JPS6261517A - 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] [Industrial Application Field] The present invention provides a method for repeatedly throwing a fruit trap S, which is provided with a fruit storage space with a fruit intake port formed in the upper part, at the tip of an arm, and placing it in the fruit storage space. A stalk support member for supporting the stalk extending from the stored fruit is provided in the fruit trapping part so as to be operable to move in and out, and a cutter is provided to cut the stalk supported by the stalk support member. The present invention relates to a fruit harvesting robot hand that is provided in the fruit catching section so as to be able to move in and out of the fruit in order to move toward the fruit stalk side in accordance with the outstanding crop #IJ.

[Conventional technology]

Such a robot hand for fruit harvesting generally guides the fruit catching section to a location below the fruit to be harvested, and then raises the fruit catching section to take the fruit into the fruit storage space. And the situation is 1! At step 1, the stalk supporting member is operated to protrude to support the stalk extending from the fruit taken in as described above at the center of the fruit intake port, and the stalk cutting cutter is operated to protrude to cut the stalk. Then, the fruit will be harvested.

Incidentally, when harvesting fruit, the direction of extension and contraction of the arm is often aligned with the direction in which the branch extends. And I! ! , As shown in Figure 10 (a), the peduncle ([0] generally extends toward the tip of the branch, so the peduncle (H) extends from the tip of the pedicle when viewed in the width direction of the pedipalp trap. In many cases, the stem is in an inclined position and the position of the stem at the fruit intake port (E) is located forward in the longitudinal direction of the arm with respect to the center of the fruit intake port. When CIIJ is activated,
There was an inconvenience that the fruit stem (G) in the inclined position could not be moved to the center of the fruit intake port (E) because the fruit stem supporting member (-) came into contact with the fruit stem (G).

In other words, as mentioned above, when the fruit stem (A) is moved to the center of the fruit intake port (E), a large force is applied to the fruit stem support member 09), resulting in deformation of the fruit stem support member 09)ft. There is a risk of damage to the fruit stem (K), and as a result, the fruit stem (K) may be cut incorrectly due to the inability to properly support the fruit stem (K) in the center of the fruit intake (E). There is a risk of causing In addition, if the fruit stem support member is not deformed or damaged,
Since the fruit stem (A) is forcibly bent and moved to the center of the fruit intake port (E), the fruit stem (Kl) is torn off during the protruding operation of the fruit stem support member 01, and the fruit stem (Kl) is not placed in a predetermined position. There is also a possibility that it may not be possible to cut the wire.

Therefore, in the past, the fruit catching part (2) was pivoted so as to be swingable around the axis along the longitudinal direction of the arm and around the axis along the lateral and middle direction of the fruit catching part, so that the fruit holding part By contacting the support member, the fruit catcher 5 (H) is rotated,
The fruit stalk (K) was positioned at the center of the fruit intake port (fE).

(See Figure 1θ (b)) [Problems to be Solved by the Invention] By the way, the fruit trapping portion is provided with a device for protruding the fruit stem support member and the cutter, or a device for cutting the cutter, etc. It is unavoidable that the weight of the fruit catcher increases due to the need for equipment.

Therefore, according to the above-mentioned conventional structure, when the fruit stem is a little far from the center lIi of the fruit intake port, the fruit catching part is not rotated within a small range due to contact between the fruit stem and the fruit stem support member. Although it is possible to support the fruit stem, it is not possible to rotate the fruit stem within a large range within the fruit intake hole, and a large force is applied to the fruit stem support member, resulting in damage to the fruit stem support member. There was a risk that the fruit stem would be torn off, and there was a risk that the fruit stem could not be cut with the desired force.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to appropriately perform the cutting work of fruit stems through rational modification that effectively utilizes the form of fruit harvesting work and the growth form of fruit stems. The point is to make it possible to do so.

Means for Solving Problems] The characteristic configuration of the present invention is that, in a state in which the fruit catching portion is urged back by its own weight to a position in which the fruit intake port faces upward, an axis along the longitudinal direction of the arm is The VC is pivotally attached to the arm that can swing freely around the core, and the fruit stem is supported at a central location in the width direction of the catching part with the fruit stem supporting member allowing the fruit stem to move in the front and back direction of the catching part. the cutter,
The catching part is provided so as to move forward and backward in the front and back direction when viewed from above, and the ejection and retraction drive mechanism for the cutter described in 1ITI is provided so that the position at which the ejection operation of the cutter is completed can be changed in accordance with the position of the fruit stalk. , its actions and effects are as follows.

