KR101249355B1 - Hander for oriental melon harvesting robot - Google Patents

Hander for oriental melon harvesting robot Download PDF

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Publication number
KR101249355B1
KR101249355B1 KR1020130008189A KR20130008189A KR101249355B1 KR 101249355 B1 KR101249355 B1 KR 101249355B1 KR 1020130008189 A KR1020130008189 A KR 1020130008189A KR 20130008189 A KR20130008189 A KR 20130008189A KR 101249355 B1 KR101249355 B1 KR 101249355B1
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South Korea
Prior art keywords
clamp
wire
melon
fruit
hinge
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KR1020130008189A
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Korean (ko)
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장익주
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경북대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

PURPOSE: A hander for an oriental melon harvesting robot is provided to harvest oriental melons by consecutively harvesting without being influenced by the inside temperature in a greenhouse. CONSTITUTION: A hander(10) for an oriental melon harvesting robot comprises a clamp(10), a cutting unit(20), and a pushing piece(30). The clamp is combined with a connection stick and a hinge hanging on a rotary shaft(12). A wire controls operation for clamping and unclamping. The wire is connected to an adjacent position with the hinge. The cutting unit is controlled by boarding a guide rail(22) and cuts a stalk. The pushing piece is installed to rotate on a rotation shaft and organizes leaves and stems near the fruit.

Description

참외 수확로봇용 핸더{hander for oriental melon harvesting robot}Hander for oriental melon harvesting robot

본 발명은 참외 수확로봇용 핸더에 관한 것으로, 보다 상세하게는 참외 수확작업을 자동으로 수행하여 부족한 농촌일손을 돕고, 특히 온실재배농가에서 온실 내부온도에 양향을 받지 않고 과실 수확작업을 연속적으로 수행하여 수확적기를 놓치지 않고 우수한 품질의 참외를 생산하기 위한 참외 수확로봇용 핸더에 관한 것이다.The present invention relates to a melon harvesting robot hander, and more particularly, to automatically carry out the melon harvesting operation to help the rural workers lacking, in particular in the greenhouse cultivation farms by continuously performing the fruit harvesting operation without being affected by the greenhouse internal temperature The present invention relates to a melon harvesting robot hander for producing good quality melon without missing a harvest time.

일반적으로 참외를 포함하는 덩굴성 작물은 원줄기가 지면을 타고 길게 벋으며, 참외는 줄기와 함께 지면에 노여진 상태로 성장하는바, 대부분의 재배농가에서는 작물의 생육발달을 촉진시키고 참외의 상품성을 향상시키기 위해 온실재배를 선호하고 있다.In general, vine crops containing melon grow long on the ground, and melon grows in the ground with stems. Most farmers promote the growth and improve the merchandise of melon. Greenhouse cultivation is preferred.

그러나, 온실재배의 특성상 뜨거운 내부기온으로 인해 장시간 작업이 어렵고, 특히 참외 수확시기인 7~8월에는 온실 내부 온도가 40도이상의 고온으로 유지되므로 수확작업이 새벽시간 및 저녁시간에 제한적으로 이루어지고 있다. 이처럼 제한된 수확시간으로 인해 수확시기가 지난 참외량이 증가되면서 농가의 피해가 늘어가고 있는 실정이고, 일부 농가에서는 참외의 수확시기를 맞추기 위해 뜨거운 한낯에도 수확작업을 무리하게 진행하고 있는 실정이다.However, due to the nature of greenhouse cultivation, it is difficult to work for a long time due to the hot internal temperature. Especially, in July-August, when the melons are harvested, the greenhouse temperature is maintained at a high temperature of more than 40 degrees. have. As a result of the limited harvest time, the amount of melon is increased and the damage of farmhouses is increasing. Some farmers are forcibly harvesting even a hot meal to meet the harvest time of melon.

한편, 실용신안등록번호 제20-422404호에서 과실류나 야체류의 수확 능률을 배가시키기 위해 꼭지를 통하여 과실을 잡아주는 고정집개와, 꼭지를 커팅하는 절단가위가 합체 구성되어 한 손을 이용하여 과실을 수확하도록 하는 기술이 선등록된바 있다.On the other hand, in Utility Model Registration No. 20-422404, the fixing pinch holding the fruit through the tap and the cutting scissors cutting the tap are combined to increase the harvesting efficiency of fruits or vegetables. There is a pre-registered technology for harvesting.

