JPS6258924A - Fruit harvester - 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 provides a fruit trapping section having a fruit storage space in which a fruit intake port is opened at the upper part, and supports the fruit stalk extending from the storage space in a predetermined position. The fruit stem supporting member is freely switchable between a supporting action position (17+) in which it protrudes toward the fruit intake side and a retracted position IN (1++) in which it retires to the side away from the fruit intake port, and is thrown into the fruit catching position (117). a fruit trap guiding means for guiding the fruit trap to take in the fruit to be harvested into the fruit storage space; The present invention relates to a fruit harvesting device which is provided with means for operating a fruit stem support member that is operated on the position side.

[Conventional technology]

In such a fruit harvesting device, in a state where the fruit stem extending from the fruit storage space is supported at a predetermined position by the fruit stem support member, the fruit V! cut with a canter, or
The fruit is harvested by severing the fruit stem by operating the fruit trapping part to bend or pull the fruit stem.

By the way, conventionally, when cutting the fruit stem as described above, the cutting operation was performed immediately after the fruit stem supporting member was operated to the supporting action position side.

[Problem that the invention seeks to solve]

However, according to the above-described conventional means, the next stalk cutting operation is performed without checking whether or not the stalk supporting member is located at the supporting action position, resulting in the following inconvenience. Ta.

That is, as shown in FIG. 10, for example, the operation of the stalk support member (9) to the support position is prevented by twigs, leaves, etc., and the stalk support member (9) is located in the support position. Even if an attempt is made to cut the fruit stem (J) in the case where the fruit stem (J) is not present, there is a risk of cutting errors because the fruit stem (U) cannot be supported at the supporting position. Also, Figure 11 (4)
・As shown in (proboscis・0 →・), when the fruit (goods) is taken into the fruit storage space, the stem support member (9
1 toward the supporting position, the fruit (M
If there is a twig adjacent to + in the protruding path of the fruit stalk support member (9), the fruit stalk support member (9) pushes up the twig and removes the fruit (fruit) in the fruit storage space. ) is moved outward, and as a result, the fruit (M) is pushed out during the process of protrusion of the stem support member (9), and as a result, the fruit C
M) was pinched by the stem support member (9), and in this case as well, there was a risk of making a mistake in cutting the stem (J).

Incidentally, in the state shown in Figure 10, although there are some uncompleted operations in which the support member (9) is not in the supporting position, it is close to the supporting position, that is, the operation is not completed. state!S (!: is what it is, and also
In the state shown in ), the operation is far from being completed.

The present invention has been made in view of the above-mentioned circumstances, and its object is to properly support the fruit stem with a fruit stem support member, thereby suppressing mistakes in cutting the fruit stem. be.

[Means to solve all problems]

A characteristic configuration of the present invention is that the fruit stem support member is placed in a supporting position (
After the operation to the d side, the irt medicinal fruit support member is not located directly at the support action position, and is an incomplete operation and is operated toward the support action position by more than the set value. An operation result detection means is provided for detecting a state in which the operation is far from completion in which the number of operations is less than a set value, and the position of the fruit trap is changed by a set amount as the state in which the operation is close to completion is detected. Providing a position correction means and a re-operation means for operating the fruit stem support member again to the support action position side after the position change, and
a fruit stalk support member return operation means for returning the fruit stalk support member to the retracted position side as a state far from completion of the mrt operation is detected; The present invention is characterized in that it is provided with a raising operation means for operating it, and a re-operation means for operating the stem support member again to the support action position side after the up-and-down operation, and the functions and effects thereof are as follows. be.

[For production]

That is, as shown in FIG. 1, after the kerat support member has been operated to the support action position side, the operation is incomplete in which the arbor support member is not located at the support action position, and the operation state of the arbor support member is When the operation result detection means detects a state where the operation is close to completion in which the operation has been performed toward the support action position by more than a set value, the operation of all the stem support members toward the support action position is stopped and the operation is performed in the next state. , by changing the position of the fruit trapping part vertically or horizontally, the twigs and leaves caught in the fruit stem support member are released;
Further, when the operation result detecting means detects a state where the operation is far from completion in which the operation has been completed less than the set value toward the support action position, the stem support member is temporarily returned to the retracted position, and then the return operation is performed. Afterwards, by raising the fruit catching part by a set amount, the fruit held in the stalk support member is taken into the fruit storage space again, and after that, the fruit stalk support member is operated again to the support action position side. It is to make it.

