JPH0224491B2 - - Google Patents
Info
- Publication number
- JPH0224491B2 JPH0224491B2 JP58144586A JP14458683A JPH0224491B2 JP H0224491 B2 JPH0224491 B2 JP H0224491B2 JP 58144586 A JP58144586 A JP 58144586A JP 14458683 A JP14458683 A JP 14458683A JP H0224491 B2 JPH0224491 B2 JP H0224491B2
- Authority
- JP
- Japan
- Prior art keywords
- case
- fruit
- cutting
- stem
- cutter
- 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.)
- Expired - Lifetime
Links
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
本発明は、果実収穫用ロボツトハンドに関す
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot hand for fruit harvesting.
近年、密柑や林檎等の果実を安全にあるいは能
率よく収獲するために、ロボツトハンドが望まれ
ている。 In recent years, robotic hands have been desired to safely and efficiently harvest fruits such as mandarin oranges and apples.
かかる要望を満足させるべく、本発明出願人
は、アームの先端に連設した果実取入用筒状ケー
スから突出する指状部材の複数本を、屈曲操作自
由な状態で、且つ、果実取入用筒状ケースの周方
向に並べる状態で果実取入用ケースに設けた果実
収穫用ロボツトハンドを提案した。 In order to satisfy such a demand, the applicant of the present invention has developed a method in which a plurality of finger-like members protruding from a cylindrical case for fruit intake connected to the tip of the arm can be freely bent and manipulated to allow fruit intake. We have proposed a fruit harvesting robot hand that is arranged in a circumferential direction of the cylindrical case and is installed in a fruit intake case.
つまり、このロボツトハンドにおいては、果実
を指状部材にて支持し、その状態において、枝に
対して果実を取付ける柄状部分、いわゆる、果梗
をカツタにて切断させて果実を収獲することにな
る。 In other words, in this robot hand, the fruit is supported by the finger-like member, and in this state, the handle-like part that attaches the fruit to the branch, the so-called peduncle, is cut with a cutter to harvest the fruit. Become.
ところで、上記ロボツトハンドにおいては、果
実を支持することによつて果梗を間接的に支持す
るものであるため、例えばカツタにて切断する際
に、果梗がカツタにて押されて不測に動いてしま
う点に起因して、切断ミスを起す虞れがあり、改
善の余地があつた。 By the way, since the above-mentioned robot hand indirectly supports the fruit stem by supporting the fruit, for example, when cutting with a cutter, the fruit stem may be pushed by the cutter and move unexpectedly. There was a risk of cutting errors due to the fact that the cutting process was difficult, and there was room for improvement.
本発明は、上記実状に鑑みて為されたものであ
つて、その目的は、果梗切断のために果梗を適確
に支持できるようにして切断ミスを抑制する点に
ある。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to suppress cutting errors by properly supporting the fruit stem for cutting the fruit stem.
かかる目的を達成するため、本発明における果
実収穫用ロボツトハンドの特徴構成は、アームの
先端に連設した果実取入用筒状ケース側に引退さ
れる状態とそのケースから突出作動して果梗を所
定位置に押圧支持する状態とに切換操作自在な果
梗押圧用部材の複数個を、前記ケースに設けると
共に、前記所定位置に支持された果梗を切断する
カツタを、前記ケース側に引退される退避位置と
前記ケースから突出される切断用位置とに切換操
作自在に設けた点にあり、その作用及び効果は以
下の通りである。 In order to achieve this object, the characteristic structure of the fruit harvesting robot hand of the present invention is that it is retracted to the side of a cylindrical fruit-taking case connected to the tip of the arm, and that it protrudes from the case to pick up the fruit stems. A plurality of stalk-pressing members are provided in the case, and the cutter for cutting the stalk supported in the prescribed position is retracted to the case side. The present invention is provided in such a way that it can be freely switched between a retracted position where the cutting position is protruded from the case and a cutting position where the cutting position is protruded from the case, and its functions and effects are as follows.
すなわち、果実取入用筒状ケースを目標果実に
対する収穫用適正位置に移動させたのち、ケース
内に収納されている果梗押圧用部材を突出作動さ
せることにより、果梗を所定位置に押圧支持させ
ることができるようにしてある。 That is, after moving the cylindrical case for taking in fruits to the appropriate position for harvesting the target fruit, the stem is pressed and supported in a predetermined position by projecting and operating the stem pressing member housed in the case. It is designed so that you can do it.