그러나, 상기 종래 기술은 수공구로서, 작업자가 휴대하고 다니며 수확작업을 수행해야 하므로 온실재배농가의 작업시간 제한에 따른 부족한 일손해갈에는 도움을 주지 못하는 실정이다.However, the prior art is a hand tool, because the worker must carry and carry out the harvesting work, the situation does not help the lack of work due to the limited working hours of the greenhouse farmers.

또, 고정집재가 꼭지를 집은 상태로 과실이 운반됨에 따라 자칫 운반 중 꼭지가 떨어질 경우 과실이 낙하되어 손상됨과 더불어 꼭지가 떨어진 과실은 상품가치가 떨어져 판매가 어려운 문제점이 따랐다.In addition, as the fruit is transported in the state where the fixed collector picks up the nipple, if the nipple falls during transportation, the fruit falls and is damaged, and the fruit of the nipple has dropped the product value, making it difficult to sell.

이에 따라 본 발명은 상기한 문제점을 해결하기 위해 착안 된 것으로서, 참외 수확작업을 자동으로 수행하여 부족한 농촌일손을 돕고, 특히 온실재배농가에서 온실 내부온도에 양향을 받지 않고 과실 수확작업을 연속적으로 수행하여 수확적기를 놓치지 않고 우수한 품질의 참외를 생산하기 위한 참외 수확로봇용 핸더에 관한 것이다.Accordingly, the present invention has been conceived to solve the above problems, to automatically carry out the melon harvest operation to help the poor rural work, and in particular to continuously perform the fruit harvest operation without being influenced by the greenhouse internal temperature in the greenhouse cultivation farm The present invention relates to a melon harvesting robot hander for producing good quality melon without missing a harvest time.

이러한 목적을 달성하기 위해 본 발명의 특징은, 레일 또는 차량을 포함하는 이송수단이 구비된 참외 수확로봇에 탑재되어 위치조절되고, 회전축(12)을 중심으로 선회되며 과실을 클램핑하도록 구비되는 클램프(10); 상기 클램프(10)는 2쌍으로 구비되어, 회전축(12)상에 매달린 연결대(13)와 힌지(13a)로 결합되고, 힌지(13a)와 인접하는 위치에 클램핑/언클램핑작동을 제어하는 와이어(W)가 연결되고, 상기 클램프(10) 양단에 설치되어, 가이드레일(22)을 타고 위치조절되면서 과실 꼭지를 커팅하도록 구비되는 절단부(20); 상기 회전축(12)상에 선회되도록 설치되어, 과실 주변의 잎 및 줄기를 정리하는 밀편(30);을 포함하여 이루어지는 것을 특징으로 한다.In order to achieve this object, a feature of the present invention is a clamp mounted on a melon harvesting robot equipped with a transport means including a rail or a vehicle, which is pivoted about a rotating shaft 12 and provided to clamp the fruit ( 10); The clamp 10 is provided in two pairs, coupled to the connecting rod 13 and the hinge 13a suspended on the rotary shaft 12, the wire for controlling the clamping / unclamping operation in the position adjacent to the hinge (13a) (W) is connected to, the cutting portion 20 is installed on both ends of the clamp 10, the cutting portion 20 is provided to cut the fruit tap while adjusting the position on the guide rail (22); It is installed so as to pivot on the rotary shaft 12, the pinnacle 30 for arranging the leaves and stems around the fruit; characterized in that it comprises a.

이때, 상기 절단부(20)는 스프링(24a)과 함께 가이드레일(22)상에 설치되어 제1와이어(24)의 작동에 의해 위치조절되고, 제2와이어(26)의 작동에 의해 꼭지를 커팅하도록 구비되는 것을 특징으로 한다.At this time, the cutting portion 20 is installed on the guide rail 22 together with the spring 24a to be positioned by the operation of the first wire 24 and to cut the stem by the operation of the second wire 26. It is characterized in that it is provided to.