In the case shown in FIG. 10, by changing the position of the fruit trapping part downward, twigs, leaves, etc. f! are removed from the fruit stem support member. r: Can be detached, and also can be removed in Figure 11 (
In the case shown in FIG.
) can be supported in the longitudinal direction intermediate portion (JA).

〔Effect of the invention〕

Therefore, there is a risk that the fruit stem support member may pinch nearby twigs, leaves, etc., or the fruit may be pinched by the fruit stem support member by pushing up a piece adjacent to the fruit stem support member with the fruit stem support member. Even if there is a problem, by changing the position of the fruit trap 'gS in accordance with the state of completion of the operation of the fruit stem support member, the fruit stem can be properly supported by the fruit stem support member. As a result, cutting errors can be suppressed as much as possible, resulting in a fruit harvesting bag gap that allows for even better fruit harvesting.

〔Example〕

As shown in Fig. 8, a pair of left and right propulsion vehicles M (2a) and (2b), which can be driven by hydraulic motors (la) and I (lb), which can be independently switched between forward and reverse directions, are provided at the front side of the vehicle body. 0Ill K casters (3) are provided at the rear of the vehicle body, and a driving unit (however) and a swivel base (5) that can be driven and rotated are provided on the upper part of the body frame (4), and a support base (5) attached to the swivel base (5) is provided. A fruit harvesting robot (B) consisting of a fruit catching part (G) and its support arm (7) is attached to 6) to constitute a fruit harvesting machine.
is a motor operation unit for the swivel base (6).

In order to constitute the support arm (7), the support stand (6
) is a rectangular cylindrical first arm (
7a), a second arm (7b) fitted inside the first arm (7a) to enable FE, and a third arm (7c) connected to the tip of the arm (7b); An electric motor (
The second arm (7b) is slidably operated by the rotation of ml), and is configured as a linear sliding telescopic type. However,
In the figure, (m2) is a Takara-kiri motor with a braking device that rotates the support arm (7) up and down #J with respect to the support stand (6).

As shown in FIG. 2, FIG. 3, and FIG. The members (Fl to FC) are thrown vertically onto the upper periphery of the case (12), thereby forming the case 02) and the plurality of finger-like members (F, to F,).
6 fruit storage spaces (K) surrounded by , and a fruit intake opening (D) surrounded by the tips of a plurality of finger-like members (F, to F6). to 1
-5.

In order to attach the fruit catching part (G) to the arm (7), an F-shaped support frame (8) is attached to the tip of the third arm (7c) so as to be rotatable around an axis (Y) along the arm's longitudinal direction. Attach the fruit catcher (G+) to the nII bifurcated F holding frame (
8) is attached to the tip of the hand so as to be rotatable around the horizontal axis (X), and is configured so that the entire hand is maintained in an upward position by its own weight, and extends from the storage space (K). Four of the fruit stem support members (9) that support the fruit stem at a predetermined position corresponding to the central part of the fruit intake port (DJ) are connected to the supporting action position storage that projects toward the fruit intake port (D) side and the fruit. It is provided in the # marked cylindrical case (121) so as to be switchable between the intake port (a retracted position where it is retracted toward the side away from the DJ), and for cutting the fruit stems supported by the fruit stem support members (9). An arc-shaped sliding cutter (10) is inserted into the cylindrical case α so as to be able to swing in and out so that it can be moved to a cutting position for cutting the fruit stem in the supporting position.

That is, as described later, the m fruit catching section (G) is moved to the lower part of the fruit (goods) to be harvested, and then moved to the upper side to move the fruit (goods) to be harvested to the fruit storage space (
Then, in the state in which the fruit to be harvested (the fruit to be harvested) is taken into the above-mentioned storage space diagram), the fruit stem support member (9) is moved to protrude σ to support the fruit stem. At the same time, the fruit is harvested by cutting the fruit stalk using a canter (lO).

