JPS6420022A - Guide of working machine for root vegetables - Google Patents

Abstract

PURPOSE:To surely catch fruit vegetables, by sensing the retreative displacement of a vacuum pad provided so as to freely advance and retreat in the longitudinal direction of a working hand. CONSTITUTION:A vacuum pad 10 is turned to the direction of fruit vegetables and image pickup processing is carried out by an image sensor (S3) to determine positions of the fruit vegetables. A working arm 8 is elongated to bring a working hand (H) into contact with the fruit vegetables, retreat and displace the pad 10. This is sensed by a sensing means 22 to actuate the suction of the pad 10. Whether the fruit vegetables are attracted or not is judged on the basis of the sensed information by a negative pressure sensor (S1). If the fruit vegetables are attracted, the pad 10 is stopped to protrude a case 15 of a catching part forward and take the fruit vegetables in the case 15. A motor 19 is then driven in the normal direction and a cutter 17 and a peduncle supporting member 18 are raised and actuated to simultaneously stop suction of the pad 10. The hand (H) is subsequently retreated to nip the peduncle of the fruit vegetables between the cutter 17 and the supporting member 18 and cut the peduncle of the fruit vegetables with the cutter 17.