또한, 상기 절단부(20)는 한 쌍의 절단날(26a)이 고정힌지(26b)를 축으로 상호 역방향으로 선회되도록 구비되는 것을 특징으로 한다.
또한, 상기 밀편(30)은 회전축(12)상에서 선회되는 횡바(32)와, 횡바(32)상에서 상하이송 및 선회작동되는 종바(34)로 구성되는 것을 특징으로 한다.In addition, the cutting portion 20 is characterized in that the pair of cutting blades (26a) is provided so as to pivot in a reverse direction with respect to the fixed hinge (26b).
In addition, the push piece 30 is characterized by consisting of a horizontal bar 32 that is pivoted on the rotary shaft 12, and a vertical bar 34 that is moved and rotated on the horizontal bar (32).

또한, 상기 종바(34)는 횡바(32) 단부에서 와이어(W)의 작동에 의해 힌지(H)를 축으로 선회되는 선회프레임(33)상에 삽입설치되어, 또 다른 와이어(W)의 작동에 의해 상하이송되도록 구비되는 것을 특징으로 한다. In addition, the longitudinal bar 34 is inserted into the swing frame 33 is pivoted around the hinge (H) by the operation of the wire (W) at the end of the horizontal bar 32, the operation of another wire (W) It characterized in that it is provided to be shipped by Shanghai.

삭제delete

이상의 구성 및 작용에 의하면, 본 발명은 이송수단에 의해 클램프가 이송되어 과실을 클램핑 후 절단부가 꼭지를 커팅하는 방식으로 과실수확작업이 자동으로 수행됨에 따라 온실재배농가에서 여름철 온실 내부온도에 제약을 받지 않고 수확작업을 연속적으로 수행하여 수확적기를 놓치지 않고 우수한 품질의 참외가 생산되는 효과가 있다.According to the above configuration and operation, the present invention is not limited by the greenhouse internal temperature during the summer in the greenhouse cultivation farm as the fruit harvesting operation is automatically performed in a manner that the clamp is transferred by the conveying means to clamp the fruit and then the cutting unit cuts the tap. By performing the harvesting operation continuously without missing the harvest time is the effect that the melon is produced with excellent quality.

또, 본 발명은 절단부를 구성하는 한 쌍의 절단날이 고정힌지를 축으로 고정된 위치에서 상호 역방향으로 선회 작동하여 꼭지를 절단함에 따라 절단부에 의한 꼭지 절단위치가 항상 과실이 클램핑된 클램프의 중심위치에서 이루어지므로 꼭지와 절단부의 중심 불일치로 인한 커팅불량이 방지되는 효과가 있다.In addition, according to the present invention, as the pair of cutting blades constituting the cutting portion rotates in the opposite direction from the fixed hinge axis to the fixed position, the cutting position of the nipple by the cutting portion is always the center of the clamp clamped with fruit. Since it is made in the position there is an effect that prevents poor cutting due to the mismatch of the center of the tap and the cut.

또한, 본 발명은 절단부의 위치이동 및 커팅작동이 제1, 2와이어에 의해 수행되고, 제1, 2와이어를 제어하는 구동수단이 레일 또는 차량을 포함하는 이송수단상에 탑재됨에 따라 절단부를 포함하는 클램프의 전체 중량감소로 위치이동이 신속하게 이루어지는 효과가 있다.In addition, the present invention includes a cutting portion as the position movement and cutting operation of the cutting portion is performed by the first and second wires, and the driving means for controlling the first and second wires is mounted on a conveying means including a rail or a vehicle. There is an effect that the position can be moved quickly by reducing the overall weight of the clamp.

또한, 본 발명은 종바를 탄성이 우수한 봉으로 형성하거나, 종바의 끝단을 횡바의 회전방향과 반대방향으로 경사지게 설치됨에 따라 밀편의 과도한 선회력에 의해 과실 또는 줄기가 손상되는 현상이 방지되는 효과가 있다.In addition, according to the present invention, the longitudinal bar is formed of a rod having excellent elasticity, or the end of the longitudinal bar is inclined in a direction opposite to the rotational direction of the horizontal bar, thereby preventing the phenomenon of fruit or stem being damaged by excessive turning force of the mill piece. .