[For production]

In other words, when viewed in the width direction of the trapping section, the fruit stem is in an inclined position extending toward the tip of the branch, and the harvesting operation is performed while the longitudinal direction of the arm, that is, the direction of extension and contraction of the arm, is directed in the same direction as the direction in which the branch extends. Therefore, the fruit stalk extending from the taken fruit is located near the center of the fruit polishing inlet when viewed in the longitudinal direction of the arm, and is located toward the rear of the trapping section 1171 when viewed in the width direction of the trapping section. We focused on the fact that the l1lk was significantly changed from 11lk to When viewed in the direction, the stalks are not located far apart from each other along the rear direction of the trapping section 1 [7] By rotating the trapping section within a small range in the longitudinal direction of the arm as before, the stalks can be moved in the width direction of the trapping section. In addition, the fruit stalk is supported at the center fM in the width direction of the trapping section in a state where the stalk support member is allowed to move in the rearward direction of the trapping section 1. In addition, by making it possible to change the protruding operation completion position of the canter in accordance with the position of the peduncle, the ejection/retraction drive mechanism for moving the canter in and out in the rear direction of the catcher 1 in a plan view allows the canter to move forward and backward in the rear direction of the catcher. For fruit stalks that are located far away from the central location along the rear direction of the catching section 1, the cutter's projecting operation completion position is changed in accordance with the location of the fruit stalk.

(Effect of the invention J) Therefore, there are disadvantages when the fruit catching part is swung over a large range due to contact between the fruit stem supporting member and the fruit stem. It is now possible to cut the fruit stem to a desired size a1 while suppressing the inconvenience of damaging the support member and causing trenches.

〔Example〕

As shown in FIG. 9, a pair of left and right propulsion wheels (2) can be independently driven by a hydraulic motor (20), casters (3) located behind the wheels (2), and a driving wheel! Is (E
), and a hydraulic cylinder (4
) A game fli that can be raised and lowered with K is attached to the vehicle body (A), and a fruit catcher (5) is attached to the tip of the pool (1).
) and its support arm 15) are provided to complete the fruit harvesting machine.

To configure the zoom (1), a pair of upper and lower links (1
a) I(]b) are set so as to form a parallel recirculation link ('T) so that the support 11 (lc) of the robot l-(Bl) can be maintained in a predetermined posture regardless of whether it is raised or lowered. .

As shown in FIGS. 6 to 8, the support arm +51 includes a proximal end 1131 arm (5a), and a support arm (5a) that is telescopically supported on the arm (5a) using a slide rail T61k. A second arm (5b) and a third arm (5c) which is telescopically supported by a slide rail (7) are provided on the second arm (5b), and the third arm (5c) is rotatably supported on the first arm (5a). The supported screw shaft (8) and the electric motor for stretching operation (9) are connected in conjunction with a gear, and the screw shaft (
8) is attached to the second arm (5b), and the pair of Boo I supported by the second arm (5b) is attached to the second arm (5b).
A circular wire (12) wound δ over J − (Ill)
The two places are connected to the first
connected to the arm (5a) and the third arm (5c), respectively;
Shadow is 1! It is configured to expand and contract by forward and reverse rotation of a dynamic motor (9).

10. The fruit harvesting robot (B) is attached to the support part (IC).
In order to install it, as shown in FIG. 6, the first proximal arm (5a) is rotatably supported within the bifurcated connecting frame (+4) K on the same horizontal axis (X), and That connection frame +14
+ is internally supported in the support part (IC) so as to be rotatable around the vertical axis (G), and thereby, regardless of the raising and lowering of the poom (1) by the drive of the vertical swing operation motor (1~), robot(
B) can be maintained in a horizontal position, and the direction of expansion and contraction of the robot (CB) can be changed without changing the orientation of the vehicle body (3) by driving the motor weight for left-right swing operation.

As shown in FIGS. 1 to 9J3, the fruit trapping part (H) No. 117 is constructed with a cylindrical case (+7) and a rubber ggl to sixth finger member (F, to pe). )
2. A fruit storage space (D+) which serves the upper peripheral edge of the case aη and is surrounded by the case αη and the plurality of finger-like members (F, to F,), and a plurality of finger-like members ( The opening (E) is formed to be surrounded by the tips of F, to F5).