To explain the cutter (lO), two arcuate strip-shaped blade bodies (10a) + (10b) are stacked vertically and connected to each other in a longitudinal direction so as to be slidable relative to each other in the longitudinal direction. (10a) and (10b) A cutting recess 5 (10c) into which the fruit stem can freely enter is formed in the longitudinal center portion of each.

A pair of pins (13a) and (13b), each of which locks one end of each of the blade bodies (10a) and (10b), are rotatably supported through the cylindrical case (121). A rack (IQ) that engages with a canter operation member (14 (1") and a pinion 06 provided at the outer end of the case of the operation member Q4) is connected to a pneumatic cylinder (1 piece) attached to the cylindrical case 021. The double-edged body (10a)-(10b) is attached by the operation of the pneumatic cylinder 07).
) In order to avoid f-cutting, it is possible to do a relative slide in front of the station.

However, the symbol "-" in the figure is a cutter support bin that also serves as a pivot support bin for the stem support member (9). Also, lif'lki cutter (
When the cutter 10) is moved in and out of the case, the pneumatic cylinder 0η is kept in communication with the outside air and expands and contracts as the cutter moves in and out.

In detail, the structure for driving the fruit stalk support member (9) and the cutter (lO) in and out is as shown in FIGS. 3 and 4. A cylindrical member (I91) to be fitted and supported is provided with an electric-1 motor handle on the case side as a means for operating the stem support member (9) to the supporting action position side by rotating the stem support member (9). Elongated hole (9a) formed in the fruit stalk support member (9)
A locking pin (21a) that engages with the long hole (10A) formed at the end opposite to the side where the structure of the slide in the canter (10) is linked. (21b) (also used as an operating bin for the fruit stem support member),
The cylindrical member (I9) is attached to the cylindrical member (l), and the cylindrical member (I9) is rotated by the operation of the electric motor !20, thereby protruding the fruit stem support member (9) and the canter (10).
To explain the structure of interlocking and connecting the electric motor 9) and the cylindrical member α9) configured as shown in FIG. 3, the electric motor e211 The form foil (20a) of ) engages with the first gear and the four gears are attached to the outside of the bottle (P) attached to the case side so as to rotate integrally, and the first gear of 071
A second gear (24) that engages with the gear shaft is formed in a predetermined range on the outer periphery of the lrf cylindrical member 09), so that the cylindrical member (19) is rotated by the drive of the electric motor (3). It's Nishide.

Moreover, as shown in FIG. 4, the i'ifl cylindrical member (19
) A pair of ninth limit switches (to) that limit the rotation range of the lower end of the cylindrical case (12) -
The limit switch □□□ is installed when the second gear is rotated and either side #11 of the second gear 4) comes into contact with the limit switch 0.
When turned ON, the drive of the Il'lT2 electric motor (Il'lT2) is stopped. Furthermore, the fruit stem support member (
9) to the support action position side, this is an incomplete operation in which the fruit stem support member (9) is not located at the support action position and is set to the support action position side 14! - An encoder as a 3-operation result detection means that detects a state in which the operation is close to completion in which the operation is performed more than the specified value, and a state in which the operation is far from completion in which the support action position is operated less than the set value! 26), the operating shaft of its encoder nozzle) is the first gear (2
3) is provided on the case side so as to rotate integrally with the encoder value (Po) at the protruding position of the stalk support member (9), which is stored in advance and is detected according to the rotation of the first gear (23). The encoder reading (Px) and the control device (C)
Based on the comparison, it is determined which of the two states the fruit stem support member (9) is in.

Next, for fruit harvesting...
) Move all the fruits (goods) to be harvested to a lower part, and move the fruit catching part (G) to the raft on the upward path # [j11. Take in the fruits to be harvested into the fruit storage space (K) The fruit trap guiding means (11) for guiding the fruit trap fG) will be described in detail.

