JPS6180627U - - Google Patents
Info
- Publication number
- JPS6180627U JPS6180627U JP16483084U JP16483084U JPS6180627U JP S6180627 U JPS6180627 U JP S6180627U JP 16483084 U JP16483084 U JP 16483084U JP 16483084 U JP16483084 U JP 16483084U JP S6180627 U JPS6180627 U JP S6180627U
- Authority
- JP
- Japan
- Prior art keywords
- fruit
- stem
- robot hand
- predetermined position
- harvesting
- 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.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 claims description 7
- 238000003306 harvesting Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 235000020983 fruit intake Nutrition 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
図面は本考案に係る果実収穫用ロボツトハンド
の実施例を示し、第１図はカツタの一部切欠側面
図、第２図イ，ロはカツタの切断用凹部箇所を示
す断面図及び平面図、第３図イ，ロ，ハ，ニ，イ
′，ロ′，ハ′，ニ′は果梗押圧部材及びカツタ
の駆動状態を示す側面図、第４図及び第５図はロ
ボツトハンドの平面図、第６図は第１、第２接触
式センサーの装着部を示す縦断面図、第７図は第
１、第２接触式センサーと空気圧シリンダとの連
係構造を示す一部切欠側面図、第８図はロボツト
ハンドの縦断側面図、第９図及び第１０図はカツ
タと空気圧シリンダとの連係構造を示す側面図、
第１１図は制御構成を示す概略図、第１２図は距
離センサーの斜視図、第１３図は制御作動を示す
フローチヤート、第１４図イ，ロ及び第１５図イ
，ロは方向調整に伴う画像変化を示す概略図であ
る。
９…アーム、１２…果実取入用筒状ケース、１
４…果梗押圧部材、１５…カツタ、１５ａ，１５
ａ…円弧帯板状刃体。
The drawings show an embodiment of the robot hand for fruit harvesting according to the present invention, in which FIG. 1 is a partially cutaway side view of a cutter, and FIGS. Figure 3 A, B, C, D, A', B', C', and D' are side views showing the driving states of the stem pressing member and cutter, and Figures 4 and 5 are plan views of the robot hand. , FIG. 6 is a vertical cross-sectional view showing the mounting portion of the first and second contact type sensors, FIG. 7 is a partially cutaway side view showing the linkage structure between the first and second contact type sensors and the pneumatic cylinder, and FIG. Figure 8 is a longitudinal side view of the robot hand, Figures 9 and 10 are side views showing the linkage structure between the cutter and the pneumatic cylinder.
Fig. 11 is a schematic diagram showing the control configuration, Fig. 12 is a perspective view of the distance sensor, Fig. 13 is a flowchart showing the control operation, Fig. 14 A, B, and Fig. 15 A, B are accompanying direction adjustment. FIG. 3 is a schematic diagram showing image changes. 9... Arm, 12... Cylindrical case for fruit intake, 1
4... Fruit stem pressing member, 15... Katsu, 15a, 15
a...Circular band plate-shaped blade body.
補正 昭６０．３．２０
図面の簡単な説明を次のように補正する。
明細書の第１６頁５行〜６行の「第３…ニ′」
を「第３図イ，ロ，ハ，い，ろ，は，に」に訂正
する。Amendment March 20, 1980 The brief description of the drawing is amended as follows. "3rd...d'" on page 16, lines 5-6 of the specification
Correct it to “Figure 3 A, B, C, I, Ro, Ha, Ni”.
Claims (1)
ス１２に、突出作動に伴つて果梗を所定位置に押
圧支持する果梗押圧部材１４を出退駆動自在に設
けると共に、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１５ａ，１５ｂを重ね
合わせてなる果梗切断用カツタ１５を前記所定位
置の果梗に対する切断位置に突出作動させるべく
出退揺動自在に前記ケース側に設けた果実収穫用
ロボツトハンドであつて、前記刃体１５ａ，１５
ｂの夫々を、長手方向視にて弯曲する形状に形成
してある果実収穫用ロボツトハンド。 A fruit-taking cylindrical case 12 connected to the tip of the arm 9 is provided with a fruit-taking pressing member 14 that presses and supports the fruit stalk in a predetermined position as it is protruded, and is movable in and out. The stem cutting cutter 15, which is formed by overlapping a pair of arcuate band-shaped blades 15a and 15b that are moved to cut the fruit stem, can be moved forward and backward in order to project into a cutting position for the fruit stem at the predetermined position. The robot hand for fruit harvesting is provided on the case side, and the blade bodies 15a, 15
A robot hand for fruit harvesting, in which each of b is formed into a curved shape when viewed in the longitudinal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16483084U JPS6180627U (en) | 1984-10-31 | 1984-10-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16483084U JPS6180627U (en) | 1984-10-31 | 1984-10-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6180627U true JPS6180627U (en) | 1986-05-29 |
Family
ID=30722693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16483084U Pending JPS6180627U (en) | 1984-10-31 | 1984-10-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6180627U (en) |
-
1984
- 1984-10-31 JP JP16483084U patent/JPS6180627U/ja active Pending