Then, in order to attach the fruit catching part (■) to the jiff arm (5), the forked support frame (181) is attached to the third arm (5C).
Attach to the tip of the arm +51 so that it can swing freely along the axis (P) 8 along the longitudinal direction, and capture the fruit! B(H) is fixed to the tip of the bifurcated support frame 118), and the fruit trapping part (
H) is configured such that it can be biased back by its own weight to a position in which the fruit intake port (H) faces upward.

Further, the fruit stalk extending from the fruit stored in the fruit storage space (D) is placed in the center of the width of the trapping part, that is, in a position corresponding to the center of the fruit intake opening (E) in the width direction of the trapping part. Fruit stalk support member 09 for support! are provided in the cylindrical case (lη) such that they can be freely moved in and out. The trapping portion is formed at the center in the width direction to support the fruit stem.
In a plan view, each of the cutter blades that cut the fruit stems supported by the fruit stem support members and the auxiliary fruit stem support member (19A) disposed opposite to the cutter blades are captured @Ifl after being captured in plan view. A VC is provided so that it can move in and out of the direction.

#Recorded fruit stalk support member (H to), auxiliary fruit stalk support member (
19A) and the structure for moving the cutter in and out.

As shown in Figures 4 and 5, the cylindrical member □□□, which is reciprocally rotated by the electric motor IIK, is supported externally by the cylindrical booth 0 force, and supports the peduncle support member (191). The pin □□□ for the purpose
A long hole (22a) formed in the cylindrical member handle of the Tr engages with the VC, and also connects the inside of the pin with the operating bottle. Board with Shu□
Connected by It is possible to perform an ingress/egress operation over a retracted position to the side away from the fruit intake opening (E).

In addition, as shown in Figures 1, 2, 3, and 5,
The bottom wall (17a) of the cylindrical case 07) is equipped with a motor shaft, and the operating shaft (26a) is located below three disc-shaped plates spaced apart in the vertical direction. At the same time, an intermediate plate is attached to the lower plate through a pair of rollers (29a) and (29b), and an upper plate is attached to the intermediate plate. The plate body position is attached via a pair of rollers (28a) + (28b). Then, one end of each of the auxiliary kerat support member (19A) and cutter 20) is fixed to the cylindrical case (
1″6, and an auxiliary fruit support member (19A)
and a support bin attached to the other end of each of the cutters (20) are rotatably supported by the cylindrical case 0η. A pulley (32a) is attached to each of the support pins 1331 and
) T (32b) is installed so that it can rotate freely, and each of the rollers (28a) + (28b) + (29a) + (
29b) and both pulleys (32a) I (32b), seven release wires formed in a square shape are wound, thereby rotating the motor shaft in the forward and reverse directions. The protruding and retracting drive allows the protruding and retracting operations wJ of the fruit stem support member (19A) and the cutter, respectively, and changes the ejection operation completion position tIl of the cutter and auxiliary fruit stem support member (19A) according to the position of the fruit stem. This constitutes the 9jJJ organization.

In other words, l the inner wire t' of the release wire
30b) is pulled by the upper rollers (28a) + (28b) as the motor mount rotates forward, and the pulley (32a)
) + (32b) to the protruding side, and as the motor blade reverses, the lower rollers (29a) and (29b)
) is pulled by the pulley (32a) (32b)''I: The pulley (32a) is wound so as to be rotated toward the retirement side, and during the protruding operation of the auxiliary kerat support member (19A) and the cutter. , an auxiliary fruit support member (19) is attached to the fruit stem.
When either of A) and the cutter make contact, the pulley (32a) or (32b) on the side that made contact slips against the inner wire (30b), and the pulley (32a) on the side that is not in contact slips against the inner wire (30b). ) or by rotating (32b), the auxiliary stalk support member α or canter (2d
11 so that it continues to protrude. In addition, e in the figure
14) The actor wire (30a) is connected to the cylindrical case (
This is a member for fixing to 1'6.

The cutter and the structure for operating the cutter will be explained.

As shown in Figure 3, two circular arc strip-shaped blades (20a
) and (20b) are superimposed one on top of the other to form a cutter, and a pneumatic cylinder μs is provided for sliding the upper blade body (20a), so that the lower blade than the telescopic action 1iJK of the pneumatic cylinder μs Body (20b)
[On the other hand, the upper blade body r20a) is slid to operate the cutter. In addition, in the figure (2
0c) is a cutting recess on the cutter side.