As shown in No. 8-1, a television camera as a virtual image means for recognizing the direction of the fruit (goods) to be harvested is placed at the upper end of the third arm (7C) so that the optical axis is parallel to the direction of extension and contraction of the arm. Attach the camera in the correct condition, provide a monitor that takes out the image of the camera, and provide a light pen (9) that selects the fruit to be harvested from among the fruits that appear on the monitor. Infrared proximity sensor (a) that detects when the target fruit (goods) approaches within a set distance
) is provided at the upper tIj part of the third arm (7c), and the fruit selection information, the proximity sensor (detection information from the carving, the arm cutting motors (m, ) and (m2) and the swivel base-5 ) and a control device (C) that outputs an operation command based on pre-stored mental control information.

Further, as shown in FIG. 5, the first to sixth finger members (Fl
) to (F6) are provided with contact type first to sixth finger sensors (S, ) to (S6) for fruit detection.

Furthermore, the target fruit (M) is located directly above the fruit intake port (D), and the target fruit (goods) is located at the fruit trapping part (G).
As shown in Fig. 2, a contact-type central sensor (31) for detecting target fruit (goods) is installed in the fruit trapping section as a target fruit detection means for detecting that the target fruit has been absorbed into the fruit. (
Provided at the upper part of the pantograph type link mechanism (R) that operates to change the position between the part directly above the fruit intake port (D) of G) and the part retracted inward of the catching part (G) of IIf,
The pantograph link mechanism (R) is provided on the bottom wall (12a) of the cylindrical case (12), and engages with a gear formed integrally with the pantograph link mechanism (R). Rank @3, 1ift mark bottom wall (12
Rondo (34) of pneumatic shilling (2) fixed to a)
a) Fix the bolt to the tip of the central sensor @
Based on the detection signal of 1), the pneumatic cylinder cape is extended and rotated to rotate the gear 4 to shorten the pantograph link mechanism (R)', and open the fruit intake port (D).
The central sensor (3I) located directly above the capturing part (
G) so that it can be repositioned to the inner side.

As shown in the flowchart of FIG. 6, when the target fruit (M) among the fruits imaged by the television camera assistant is indicated by the light pen 9), the direction in which the target fruit (goods) is located ( Angle) is calculated and detected, and based on the result, the swivel base +51 and the arm vertical swing operation motor (m,) are operated so that the direction of extension and contraction of the arm (7) is directed toward the target fruit (M). After the direction (angle) is adjusted, the fruit catching part (G) is moved toward the target fruit by extending the arm (7).
When the proximity sensor (30) detects the target fruit, it decelerates and moves a set distance toward the target fruit, and then the fruit catching section (G
) is raised by the set amount (j■), the central sensor (31)
When the central sensor (31) located directly above the fruit intake port (D) detects the detected information, it is determined that the target fruit (goods) is located directly above the fruit intake port (D). The sensor (31) is then repositioned to the inner side of the trapping part (G), and then every time the fruit trapping part (G) is raised by a set amount (jIaI), the central sensor ( When the detection information of 31) is checked and the central sensor) acts again, it is determined that the target fruit (goods) has been taken into the trapping section (G), and the fruit trapping section (G) is raised. Then, the harvesting operation, which will be described later, will be started.

When the central sensor (31+) is positioned directly above the intake port (■) and operated to raise, the g finger sensors (S, ) to ( Any one of S6) acts to detect 67, and horizontally moves the fruit catcher CG+ by a set distance (for example, 2o) in the direction where the nine-finger sensor is located! vI, and by adjusting the horizontal position of the fruit catcher (G), the fruit is reliably taken into the fruit intake port.

In addition, if the central Yang f (3!l) does not detect even if the rising operation is performed for a specified period of time, it will be determined that the fruit cannot be harvested and the fruit catching section (G) will be operated to return to the desired position. .