従つて、果梗押圧用部材にて果梗を所定位置に
確実に支持できるものとなつて、果梗をカツタに
て切断することを適確に行なうことができるので
あり、もつて、切断ミスを抑制して果実収獲を一
層良好に行なわせることができるようになり、も
つて、実用上の利点大な果実収穫用ロボツトハン
ドを得るに至つた。 Therefore, the stalk can be reliably supported in a predetermined position by the stalk pressing member, and the stalk can be accurately cut with the cutter, thereby preventing cutting errors. It has become possible to perform fruit harvesting even better by suppressing this, and as a result, a robot hand for fruit harvesting that has great practical advantages has been obtained.
以下、本発明の実施例を図面に基づいて説明す
る。 Embodiments of the present invention will be described below based on the drawings.
第１図に示すように、収獲装置本体から延出さ
れる多関節アーム１の先端に、果実取入用筒状ケ
ース３を取付けると共に、ケース３側に引退され
る状態とそのケース３から突出作動して果梗を所
定位置に押圧支持する状態とに切換操作自在な果
梗押圧用部材４の複数個を、前記ケース３に設
け、そして、前記ケース３内の果実を収獲装置本
体の果実収納部（図示せず）へ案内するシユート
１１を、ケース３の下部に接続し、さらに、果梗
切断用カツタＣをケース３に付設すると共に、ケ
ース３を果実に誘導する接触センサー１０の複数
個を、ケース３の開口周縁部に付設して、果実収
穫用ロボツトハンド２を構成してある。 As shown in FIG. 1, a cylindrical case 3 for fruit intake is attached to the tip of a multi-jointed arm 1 extending from the main body of the harvesting device, and the state in which it is retracted to the case 3 side and the state in which it protrudes from the case 3 is activated. The case 3 is provided with a plurality of stalk pressing members 4 that can be switched freely to press and support the fruit stalk in a predetermined position. A chute 11 is connected to the lower part of the case 3, and a cutter C for cutting the fruit stem is attached to the case 3, and a plurality of contact sensors 10 are connected to the case 3 to guide the case 3 to the fruit. is attached to the periphery of the opening of the case 3 to constitute the fruit harvesting robot hand 2.
すなわち、目標果実の下方に位置する取入用筒
状ケース３を、果実収獲に適する高さに上昇動さ
せることになり、そして、その上昇動時に、接触
センサー１０の検出情報に基づいて、果実が取入
用筒状ケース３の開口部中央箇所に位置するよう
にケース３の向きを修正し、その後、果梗押圧用
部材４を突出作動させて果梗を所定位置に押圧支
持したのち、カツタＣを作動させて果梗を切断
し、収獲果実をシユート１１によつて案内移動さ
せて果実収納部に回収させるように構成してあ
る。 That is, the intake cylindrical case 3 located below the target fruit is moved upward to a height suitable for fruit harvesting, and at the time of the upward movement, the fruit is detected based on the detection information of the contact sensor 10. The direction of the case 3 is corrected so that the stem is located at the center of the opening of the cylindrical intake case 3, and then the stem pressing member 4 is operated to project to press and support the stem in a predetermined position. The cutter C is operated to cut the stem, and the harvested fruit is guided and moved by a chute 11 and collected in a fruit storage section.
前記果梗押圧用部材４について説明すれば、押
圧用部材４の夫々を、曲面に沿う状態に屈曲され
た帯板状に形成し、それら押圧用部材４を、基端
部を中心Ｐに出退揺動自在に枢支させてある。そ
して、それら押圧用部材４を、突出状態におい
て、相隣る先端部同志を重ねた状態で先端部間に
果梗通過用間隙Ａを形成するように前記ケース３
の周方向に並置してある。尚、各押圧用部材４
は、ケース３の径方向に沿う軸心周りで揺動する
と共に、引退状態、並びに、揺動途中において
も、先端部が隣接する押圧用部材４に重複するよ
うに、その長さが決められている。 To explain the hem pressing members 4, each of the pressing members 4 is formed into a band shape bent along a curved surface, and the pressing members 4 are arranged such that their proximal ends protrude from the center P. It is pivoted so that it can swing freely. Then, in the protruding state, the pressing members 4 are arranged in the case 3 so that the adjacent tip portions overlap each other and a gap A for passing through the fruit stem is formed between the tip portions.
are arranged in parallel in the circumferential direction. In addition, each pressing member 4
swings around the axis along the radial direction of the case 3, and its length is determined so that its tip overlaps the adjacent pressing member 4 even in the retired state and in the middle of swinging. ing.