Next, after guiding the 1tllE fruit trapping part ()I) to the lower part of the fruit (goods) to be harvested, move it upward and introduce the fruit!! into the fruit catching part ([()), In Section IIB, Harvesting Crop II will be described, in which the fruit stem is supported by the fruit stem supporting member (191) and the fruit is harvested by cutting the fruit stem with the cutter side.

That is, first, the vehicle body (3) moves close to the fruit tree, and then a monitor (not shown) is attached to the upper part of the first arm (5a) to display the image captured by the TV camera.
Select the fruit to be harvested (select the layer,
The zoom (
1) and arm (5) for the first time, move the fruit trapping part CH1 to the lower part of the fruit (goods) to be harvested, and then move the fruit catching part (H) to the lower part of the fruit to be harvested. The fruit (goods) are taken into the fruit (every time the fruit is caught), and the stalks that extend from the woven fruit? While protruding one piece of the fruit stalk support member so as to position it at the center of the width direction of the fruit trap, when the fruit comes into contact with the fruit stalk support member, the fruit trap (Hl) is moved in the longitudinal direction of the arm. Rotation can be omitted. ・From 4-, move the fruit stem to the center in the width direction of the catching part, and use the force in the front and back of the catching part to protrude the fruit stem support member 0 and the cutter to the point where it comes into contact with the fruit stem. After that, the cutter 4 is extended by the cutting operation IFI using the pneumatic cylinder μs to cut the stem and finish the fruit harvest.

In addition, as shown in FIGS. 6 and 7, the fruit trap 5 (H)
Various actuators equipped with VC t9) r tlb port (
1611 (211・Country・(F,)@・ is supplied with power via multiple electric wires 6'7 from the battery installed on the vehicle body side)
Pass the bundled state through the support part (IC) through the zoom (1), and connect the @ line Jun from the collection part (5a) of the arm (5) to the arm, 5) internal VC111i, and the ffi 27
- Mu (5b)? After winding the rope around the end of the arm (H), connect it to the terminal plate (139) provided on the front side of the arm (H), and connect the terminal plate (toward) to each actuator of the catch 1 ft'l (139). It is six.

(Embodiments for ~) To fully carry out the present invention, the specific structure of the fruit trapping member, the arm, 51, and the specific structure W/ for guiding the fruit trapping fMS (H) in fruit harvesting will be described. Each person can make various changes.

In the above embodiment, the fruit catching piece) was provided on the arm (H) so that it could rotate only around the axis in the user direction of the arm.
The trapping portion may be provided so as to be rotatable around the axis in the width direction.

Further, in the above embodiment, the auxiliary fruit support member (19A) was provided, but this may be omitted.

[Brief explanation of the drawing]

The drawings show an embodiment of the fruit harvesting robot hand according to the present invention, and FIG.
FIG. 2 is a plan view of the fruit trapping part, FIG. 3!21 and FIG. 4 are longitudinal sectional views of the fruit 11J7 trap, and FIG. 6 is a cutaway front view showing the support part of the arm, FIG. 7 is a cutaway side view of the arm, FIG. 8 is a schematic plan view of the arm, and FIG. 9 is a side view of the fruit harvester. It is a diagram. FIGS. 10(a) and 10(b) are explanatory diagrams showing a conventional example of the state of taking in fruit. (H1... Arm, (19)... Fruit stem support member, Right... Kanta, (D)... Fruit storage space, (E
l... Fruit intake port, (l()... Fruit trapping part, (
P)・Axis core. Agent Patent attorney Osamu Kitamura *6 Figure 1I91! l

Claims (1)

[Claims] A fruit storage space (D) with a fruit intake port (E) at the top.
) is connected to the tip of the arm (5), and a fruit stem support member (19) for supporting the fruit stem extending from the fruit stored in the fruit storage space (D) is provided. ) is provided in the fruit catching part (H) so as to be able to move in and out, and a cutter (20) for cutting the fruit stem supported by the fruit stem support member (19) is attached to the fruit stem with the protruding operation. The fruit harvesting robot hand is provided on the fruit catching section so as to be able to move in and out to the side, the fruit catching section (H) comprising:
The arm (5) is pivoted so as to be swingable around an axis (P) along the longitudinal direction of the arm (5), with the fruit intake port (E) being biased to return to the upward position by its own weight. the cutter ( 20),
The trapping portion is provided so as to move forward and backward in the front and back direction in a plan view, and the mechanism for driving the cutter (20) to move forward and backward can change the position at which the ejection operation of the cutter (20) is completed in accordance with the position of the fruit stem. A robot hand for fruit harvesting is provided.