Next, the structure and control operation for the harvesting operation will be described in detail. That is, after the stalk support member (9) is operated to the support action position, the stalk support member (9) is moved to the support action position. +) E tos inch (20,
And, in the uncompleted operation, the operation is close to completion in which the fruit stalk support member (9) is operated toward the support action position by a value greater than or equal to the set value, and the operation is completed in which the fruit stem support member (9) is operated toward the support action position by less than the set value. Each of the encoders (to) as an operation result detection means for detecting a state far from the state is inputted to the IF control device (C) as information for control operation,
ltAs the state near the completion of the operation is detected, the position of the fruit catching part (G) is adjusted by adjusting the arm (7) 41.1
Between the position correction means which changes the set amount by changing the position, and after the position change, the fruit stem support member (9) is
The motor (re-operation means 39 that operates the motor 201 to the supporting action position side again by driving it to the protruding side) is used, and as powder is detected that is far from the completion of the operation, 1'f The fruit stalk support member return operation means B5) returns the fruit stalk support member (9) to the retracted position side by driving the electric motor (9) to the retracting operation side B5), 1+, I return @ operation The raising operation means side that later raises the fruit catcher (G) by a set amount by operating the arm (7), and the stalk support member +91 that separates after the above upper limit operation.
Using each of the re-operation means η to operate the @sen motor toward the protruding action #l side again to the support action position side.
) is positioned precisely in the supporting position.Hereinafter, each of the above-mentioned means used during the harvest control operation will be explained based on the 7CI-chart in FIG.

After driving the motor 120 for a set time so as to move the fruit stalk support member (9) to the supporting action position and to the iffff tsukatsuta+101 output action side,
Based on the detected end of the encoder density, it is determined whether the fill memorizing member (9) is near or far from the completion of the operation, that is, the encoder value at the pre-stored ejection completion position ( It is determined whether the difference between Po) and the actual encoder reading (Px) is larger or smaller than the set value (α), and if it is smaller than the set value (α), the operation is almost completed. When the limit switch 12G is turned on in state I, the stem support member (
After determining that the operation to the supporting action position in 9) has been completed,
The center center '1llt-the amount of elevation (number of elevations x j
Lower the fruit catcher (G) by m). After that, move the fruit catching part (G) in the direction in which the inner part of the cutting recess (lie) approaches the fruit stalk, and then cut the fruit with the cutter (1) (cylinder α7). , cut the stem.

III. When it is detected that the fruit stalk support member (9) is close to the completion of operation and is not located at the support action position, the electric motor (3) is stopped and the fruit trap fG)
After shaking the stem support member (9) and cutter (10
) to the protruding operating side, and then check whether the limit switch (to) is ON or not again. If the limit switch (to) is not ON, then W After stopping (Kibun-sama, electric motor trace),
The fruit catching part (G) is raised and swung, and the electric motor (
Drive the limit switch (a) to determine whether the limit switch (a) is ON or not. If the limit switch (a) is not ON, the mold cutting motor (a) is stopped as described above, and the fruit is captured. The part (G) is lowered and shaken, and the electric motor (20) drives the fruit stalk support member (9) and the fruit stalk to the ejecting operation side again, and again checks whether the limit switch (嬬) is ON or not. The purpose of this is to determine the

In addition, if the limit switch □□□ is not turned on, it is determined that it is impossible to harvest, and the fruit stalk support material (9) is determined to be impossible.
Then, the cutter (lO) is operated to the retracting side, and the entire fruit catching part (G) is returned to the intended position on the vehicle body side.

1↑1 As it is detected that the operation of the fruit stem support member (9) is far from completion, the fruit stem support member (9) is operated to return to the retracted position, and then the fruit capture ■≦(G)fr , the force is increased by a set amount to oscillate the fruit catching section.

Then, the electric motor □□□ is driven for a time sufficient for the stem support member +91 and the canter (10) to protrude, and then the detection information of the encoder 6) is checked, and if
If it is detected that the stalk support member (9) is far from completion of operation as in ff, it is determined that harvesting is impossible and the stalk support member (9) is removed.
9) and the cutter (10) are operated to the retracting side, and the fruit catching part (G) is returned to the desired position on the vehicle body side. 0t+When it is determined that the fruit stalk support member 19) is close to completion of operation, the limit switch I25 is activated.
The detection information of 1 is determined, and thereafter, 1j is performed in the same manner as described above.

As mentioned in IJ, the harvested fruit is placed in the fruit trap (G).
After returning to the desired position σ, it is removed artificially. Then, by the shortening operation of the cylinder, the central sensor (31) is raised σ and returned to the position directly above the fruit inlet (D).