前記果梗押圧用部材４を揺動駆動する機構Ｂに
ついて説明すれば、円筒状部材７を、周方向に回
転自在な状態でケース３に内嵌支持させると共
に、押圧用部材４の基端部に設けた係合ピン５が
係合する上下方向に沿うスリツト６を、前記円筒
状部材７に形成し、さらに、ベルト８を用いて円
筒状部材７を回転駆動するモータ９を設け、もつ
て、円筒状部材７の正逆転作動に伴い果梗押圧用
部材４を出退揺動させるように構成してある。 To explain the mechanism B for swinging and driving the pedestal pressing member 4, the cylindrical member 7 is fitted and supported in the case 3 in a circumferentially rotatable state, and the proximal end of the pressing member 4 is supported. A vertically extending slit 6 is formed in the cylindrical member 7 to be engaged with an engaging pin 5 provided in the cylindrical member 7, and a motor 9 is provided to rotate the cylindrical member 7 using a belt 8. The structure is such that the pedestal pressing member 4 is oscillated in and out as the cylindrical member 7 is operated in the forward and reverse directions.
前記カツタＣについて説明すれば、長手方向中
央部に凹形の刃部１２，１２′を有し、且つ、長
手方向に相対移動されて切断作用する一対の円弧
帯板状刃体１３，１３′を設けてある。そして、
カツタＣの両端部を、ケース３の径方向に沿う軸
芯Ｑ周りで揺動自在に枢着して、前記ケース３側
に引退される退避位置と前記ケース３から突出さ
れる切断用位置とに切換操作自在に設け、もつ
て、果梗切断時のみ突出させて前記所定位置に支
持された果梗を切断するように構成してある。 To explain the cutter C, it has a concave blade portion 12, 12' at the center in the longitudinal direction, and a pair of arcuate band-shaped blades 13, 13' which are moved relative to each other in the longitudinal direction to perform a cutting action. is provided. and,
Both ends of the cutter C are pivotably pivoted around an axis Q along the radial direction of the case 3, and have two positions: a retracted position where it is retired toward the case 3 side, and a cutting position where it is projected from the case 3. It is provided so as to be switchable and operable, and is configured to project only when cutting the fruit stem to cut the fruit stem supported at the predetermined position.
前記一対の刃体１３，１３′を相対移動自在に
支持するに、第５図に示すように、内方側の刃体
１３′の両端部を軸支し、そして、外方側の刃体
１３の一端部に支軸係入用長孔１５を長手方向に
沿う状態で形成すると共に、外方側刃体１３の他
端部を長手方向に引張付勢するスプリング１４を
設け、もつて、外方側刃体１３′を内方側刃体１
３′に対して刃体長手方向に移動できるようにし
てある。 To support the pair of blade bodies 13, 13' relatively movably, as shown in FIG. 5, both ends of the inner blade body 13' are pivotally supported, and the outer blade body A long hole 15 for engaging the support shaft is formed along the longitudinal direction at one end of the outer blade body 13, and a spring 14 is provided to tension and bias the other end of the outer blade body 13 in the longitudinal direction. The outer blade body 13' is connected to the inner blade body 1.
3' so that it can move in the longitudinal direction of the blade.
次に別の実施例を説明する。 Next, another embodiment will be described.
第４図は、果梗押圧用部材４に対する揺動駆動
機構Ｂの別実施例を示し、前記円筒状部材７の上
縁部に設けたラツクギヤ１６に係合するギヤ１７
を、押圧用部材４の基端部に設けて、円筒状部材
７の回転に伴い押圧用部材４を揺動駆動させるよ
うに構成してある。 FIG. 4 shows another embodiment of the rocking drive mechanism B for the pedestal pressing member 4, in which a gear 17 engages with a rack gear 16 provided at the upper edge of the cylindrical member 7.
is provided at the base end of the pressing member 4, and is configured to swing the pressing member 4 as the cylindrical member 7 rotates.
第６図は、果梗切断用カツタＣの別実施例を示
し、内方側刃体１３′の半径R2を外方側刃体R1の
半径R1よりも小にして、各刃体１３，１３′夫々
における刃部１２，１２′箇所のみが前記スプリ
ング１４の付勢力にて強く接触されるように構成
してある。 FIG. 6 shows another embodiment of the cutter C for cutting fruit stems, in which the radius R 2 of the inner blade 13' is smaller than the radius R 1 of the outer blade R 1 , and each blade Only the blade portions 12 and 12' of the blades 13 and 13' are strongly contacted by the biasing force of the spring 14.
又、前記第２図〜第４図に示した円筒状部材７
を回転させる手段としては前記モータ９以外の機
構、例えばリンク機構とワイヤの組み合せ等、他
の機構を採用してもよい。 Further, the cylindrical member 7 shown in FIGS. 2 to 4 above
As a means for rotating the motor 9, a mechanism other than the motor 9, such as a combination of a link mechanism and a wire, may be used.
又、前記アーム１の構成は、多関節型の他、伸
縮型にする等、各種変更できる。 Further, the configuration of the arm 1 can be modified in various ways, such as a multi-joint type or a telescopic type.