도 1은 본 발명의 일실시예에 따른 참외 수확로봇용 핸더를 전체적으로 나타내는 사시도.
도 2는 본 발명의 일실시예에 따른 참외 수확로봇용 핸더의 클램프를 전체적으로 나타내는 구성도.
도 3은 본 발명의 일실시예에 따른 참외 수확로봇용 핸더의 절단부를 전체적으로 나타내는 구성도.
도 4a 내지 4b는 본 발명의 일실시예에 따른 참외 수확로봇용 핸더의 종바를 나타내는 구성도.1 is a perspective view showing an overall melon harvesting robot hander according to an embodiment of the present invention.
Figure 2 is a schematic view showing the clamp of the melon harvesting robot hander in accordance with an embodiment of the present invention.
Figure 3 is a schematic view showing a cut portion of the melon harvesting robot hander in accordance with an embodiment of the present invention.
Figures 4a to 4b is a block diagram showing the longitudinal bar of the melon harvesting robot hander according to an embodiment of the present invention.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예를 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 참외 수확로봇용 핸더에 관련되며, 이때 참외 수확로봇용 핸더는 참외 수확작업을 자동으로 수행하여 부족한 농촌일손을 돕고, 특히 온실재배농가에서 온실 내부온도에 양향을 받지 않고 과실 수확작업을 연속적으로 수행하여 수확적기를 놓치지 않고 우수한 품질의 참외를 생산하기 위해 클램프(10), 절단부(20)를 포함하여 주요구성으로 이루어진다.Related to the melon harvesting robot hander according to the present invention, in this case, the melon harvesting robot hander automatically performs the melon harvesting work to help the poor rural work, especially in the greenhouse cultivation farms do not receive the influence of the greenhouse temperature in the greenhouse It consists of the main configuration, including the clamp 10, the cutting section 20 in order to produce a good quality melon without successive harvesting time.

본 발명에 따른 참외 수확로봇은 통상에 영상판독장치가 구비된 제어부에 의해 카메라를 통하여 촬영된 영상을 판독하여 과실의 수확시기(사이즈 및 색깔 판독) 및 과실위치, 꼭지방향을 포함하는 수확조건을 검출하는바, 여기서 카메라는 클램프부와 인접하는 위치에 설치되어 영상을 촬영하고, 촬영된 영상은 제어부로 전송되어 판독후, 클램프 및 절단부의 작동를 포함하여 구성된 핸더를 제어하게 된다. The melon harvesting robot according to the present invention typically reads the image photographed through the camera by a control unit equipped with an image reading apparatus to determine the harvesting conditions including the harvest time (size and color reading), the fruit position, and the direction of the fruit. In this case, the camera is installed at a position adjacent to the clamp unit to photograph an image, and the photographed image is transmitted to the control unit to read and control the hander including the operation of the clamp and the cutting unit.

본 발명에 따른 클램프(10)는 레일 또는 차량을 포함하는 이송수단에 탑재되어 위치조절되고, 회전축(12)을 중심으로 선회되며 과실을 클램핑하도록 구비된다. 상기 클램프(10)는 2쌍으로 구비되어, 회전축(12)상에 매달린 연결대(13)와 힌지(13a)로 결합되고, 힌지(13a)와 인접하는 위치에 클램핑/언클램핑작동을 제어하는 와이어(W)가 연결된다.
이때, 상기 클램프(10)는 도면을 통하여 도시하지 않았지만, x축, y축, z축으로 이송되는 레일상에 설치되어 위치이동되거나, 통상의 로봇팔이 구비된 차량에 설치되어 과실을 클램핑하도록 구비된다. 그리고 클램프(10)는 과실 방향에 따라 꼭지가 후술하는 절단부와 대응하게 위치되도록 모터를 포함하는 구동수단에 의해 회전축(12)을 중심으로 선회하도록 구비된다.The clamp 10 according to the present invention is mounted on a conveying means including a rail or a vehicle, and is adjusted in position, pivoted about the rotating shaft 12 and provided to clamp the fruit. The clamp 10 is provided in two pairs, coupled to the connecting rod 13 and the hinge 13a suspended on the rotary shaft 12, the wire for controlling the clamping / unclamping operation in the position adjacent to the hinge (13a) (W) is connected.
At this time, although not shown through the drawing, the clamp 10 is installed on a rail that is moved to the x-axis, y-axis, z-axis is moved, or installed on a vehicle equipped with a conventional robot arm to clamp the fruit It is provided. And the clamp 10 is provided to pivot about the rotating shaft 12 by the drive means containing a motor so that the nipple is positioned corresponding to the cut portion described later in the fruit direction.