(Another Embodiment) In the above embodiment, the position of the fruit catcher fG) was changed only in the vertical direction, but the same may be done in the horizontal direction.

Further, in the embodiment described above, the fruit stem support member (9) is positioned at the support action position by using the swinging of the fruit catching part (G) and the position correction means μs of the fruit catching part (G). , the swinging of the fruit catching part (G) may be omitted and only the position between the position correcting means may be used.

In the above embodiment, the fruit stem is cut by the cutter (10), but the fruit stem is cut by the arm (7) or The fruit catcher (G) or the like may be actuated to bend or pull the fruit stem to cut the fruit stem.

In the above embodiment, the fruit stalk support member 19) and the canter (10
) for sufficient time for the electric motor (a) to complete the ejection operation.
However, as shown in FIG.
When the drive speed of the i#I motor (20) becomes smaller than a set value, the drive of the electric motor (a) may be stopped.

In carrying out the present invention, various modifications may be made to the specific structure of the fruit catching part fG) and the stem support member (9), as well as the specific structure of the arm (7) that supports the fruit catching part (G) so as to be able to guide it. can.

[Brief explanation of the drawing]

The drawings show an embodiment of the fruit harvesting device according to the present invention, and show the first embodiment of the fruit harvesting device according to the present invention.
Figure 2 is a block diagram showing the overall configuration of the present invention, Figure 2 is a partially cutaway vertical sectional view of the robot hand, Figure 3 is a vertical sectional view showing the motor drive structure, and Figure 4 is the gear drive structure. 5 is a plan view of the robot hand, FIG. 6 is a flowchart showing control operation #I, FIG. 7 is a flowchart showing harvesting operation J, and FIG. 8 is a schematic diagram showing the control configuration. Figure 9 is a flowchart showing different examples of harvesting operations. Figures 10 and 11 (a), (b),
し→・(ni) is a schematic diagram showing a conventional example of the state of fruit incorporation. (9)...Fruit support member, (11)...Fruit capture guidance means, i2+11 -Rice support member operating means, (26:...operation result detection means, 136)
...Fresh support member return operation means, (excluding...upper arm operation means, On (2))...Re-operation means, bet...
Position correction means, (DI...fruit intake port, f31.
- Fruit trapping section, (K)...Between fruit storage chambers. Agent Patent Attorney Osamu Kitamura 8 Figures* 10 Figures''-H (1)

Claims (1)

[Claims] A fruit storage space (K) with a fruit intake port (D) at the top.
) is provided, and the storage space (K
), which supports the fruit stem in a predetermined position, extending from the fruit stem (
9) is attached to the fruit catching part (G) so as to be switchable between a supporting position in which it protrudes toward the fruit intake opening (D) and a retracted position in which it retires away from the fruit intake opening (D). a fruit trap guiding means (11) for guiding the fruit trap (G) to take the fruit to be harvested into the fruit storage space (K); A fruit harvesting device provided with a stalk support member operating means (20) for operating a stalk support member (9) toward a support action position, wherein the stalk support member (9) is operated toward a support action position. After that, there is an incomplete operation in which the fruit stem support member (9) is not located at the support action position, and a state where the operation is close to completion in which the operation is performed toward the support action position by more than the set value, and a state where the operation is close to completion in which the fruit stem support member (9) is not located at the support action position and the operation is moved closer to the support action position than the set value. An operation result detection means (26) is provided for detecting a state where the operation is far from completion, and the position of the fruit catching part (G) is set as the state near the completion of the operation is detected. A position correction means (38) for changing the amount, and a re-operation means (39) for operating the fruit stem support member (9) again to the supporting action position side after the position change are provided, and the operation is far from completion. As the state is detected, a rachis support member return operation means (3) returns the rachis support member (9) to the retracted position side.
5), a raising operation means (36) for raising the fruit catching part (G) by a set amount after the return operation; and a raising operation means (36) for raising the fruit catching part (G) by a set amount after the raising operation, and moving the fruit stalk support member (9) back to the support action position side after the raising operation. A fruit harvesting device provided with respective re-operation means (37) for operation.