JPH072050B2 - Hand cutting device for harvesting fruits and vegetables - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a strip plate-shaped cutter for cutting a captured fruit and vegetable handle, and a strip-shaped handle support member for supporting the vegetable and vegetable handle. The cutter and the handle support member are provided with a passageway for supporting the handle of the fruit and vegetables between a position retracted to the outside of the passage and a position between the cutter and the handle support member to form a passage for introducing the fruit and vegetables between them. A drive mechanism for switching to a position projecting inward is provided, and the projecting position of each of the cutter and the pattern support member inward of the passage is changed according to the position of the pattern of the fruit and vegetables. In order to position the cutter and the handle support member on the root side of the handle of the fruit and vegetables close to the fruit and vegetable after the projection of the cutter and the handle and the cutting of the cutter, And moving the handle support member Means about pattern cutting apparatus of fruit vegetables harvesting hand is provided with.

[Conventional technology]

In such a fruit and vegetable harvesting hand, conventionally, regardless of the protruding position of the cutter and the handle supporting member with respect to the handle of the captured fruit and vegetables, the cutter and the handle supporting member are moved in a fixed direction by being set. By arranging the member on the root side of the handle near the fruit and vegetables, the handle of the fruit and vegetables is cut by a cutter so that the handle of the fruit and vegetables can be cut as short as possible.

[Problems to be solved by the invention]

As described above, when the moving direction of the cutter and the handle support member is constant, depending on the protruding position of the cutter and the handle support member,
In some cases, the longitudinal direction of the handle of the fruit and vegetables does not match the moving direction of the cutter and the handle support member. In this case, the handle of the fruit and vegetables moves while the cutter and the handle support member press and press, and the handle of the fruit and vegetables acts as a resistance against movement of the cutter and the handle support member, resulting in smooth movement of the cutter and the handle support member. In some cases, the pattern could not be cut properly.

An object of the present invention is to make it possible to smoothly move the cutter and the handle support member regardless of the protruding positions of the cutter and the handle support member with respect to the handle of the captured fruit and vegetables.

[Means for solving problems]

A characteristic configuration of the present invention is to provide a protruding position detecting means for detecting a protruding position of the cutter or the handle supporting member, and determine means for determining the longitudinal direction of the handle of the fruit and vegetables based on the detection information of the protruding position detecting means. And the moving means is configured to set the moving direction based on the determination result of the determining means so that the moving direction of the cutter and the handle support member by the moving means is in the longitudinal direction of the handle of the fruit and vegetables. There is a point.

[Action]

As described above, when the protruding position of the cutter or the handle support member is detected, the longitudinal direction of the handle of the fruit and vegetables is determined based on this detection information, and the moving direction of the cutter and the handle support member is set based on the determination result. As a result, the cutter and the handle support member can be moved with the longitudinal direction of the handle of the fruit and vegetables and the moving directions of the cutter and the handle support member being substantially aligned with each other.

〔The invention's effect〕

Therefore, in order to position the cutter and the handle support member on the root side of the handle of the fruit and vegetables, when the cutter and the handle support member are moved, the cutter and the handle support member do not press against the handle of the fruit and vegetables, or, It is possible to smoothly move the cutter and the handle support member by reducing such contact pressure, and to properly cut the root side of the handle of the fruit and vegetables close to the fruit and vegetables so that a good harvest can be performed. Became.

〔Example〕

As shown in FIG. 9, the boom (1) is attached to the vehicle body (2) so that it can be raised and lowered and turned freely, and the auxiliary boom (3) is attached to the boom (1) so as to be horizontally swingable. A work manipulator (4) having a hand (H) is attached to the tip of the auxiliary boom (3) to form a work machine for fruit harvesting. In the figure,
(5) is a boom lifting hydraulic cylinder, (6) is a boom swing electric motor, and (7) is an auxiliary boom swing electric motor.

The working manipulator (4) comprises an articulated telescopic arm (8) and a harvesting hand (H) attached to the tip of the telescopic arm (8). The telescopic arm (8) is swung around the vertical axis (X) by the electric motor (9a) and is swung around the horizontal axis (Y) by the electric motor (9b). And an electric motor (9c)
It is configured so that it can be expanded and contracted.

Explaining the harvesting hand (H), as shown in FIG. 3 and FIG. 4, a soft rubber vacuum pad (10) is provided with a ventilation pipe (with its suction port facing the front side of the hand). 11) is fitted onto the tip of the ventilation pipe (11), and a ventilation branch pipe (12) is provided at the base of the ventilation pipe (11).
An expandable and contractible bellows-type suction hose (13) is connected to the base, and the proximal end of the branch pipe (12) is bolted to the distal end of the expandable arm (8). . The suction hose (13) is connected to the suction pump (14) on the vehicle body side by piping as shown in FIG.

Further, a fruit cutting of a fruit captured while being adsorbed to the vacuum pad (10), a so-called handle cutting device for cutting a handle, and a capturing portion case (15) are provided.