그리고, 상기 클램프(10)는 도 2처럼 한 쌍이 집개형태로 과실을 클램핑하도록 구비되되, 클램핑시 과실이 상하지 않도록 고무를 포함하는 연질의 완충부재가 코팅처리된다.And, the clamp 10 is provided with a pair to clamp the fruit in the form of a cage as shown in Figure 2, the soft cushioning member including the rubber is coated to prevent the fruit from being damaged during clamping.

또한, 본 고안에 따른 절단부(20)는 클램프(10) 양단에 설치되어, 가이드레일(22)을 타고 위치조절되면서 과실 꼭지를 커팅하도록 구비된다. 절단부(20)는 가위형태로 형성되어 클램프(10)의 일측 또는 도 1과 같이 절단부(20)의 양측에 한 쌍으로 구비되는바, 이때 절단부(20)는 클램프(10)에 클램핑된 과실의 위치에 따라 가변되는 꼭지 위치에 대응하여 가이드레일(22)을 타고 위치조절되도록 구비된다. In addition, the cutting unit 20 according to the present invention is installed on both ends of the clamp 10, and is provided to cut the fruit tap while adjusting the position on the guide rail 22. Cutting portion 20 is formed in the form of a scissors is provided on one side of the clamp 10 or a pair on both sides of the cutting portion 20 as shown in Figure 1, wherein the cutting portion 20 of the fruit clamped to the clamp 10 It is provided to adjust the position riding the guide rail 22 in response to the position of the tap variable depending on the position.

여기서, 상기 절단부(20)는 스프링(24a)과 함께 가이드레일(22)상에 설치되어 제1와이어(24)의 작동에 의해 위치조절되고, 제2와이어(26)의 작동에 의해 꼭지를 커팅하도록 구비된다. 즉, 절단부(20)는 스프링(S)의 탄성력에 의해 클램프(10)측으로 밀착된 상태로 대기되어, 제1와이어(24)가 당겨지면 클램프(10)와 이격된 위치로 이동되고, 제1와이어(24)의 당김력을 해제하면 스프링(S)의 탄성력에 의해 초기위치로 복귀된다. Here, the cut portion 20 is installed on the guide rail 22 together with the spring 24a to be positioned by the operation of the first wire 24 and to cut the stem by the operation of the second wire 26. It is provided to. That is, the cutting unit 20 is in a state of being in close contact with the clamp 10 side by the elastic force of the spring S, and when the first wire 24 is pulled, it is moved to a position spaced apart from the clamp 10, and the first When the pulling force of the wire 24 is released, it is returned to the initial position by the elastic force of the spring S.

또, 제2와이어(26)는 고정힌지(26b)를 축으로 선회되는 한 쌍의 절단날(26a) 단부와 링크결합되어, 제2와이어(26)를 당기면 한 쌍의 절단날(26a)이 고정힌지(26b)를 축으로 선회되어 꼭지를 절단하고, 제2와이어(26)의 당김힘을 해제하면 스프링(S)의 탄성력에 의해 초기위치로 복귀된다.Moreover, the 2nd wire 26 is linked with the edge part of a pair of cutting blades 26a which pivots around the fixed hinge 26b, and when a 2nd wire 26 is pulled, a pair of cutting blades 26a are carried out. When the fixed hinge 26b is pivoted about the shaft to cut the nipple, and the pulling force of the second wire 26 is released, the fixed hinge 26b is returned to the initial position by the elastic force of the spring S.

이처럼, 도 3에서와 같이 절단부(20)를 구성하는 한 쌍의 절단날(26a)이 고정힌지(26b)를 축으로 고정된 위치에서 상호 역방향으로 선회 작동하여 꼭지를 절단함에 따라 절단부(20)에 의한 꼭지 절단위치가 항상 과실이 클램핑된 클램프(10)의 중심위치에서 이루어지므로 꼭지와 절단부(20)의 중심 불일치로 인한 커팅불량이 방지된다.As such, as shown in FIG. 3, the pair of cutting blades 26a constituting the cutting portion 20 rotates in a reverse direction to each other at a position where the fixed hinge 26b is fixed to the axis to cut the stem 20. Since the cutting position by the tap is always made at the center position of the clamp clamping the fruit 10, the cutting defect due to the mismatch of the center of the tap and the cutting portion 20 is prevented.

