JPH0970214A - Fruit vegetable reaping hand device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject device enabling fruit vegetables to be assuredly harvested by a reaping hand, therefore enabling their harvest to be improved, thus useful for cherries, cherry tomatoes, etc., so designed that a griphand to grip the peduncle of fruit vegetables to be harvested is set faced in front of a reaping hand. SOLUTION: In this reaping hand device designed to harvest fruit vegetables A through taking them into a catching port 8 at the tip of a reaping hand 7, a griphand 47 to grip the peduncle B of the fruit vegetables A to be reaped is set faced in front of the reaping hand T. It is preferable that an additional griphand 47a be provided below so as to sandwich the reaping hand 7 in combination with the griphand 47 and a peduncle B be gripped by at least two griphands 47, 47a to harvest fruit vegetables.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fruit and vegetable harvesting hand device for harvesting fruit and vegetables such as cherry tomatoes and cherries and apples.

[0002]

In this type of harvesting machine, there is an automatic harvesting means in which the fruit recognized by the visual sensor is adsorbed to the manipulator of the harvesting robot by vacuum pressure and taken into the harvesting hand. When attempting to bring the manipulator close to the target fruit for harvesting, when the manipulator comes into contact with the fruit during this movement, the fruit escapes and it is difficult to take in the fruit.

[0003]

SUMMARY OF THE INVENTION Therefore, according to the present invention, in a fruit and vegetable harvesting hand device for harvesting fruit and vegetables by taking in the fruit and vegetables into the inlet of the tip of the harvesting hand, a gripping hand that holds the fruit pith of the fruit and vegetables to be harvested. The front of the harvesting hand to bring the harvesting hand close to the fruits and vegetables and to take in the fruits and vegetables into the hand, be sure to hold the fruit pruning with the gripping hand, even if the fruits and vegetables contact the harvesting hands. Even in such a case, the movement of the fruit and vegetables is prevented by the gripping hand, the fruit and vegetables can be surely harvested by the harvesting hand, and the harvest rate is improved.

[0004]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 1 is an explanatory side view of a harvesting hand unit, FIG. 2 is an overall side view of the harvester, and FIG. 3 is a front view of the harvesting machine. In FIG. 1, (1) shows a traveling wheel (2) driven by a battery on a traveling rail (2). 3) The trolley of the harvest robot (4) that moves with it,
A manipulator (5) is mounted on a vertically movable guide rail (6) erected substantially at the center of the trolley (1) so as to be movable up and down, and (7) is fruits and vegetables attached to a tip side of the manipulator (5). A harvesting hand that takes the mini tomato (A) into the inlet (8), (9) is installed on the manipulator (5), and a hand (7) a three-dimensional visual sensor that images the mini tomato (A) in front of the harvest hand ( 10) a temporary storage container made of acrylic for storing the tomatoes (A) taken in by the hand (7) until the set number is reached, and (11) a temporary storage container (10) mounted on the trolley (1). Fruit storage box to be transferred and stored when the number of mini tomatoes (A) exceeds the set number (6), and (12) is a suction hose (1) to the harvesting hand (7).
3) A suction blower which is a fruit and vegetable suction device which is connected to communicate with the vacuum suction force by a vacuum suction force, and (14) is provided at the upper end of the guide rail (6), and a manipulator (5) is provided along the rail (6). A vertical movement servomotor for moving up and down, (15) an extension servomotor for moving the cherry tomato (A) as a harvest target back and forth along an extension rail (16), and (17) the guide rail. A left-right turning servomotor that turns the manipulator (5) horizontally in the left-right direction via a speed reducer (18) integrally with (6), (1
Reference numeral 9) is a vertical turning servomotor that vertically turns the manipulator (5) through a speed reducer (20), (21) is a steering handle, and (22) is a control device using a small computer (personal computer). The cherry tomatoes (A) recognized by the visual sensor (9) are taken into the taking-in port (8) of the hand (7) to perform the harvesting work.

