sucks the fruit to the bottom side of the storage space K so as to prevent the fruit in the space K from moving toward the intake port T side.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10295885U JPS6210724U (en) | 1985-07-05 | 1985-07-05 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10295885U JPS6210724U (en) | 1985-07-05 | 1985-07-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6210724U true JPS6210724U (en) | 1987-01-22 |
Family
ID=30975071
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10295885U Pending JPS6210724U (en) | 1985-07-05 | 1985-07-05 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6210724U (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020195353A (en) * | 2019-06-05 | 2020-12-10 | 本田技研工業株式会社 | Fruit vegetable harvesting unit |
JP2021023164A (en) * | 2019-08-01 | 2021-02-22 | 本田技研工業株式会社 | Fruit vegetable separation device and fruit vegetable separation method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59106215A (en) * | 1982-12-07 | 1984-06-19 | 株式会社クボタ | Robot hand for harvesting fruit |
JPS6034108A (en) * | 1983-08-08 | 1985-02-21 | 株式会社クボタ | Robot hand for harvesting fruit |
JPS6037915A (en) * | 1983-08-11 | 1985-02-27 | 株式会社クボタ | Fruit harvester |
-
1985
- 1985-07-05 JP JP10295885U patent/JPS6210724U/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59106215A (en) * | 1982-12-07 | 1984-06-19 | 株式会社クボタ | Robot hand for harvesting fruit |
JPS6034108A (en) * | 1983-08-08 | 1985-02-21 | 株式会社クボタ | Robot hand for harvesting fruit |
JPS6037915A (en) * | 1983-08-11 | 1985-02-27 | 株式会社クボタ | Fruit harvester |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020195353A (en) * | 2019-06-05 | 2020-12-10 | 本田技研工業株式会社 | Fruit vegetable harvesting unit |
JP2021023164A (en) * | 2019-08-01 | 2021-02-22 | 本田技研工業株式会社 | Fruit vegetable separation device and fruit vegetable separation method |