또, 상기 절단부(20)의 위치이동 및 커팅작동이 제1, 2와이어(24)(26)에 의해 수행되고, 제1, 2와이어(24)(26)를 제어하는 구동수단이 레일 또는 차량을 포함하는 이송수단상에 탑재됨에 따라 절단부(20)를 포함하는 클램프(10)의 전체 중량감소로 위치이동이 신속하게 이루어지는 이점이 있다.In addition, the position shifting and cutting operation of the cutting unit 20 is performed by the first and second wires 24 and 26, and the driving means for controlling the first and second wires 24 and 26 is a rail or a vehicle. As it is mounted on the conveying means including an advantage that the position movement is quickly made by reducing the overall weight of the clamp 10 including the cutting portion 20.

한편, 상기 와이어에 의한 작동은 절단부(20)에 국한되지 않고, 상기 클램프(10)도 와이어의 당김력에 의해 클램핑되고 와이어의 당김력을 해제하면 스프링의 탄성력에 의해 언클램핑되도록 연결되면서 와이어를 제어하는 구동수단은 레일 또는 차량을 포함하는 이송수단에 탑재되도록 구성된다.On the other hand, the operation by the wire is not limited to the cutting portion 20, the clamp 10 is also clamped by the pulling force of the wire and when the release force of the wire is connected to be unclamped by the elastic force of the spring is connected to the wire The controlling means for controlling is configured to be mounted on a conveying means including a rail or a vehicle.

또한, 상기 회전축(12)상에 선회되도록 설치되어 과실 주변의 잎 및 줄기를 정리하는 밀편(30)이 구비된다. 밀편(30)은 회전축(12)상에서 선회되는 횡바(32)와, 횡바(32)상에서 상하이송 및 선회작동되는 종바(34)로 구성되고, 상기 종바(34)는 횡바(32) 단부에서 와이어(W)의 작동에 의해 힌지(H)를 축으로 선회되는 선회프레임(33)상에 삽입설치되어, 또 다른 와이어(W)의 작동에 의해 상하이송되도록 구비된다.
이에 과실수확시 횡바(32)가 회전축(12)을 중심으로 회전하면 종바(34)가 클팸프(10) 및 절단부(20) 주변의 잎 및 줄기를 제거하여 과실 식별 및 수확이 용이하게 된다. .In addition, it is provided so as to pivot on the rotary shaft 12 is provided with a compact piece 30 for arranging the leaves and stems around the fruit. The compact piece 30 is composed of a horizontal bar 32 pivoting on the rotating shaft 12, and a vertical bar 34 which is moved and pivoted on the horizontal bar 32, and the vertical bar 34 is wired at the end of the horizontal bar 32. It is provided to be inserted into the turning frame 33 which pivots the hinge H about the axis by the operation of (W), and is moved by the operation of another wire (W).
Therefore, when the fruit bar when the horizontal bar 32 rotates around the rotation axis 12, the vertical bar 34 removes the leaves and stems around the clamp 10 and the cut portion 20 to facilitate fruit identification and harvesting. .

그리고, 밀편(30)의 선회운동에 의해 잎 및 줄기를 정리시, 잎 및 줄기의 위치에 따라 도 4a와 같이 종바(34)가 선회프레임(33)상에서 길이 조절됨은 물론 도 4b처럼 선회프레임(33)의 선회작동에 의해 종바(34)가 함께 선회되어 클램프(10)와 근접하는 위치의 잎 및 줄기까지 용이하게 제거하게 된다.And, when arranging the leaves and stems by the turning movement of the wheat piece 30, depending on the position of the leaves and stems, the longitudinal bar 34 is adjusted on the turning frame 33 as shown in Figure 4a as well as the turning frame (Fig. 4b) By the turning operation of 33), the longitudinal bar 34 is pivoted together to easily remove even the leaves and stems in the position close to the clamp 10.