As shown in FIGS. 4 to 6, the harvesting hand (7) uses a circular pipe (23) to form a vacuum suction transfer path (24) for the cherry tomatoes (A) therein, and also the harvesting hand (7). The inlet port (8) is formed in a tapered conical shape with a small inner diameter on the front end side and a large inner diameter on the rear end side, and the inlet port (8) is divided into three parts every 120 ° on the circumference. , The movable pieces (8a) and (8b) which are divided into left and right at the center of the upper part are lifted and connected to the pipe (23) via hinges (25), and the lower fixed piece (8c) is attached to the mounting seat (26). ) Is supported on the pipe (23) so as to be horizontally swingable, and the movable piece (8
a) An opening / closing wire (27) to be connected to (8b) is pulled by a DC type opening / closing motor (28) to open / close the intake port (8), that is, to open / close the movable pieces (8a) (8b). I am configuring.

The harvesting hand (7) is provided with a flexible hose (29) in the middle of the circular pipe (23) so that the split pipe (23a) on the tip side of the harvesting hand (7).
The split pipe (23a) is interlockingly connected to the DC forward / reverse motor (32) for swinging the left and right hands of the hand through the rod (30) and the fan-shaped crank (31). The left and right swing limit switches (33) and (34) for controlling the operating range of the crank (31) are configured to swing on the tip side of the harvesting hand (7).

Further, as shown in FIGS. 5 to 7, a fruit guide plate (35) and a fruit scraping plate (36) are provided at the lower front portion of the intake port (8).
The stay (37) extending further forward is connected to the link mechanism (3
8) via the guide plate (35) and the scraping plate (3)
6) are connected and supported, and the wire (39) connected to the guide plate (35) when the movable pieces (8a) and (8b) are opened is pulled by the scraping motor (40) as shown by the phantom line in FIG. At this time, the guide plate (35) is moved in parallel to the lower position of the intake port (8) and the scraping plate (36) is raised to take in the tomato (A) placed on the plate (36). The mouth (8) is configured to be forcibly swept.

As shown in FIG. 8, the scraping plate (36) is formed as a small tongue piece, and a ring-shaped auxiliary scraping frame (41) is arranged around the scraping plate (36). When a large tomato (A) is placed on the scraping plate (36), it is assisted by the scraping frame (41).
8) The base end of the sweeping frame (41) is connected and supported by the front parallel link (38a) of 8), and the base end of the sweeping plate (36) disposed below the sweeping frame (41) is scissor-shaped. Expansion member (4
The scraping plate (36) and the scraping frame (41) are integrally erected by being integrally connected to and supported by the base end of the scraping frame (41) via 2).

Further, the expansion member (42) has two mounting plates (43) (44) which normally keep a narrow gap and are substantially parallel to each other, and these two mounting plates (43) (44) are scraped. The plate (36) and the scraping frame (41) are connected to each other to maintain a constant relative positional relationship between the scraping plate (36) and the scraping frame (41), and at the same time, the scraping plate and the frame (36). (4
1) When standing up integrally, when the right extending portion of the mounting plate (43) on the scraping plate (36) side is slidably contacted with the front upper peripheral surface of the plate cam (45) provided on the stay (37), The opposite side end of the shaft (46) of the mounting plates (43) and (44) is expanded around the expansion shaft (46) that connects the two mounting plates (43) and (44) to the tip side of the scraping plate (36). It is configured such that only the stroke of (1) is enlarged so that the tip side of the scraping plate (36) can enter into the intake port (8) of the harvesting hand (7).

The expansion member (42) has a structure in which the two mounting plates (43) and (44) are constantly closed by using a torsion spring, or the two mounting plates (43) and (44) are united. Any of the configurations such as the leaf spring may be used.

As shown in FIGS. 1 and 9 to 10, above the harvesting hand (7), a gripping hand (47) for holding the fruit stem (B) of the tomatoes (A) to be harvested is arranged. The tip of the gripping hand (47) is made to face forward from the inlet (8), and the gripping hand (47) has two holding plates (48) (49) that are F-shaped in a plan view. 5), the base ends of the holding plates (48) and (49) are rotatably supported by the front end of the hand supporting member (50) via a rotation shaft (51). (4
8) Holding plate (4) by spring (52) force tensioned between (49)
8) When the (49) are brought close to each other to be in the closed state, the comb-shaped tooth profile (48) formed at the tip of the holding plates (48) (49).
a) (49a) are crossed with each other in a plan view to hold a holding plate (48).
Fruit bulb (B) between refraction parts (48b) and (49b) of (49)
It is configured to hold.