図面は本発明に係る果実収穫用ロボツトハンド
の実施例を示し、第１図はハンドの斜視図、第２
図は筒状ケース部分の平面図、第３図は筒状ケー
ス部分の切欠側面図、第４図は揺動駆動機構の別
実施例を示す側面図、第５図はカツタの分解状態
を示す展開平面図、第６図はカツタの別実施例を
示す概略側面図である。
１……アーム、３……果実取入用筒状ケース、
４……果梗押圧用部材、１３，１３′……刃体、
Ａ……果梗通過用間隙、Ｃ……果梗切断用カツ
タ。
The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, and FIG. 1 is a perspective view of the hand, and FIG. 2 is a perspective view of the hand.
The figure is a plan view of the cylindrical case part, Fig. 3 is a cutaway side view of the cylindrical case part, Fig. 4 is a side view showing another embodiment of the swing drive mechanism, and Fig. 5 is an exploded state of the cutter. The developed plan view and FIG. 6 are schematic side views showing another embodiment of the cutter. 1... Arm, 3... Cylindrical case for fruit intake,
4... Member for pressing the fruit stalk, 13, 13'... Blade body,
A...Gap for passing through the fruit stem, C...Cut for cutting the fruit stem.
Claims (1)
ース３側に引退される状態とそのケース３から突
出作動して果梗を所定位置に押圧支持する状態と
に切換操作自在な果梗押圧用部材４の複数個を、
前記ケース３に設けると共に、前記所定位置に支
持された果梗を切断するカツタＣを、前記ケース
３側に引退される退避位置と前記ケース３から突
出される切断用位置とに切換操作自在に設けた果
実収穫用ロボツトハンド。 ２ 前記押圧用部材４の夫々を、基端部を中心に
出退揺動自在に枢支される帯板状に形成すると共
に、それら果梗押圧用部材４を、突出状態におい
て、相隣る先端部同志を重ねた状態で先端部間に
果梗通過用間〓Ａを形成するように前記ケース３
の周方向に並置してある特許請求の範囲第１項に
記載の果実収穫用ロボツトハンド。 ３ 前記カツタＣは、長手方向に相対移動されて
切断作用する一対の円弧帯板状刃体１３，１３′
を備えるものである特許請求の範囲第１項又は第
２項に記載の果実収穫用ロボツトハンド。[Claims] 1. A state in which it is retracted to the side of the cylindrical case 3 for taking in fruits connected to the tip of the arm 1, and a state in which it protrudes from the case 3 to press and support the fruit stem in a predetermined position. A plurality of stalk pressing members 4 that can be switched freely,
A cutter C provided in the case 3 and supported at the predetermined position for cutting the fruit stem can be freely switched between a retracted position where it is retired to the case 3 side and a cutting position where it is projected from the case 3. A robotic hand for fruit harvesting. 2. Each of the pressing members 4 is formed in the shape of a band plate that is pivotally supported around the base end so as to be able to move forward and backward, and the pedestal pressing members 4 are arranged so that they are adjacent to each other in the protruding state. The case 3 is arranged so that a space for passing through the fruit stem A is formed between the tips with the tips stacked on top of each other.
The fruit harvesting robot hands according to claim 1, which are arranged in parallel in the circumferential direction. 3 The cutter C has a pair of arcuate strip-shaped blades 13, 13' that are moved relative to each other in the longitudinal direction to perform cutting.
A robot hand for fruit harvesting according to claim 1 or 2, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14458683A JPS6034108A (en) | 1983-08-08 | 1983-08-08 | Robot hand for harvesting fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14458683A JPS6034108A (en) | 1983-08-08 | 1983-08-08 | Robot hand for harvesting fruit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6034108A JPS6034108A (en) | 1985-02-21 |
| JPH0224491B2 true JPH0224491B2 (en) | 1990-05-29 |
Family
ID=15365544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14458683A Granted JPS6034108A (en) | 1983-08-08 | 1983-08-08 | Robot hand for harvesting fruit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6034108A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60196111A (en) | 1984-03-19 | 1985-10-04 | 株式会社クボタ | Robot hand for harvesting fruits |
| JPS6210724U (en) * | 1985-07-05 | 1987-01-22 | ||
| TWI455806B (en) * | 2010-06-03 | 2014-10-11 | Rheon Automatic Machinery Co | Robotic arm and food handling system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS512154A (en) * | 1974-06-24 | 1976-01-09 | Tokyo Shibaura Electric Co | KOGYOYOROBOTSUTO |
| JPS5129781A (en) * | 1974-09-05 | 1976-03-13 | Kanai Hiroyuki | WAAKUHAJISOCHI |
-
1983
- 1983-08-08 JP JP14458683A patent/JPS6034108A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6034108A (en) | 1985-02-21 |
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