한편, 상기 종바(34)의 상하이송 및 선회작동은 상기 전술한 바와 같이 클램프(10) 및 절단부(20)의 작동을 제어하는 와이어에 의해 작동되도록 구비된다. On the other hand, the shank and swing operations of the longitudinal bar 34 is provided to be operated by a wire for controlling the operation of the clamp 10 and the cutting unit 20 as described above.

10: 클램프 20: 절단부
30: 밀편10: clamp 20: cutout
30: slice

Claims (5)

레일 또는 차량을 포함하는 이송수단이 구비된 참외 수확로봇에 탑재되어 위치조절되고, 회전축(12)을 중심으로 선회되며 과실을 클램핑하도록 구비되는 클램프(10);
상기 클램프(10)는 2쌍으로 구비되어, 회전축(12)상에 매달린 연결대(13)와 힌지(13a)로 결합되고, 힌지(13a)와 인접하는 위치에 클램핑/언클램핑작동을 제어하는 와이어(W)가 연결되고,
상기 클램프(10) 양단에서 설치되어, 가이드레일(22)을 타고 위치조절되면서 과실 꼭지를 커팅하도록 구비되는 절단부(20);
상기 회전축(12)상에 선회되도록 설치되어, 과실 주변의 잎 및 줄기를 정리하는 밀편(30);을 포함하여 이루어지는 것을 특징으로 하는 참외 수확로봇용 핸더.A clamp (10) mounted on a melon harvesting robot equipped with a transport means including a rail or a vehicle, which is pivoted about a rotating shaft (12) and is provided to clamp the fruit;
The clamp 10 is provided in two pairs, coupled to the connecting rod 13 and the hinge 13a suspended on the rotary shaft 12, the wire for controlling the clamping / unclamping operation in the position adjacent to the hinge (13a) (W) is connected,
A cutting part 20 installed at both ends of the clamp 10 and provided to cut the fruit faucet while adjusting the position by riding the guide rail 22;
A melon harvest robot hander, characterized in that it comprises a; swivel (30) is installed to pivot on the rotary shaft 12, to arrange the leaves and stems around the fruit. 제 1항에 있어서,
상기 절단부(20)는 스프링(24a)과 함께 가이드레일(22)상에 설치되어 제1와이어(24)의 작동에 의해 위치조절되고, 제2와이어(26)의 작동에 의해 꼭지를 커팅하도록 구비되는 것을 특징으로 하는 참외 수확로봇용 핸더.The method of claim 1,
The cutting part 20 is installed on the guide rail 22 together with the spring 24a and is positioned to be adjusted by the operation of the first wire 24 and to cut the stem by the operation of the second wire 26. Hand melon harvesting robot, characterized in that. 제 2항에 있어서,
상기 절단부(20)는 한 쌍의 절단날(26a)이 고정힌지(26b)를 축으로 상호 역방향으로 선회되도록 구비되는 것을 특징으로 하는 참외 수확로봇용 핸더.The method of claim 2,
The cutting unit 20 is a melon harvesting robot hand, characterized in that the pair of cutting blades (26a) is provided so as to pivot in a reverse direction with respect to the fixed hinge (26b) axis. 제 1항 내지 3항 중 어느 한 항에 있어서,
상기 밀편(30)은 회전축(12)상에서 선회되는 횡바(32)와, 횡바(32)상에서 상하이송 및 선회작동되는 종바(34)로 구성되는 것을 특징으로 하는 참외 수확로봇용 핸더.The method according to any one of claims 1 to 3,
The wheat piece 30 is a melon harvesting robot hand, characterized in that consisting of a horizontal bar (32) to be rotated on the rotating shaft (12), and the vertical bar (34) to be moved and rotated on the horizontal bar (32). 제 4항에 있어서,
상기 종바(34)는 횡바(32) 단부에서 와이어(W)의 작동에 의해 힌지(H)를 축으로 선회되는 선회프레임(33)상에 삽입설치되어, 또 다른 와이어(W)의 작동에 의해 상하이송되도록 구비되는 것을 특징으로 하는 참외 수확로봇용 핸더. 5. The method of claim 4,
The longitudinal bar 34 is inserted into the pivot frame 33 pivoting around the hinge H by the operation of the wire W at the end of the horizontal bar 32, and by the operation of another wire (W) Hand for harvesting melon harvesting robot characterized in that it is provided to be sent to Shanghai.
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