Further, the hand support member (50) is provided with a pair of rotary plates (55) (56) which rotate in opposite directions by a pair of spur gears (53) (54). The eccentric shafts (57) and (58) of 55) and the opening and closing shafts (59) and (6) fixed to the holding plates (48) and (49).
0) are linked by open / close rods (61) and (62),
Rotating shafts (63) (64) of the rotating plates (55) (56)
Left and right holding plates (48) by forward and reverse drive control of the open / close heater (65) connected to one of the shafts (64).
(49) is opened and closed so that the gripping hand (47) holds and releases the pinion (B).

This embodiment is constructed as described above, and the visual sensor (9) detects the cherry tomatoes (A), and the harvesting hand (7) moves to a position close to the cherry tomatoes (A). At this time, the fruit pruning (B) of the target cherry tomato (A) is also recognized by the visual sensor (9), and the fruit plucking (B) is held by the gripping hand (47). After holding, the tomatoes (A) are harvested by approaching them to the harvest position of the cherry tomatoes (A). As a result, the cherry tomatoes (A) are approaching the harvesting hand (7). Even when 7) comes into contact,
The tomato (A) is held at its current position by the gripping hand (47) without escaping, and the harvesting hand (7) ensures reliable harvesting.

In the above embodiment, the gripping hand (47) is used.
Although the configuration has been shown in which the cherry tomatoes (A) are harvested while being kept at the current position, the gripping hands (47) are provided so as to be movable back and forth, and the cherry tomatoes (A) after-pickling harvest hand (7) side. Alternatively, the fruit prunus (B) may be pulled out and then the cherry tomatoes (A) may be harvested. In this case, an obstacle such as a drug can be avoided.

Further, in the embodiment, one gripping hand (47) is provided above the harvesting hand (7), but as shown by the phantom line in FIG. For example, one gripping hand (47a) may be provided, and the fruit stem (B) may be held by two or more gripping hands (47) (47a) for harvesting.

[0016]

EFFECTS OF THE INVENTION As is clear from the above examples, the present invention provides a fruit and vegetable harvesting hand device for harvesting fruit and vegetable (A) by incorporating the fruit and vegetable (A) into the intake port (8) at the tip of the harvesting hand (7), Since the gripping hand (47) holding the fruit pruning (B) of the fruit and vegetables (A) to be harvested faces the front of the harvesting hand (7), the harvesting hand (7) is used as the fruit and vegetables (A). When the fruits and vegetables (A) are brought close to each other and the fruits and vegetables (A) are taken in, the fruit stems (B) are surely held by the gripping hands (47), and the fruits and vegetables (A) are harvested by the hand (7). Even when they come into contact with each other, the movement of the fruit and vegetables (A) can be prevented by the gripping hand (47), and the fruit and vegetables (A) can be reliably harvested by the harvesting hand (7).
It has a remarkable effect that the harvest rate can be improved.

[Brief description of drawings]

FIG. 1 is an explanatory side view of a harvesting hand unit.

FIG. 2 is an overall side view of the harvester.

FIG. 3 is a front view of the harvester.

FIG. 4 is an explanatory plan view of a harvesting hand section.

FIG. 5 is a side view of the harvesting hand section.

FIG. 6 is a side view illustrating a scraping portion.

FIG. 7 is an explanatory plan view of a scraping portion.

FIG. 8 is an explanatory plan view of a scraping plate.

FIG. 9 is an explanatory plan view of a gripping hand.

FIG. 10 is a perspective explanatory view of a gripping hand.

[Explanation of symbols]

 (7) Harvesting hand (8) Intake port (47) Grasping hand (A) Cherry tomatoes (fruit vegetables) (B) Fruit stem

Claims (1)

[Claims] 1. A fruit and vegetable harvesting hand device for harvesting fruit and vegetables by incorporating the fruit and vegetables into the inlet of the end of the harvesting hand, with a gripping hand that holds the fruit pith of the fruit and vegetables to be harvested facing the front of the harvesting hand. A fruit and vegetable harvesting hand device characterized in that