Explaining the capturing part case (15), as shown in FIGS. 3 and 4, a base end part (15) externally fitted and supported by the ventilation pipe (11) so as to be slidable in the front-back direction of the hand.
a) and the upper cover part (1
5b) and a lower cover portion (15c) fixed to the lower end of the base end portion (15a) on the front end side, and an air cylinder (for moving back and forth) for sliding the catch case (15). 16), the base end portion (15a) and the branch pipe (1
It is installed between 2). Therefore, the suction port of the vacuum pad (10) is located in front of the trap portion case (15), and the fruit adsorbed to the vacuum pad (10) is placed inside the trap portion case (15). It is configured so that it can be switched to the state of being taken into the trapping space formed in 1.

The upper cover part (15b) and the lower cover part (15c)
3 to 5, they are formed in a hemispherical shape so as to cover the outer peripheral portion of the hand, and at a location facing the suction port of the vacuum pad (10), as shown in FIGS. An opening for the passage of fruits (2 as an inlet for fruits and vegetables that is large enough to pass one fruit)
6) is opened.

In addition, a slit-shaped groove (2) through which a fruit handle is inserted is provided in a portion of the upper cover portion (15b) near the opening (26).
7) is formed, so that when harvesting fruits as described below, only the fruits to be harvested adsorbed by the vacuum pad (10) can be taken into the capturing part case (15), and , The pattern can be moved smoothly when taking it in.

Further, a discharge port (B) for discharging the fruit of which the handle held in the catch case (15) is cut is opened at the rear lower side of the lower cover part (15c).

Then, as shown in FIG. 3, the shutter (29) as a lid that opens and closes the discharge port (B) is swingable around the horizontal axis (Q ₁ ) and the capturing portion case ( The base end portion (15a) of (15) is pivotally attached to the lower portion, and is configured to be opened and closed by a single-acting air cylinder (30) for opening and closing.

Explaining the handle cutting device, as shown in FIGS. 3 to 5, a fixed blade body (17a) having a strip plate shape and a semicircular arc shape.
And a fixed blade body (17a), which is connected to the blade body in a longitudinal direction of the blade body so as to be slidable relative to each other, and has a strip-shaped and semi-arcuate movable blade body (17).
A clipper type cutter (17) consisting of b) is provided, and both ends of the cutter (17) are fixed shaft cores (P) at the left and right ends of the distal end portion of the base end portion (15a) of the catching case (15).
The cutter (17), which is pivotally supported around the pivot support member (17c) for pivotally supporting a handle support member (18) described later, when viewed in a direction along the fixed shaft core (P). From the end of the handle to the right and left ends respectively in the direction orthogonal to the longitudinal direction of the handle, and the ends of the semi-arcuate handle support member (18) to be cut in the shape of a strip are connected to the pivot part. On the extended end side of the support member (17c), the support member (17c) is pivotally supported around the horizontal axis (Q). Therefore, the cutter (17) and the handle support member (18) each support the fruit handle at a position retracted to the outside of the passage so as to form a passage for introducing fruit between them. In order to switch to a position that protrudes toward the inside of the passage, it is possible to swing back and forth.

A drive mechanism (A) for switching and operating the cutter (17) and the handle support member (18) is arranged inside the passages of the cutter (17) and the handle support member (18) in accordance with the position of the captured fruit handle. While configuring so that the protruding position to the side can be changed,
Air cylinder (2) for driving the slide of the movable blade (17b)
0) is provided so that the fruit handle is supported between the cutter (17) and the handle support member (18) in accordance with the swinging to the protruding side, that is, the standing operation, and the supported handle is a movable blade. It is designed to be cut by sliding the body (17b).

The cutting operation mechanism (C) for sliding the movable blade body (17b) will be described. As shown in FIGS. 4 and 6, the cutter driving pinion (31) and the cutter (17) are The pinion (3) is fitted to the end of the movable blade body (17b) while being fitted to the pivot pin (32) on the right side, which is pivotally supported around the fixed shaft (P), so as to be relatively rotatable.
1) A face gear (33) that is occlusable and has teeth arranged in the longitudinal direction of the blade is fixed, and a direction in which an operating force that moves the pinion (31) to the cutter (17) in the protruding direction is applied. The face gear (33) slides in the direction in which the movable blade body (17b) and the fixed blade body (17a) overlap with each other as the face blade (33) is rotated toward the movable blade body (17b). So as to return the pinion (31) to the initial position of the cutting operation, and the pinion (31) is rotationally driven in the direction in which the operation force toward the retreat direction acts on the cutter (17). 33) is the movable blade (17
b) is slid on the fixed blade body (17a) to perform a cutting operation. However, the pinion (31)
Are provided with teeth along a circumference centered on the fixed shaft core (P).

And the rack (34) that engages with the pinion (31)
The relay member (3) for connecting and disconnecting the air cylinder (20) so that the pinion (31) slides the movable blade body (17b) to the cutting action side only when the pulling operation is performed.
It is connected to the air cylinder (20) via 5).

That is, the fixed blade body (17a) and the movable blade body (17b)
While allowing the swinging of the movable shaft around the fixed shaft core (P), the movable blade body (17) is in a stopped state of the drive mechanism (A) of the cutter (17) and the handle support member (18).
The pinion (31) can be rotationally driven in a direction in which an operation force toward the cutting operation side acts on b), and as the air cylinder (20) slides back and forth once. The pinion (31) is rotationally driven in the retreat direction of the fixed blade body (17a), and the face gear (33) that engages with the pinion (31) slides along the blade body longitudinal direction. Therefore, the movable blade body (17b) connected to the fixed blade body (17a) slides relative to the fixed blade body (17a), and the cutting operation is performed.

The drive mechanism (A) for switching between the cutter (17) and the handle support member (18) will be described. As shown in FIGS. 3 to 5, the base end portion ( 15
a) On the left side of the rear part of the rear part, an electric motor (19) for a reciprocating operation equipped with a speed reducing mechanism (36) for a rocking operation is attached to an output shaft (37) thereof.
A worm wheel (39) which is provided in a state of being extended toward the front of the hand into the catching case (15) and is rotationally driven by a worm gear (38) fixed to the tip of the output shaft (37). Is provided on the left side surface of the base end portion (15a) of the capturing portion case (15), and the cutter (17) and the handle support member (18) are attached to the worm wheel (39). At a position aligned with, a differential mechanism (21) for swinging operation so as to support the fruit handle captured between them is interlockingly connected.

Explaining the differential mechanism (21), as shown in FIGS. 4 and 7, the support shaft (40) of the worm wheel (39) is rotatably pivoted around the fixed shaft core (P). The cutter (17) is pivotally supported by the support shaft (40) in a swingable manner around the fixed shaft core (P). An input gear (41) rotatably driven by the worm wheel (39) is fixed to the support shaft (40), and an output gear (4) that meshes with the input gear (41).
2) is fixed to the left end portion of the handle support member (18) so that the handle support member (18) is swung around the shaft core (Q) as the handle rotates. In addition, in FIG.
(43) is a pressing member that prevents the input gear (41) and the output gear (42) from falling off.

The operation of the differential mechanism (21) will be described. The output gear (42) is rotationally driven by the electric motor (19) via the input gear (41), and accordingly, the output gear (42) is rotated. (42) planetarily rotates along the circumference centered on the fixed shaft core (P) to move the position of the horizontal shaft core (Q) to
While changing the position rearward toward the lower side of the hand, the handle support member (18) is oscillated around the pivot point, that is, the horizontal axis (Q), toward the upper side of the hand to move the handle support member (18). 18) is swung so as to draw an elliptical orbit toward the upper part of the hand.

Further, since the output gear (42) is pivotally supported by the pivot member (17c) extending to the end of the cutter (17), the output gear (42) with respect to the input gear (41). As the planet rotates, the pivot member (17c) is moved downward around the fixed shaft core (P). As a result,
The cutter (17) swings downward simultaneously with the upward swing of the handle support member (18).

However, when the cutter (17) comes into contact with the fruit handle first, it is prevented from rotating around the fixed shaft core (P).
Although the swing of the cutter (17) is stopped, the output gear (42) is driven through the input gear (41), so that the handle support member (18) causes the cutter (17) to move. 17)
The swing operation is continued around the horizontal axis (Q) at the position where the swing is stopped.

On the other hand, when the handle support member (18) comes into contact with the handle of the fruit first, the handle support member ((7) that comes into contact with the handle as the planetary rotation of the output gear (42) with respect to the input gear (41) rotates. With the tip end of 18) as a fulcrum, the end side of the handle support member (18) is swung toward the rear side of the hand along the circumference around the fixed shaft core (P), and at the same time, The pivotal support member (17c) on the cutter (17) side is swung toward the rear side of the hand along a circumference around the fixed shaft core (P), and as a result, the handle support member (18). The cutter (17) is continuously swung downward while maintaining the state in which the upward swing of the cutter is stopped.

However, at the time of the cutting operation of the movable blade body (17b), an operation force toward the retreat side is applied to the cutter (17) by the pinion (31), but the differential mechanism (21)
Is composed of an input gear (41) rotatably driven around the fixed shaft core (P) and an output gear (42) having the same gear ratio and planet-rotating with respect to the input gear (41), and Since the input gear (41) is linked to the electric motor (19) via the worm gear (36), the input gear (41) is locked when the electric motor (19) is stopped. Becomes Therefore, if the cutting resistance is large due to the handle being thick or hard, the movable blade body (17b) slides as the pinion (31) is rotationally driven for cutting the handle. Instead, the pinion (31) generates an operation force for swinging the fixed blade body (17a) and the movable blade body (17b) to the retracted side, but the output gear (42) is Since the input blade (41) is provided so as to rotate in a planetary manner, the handle supporting member is moved by a movement amount that is twice the movement amount of the fixed blade body (17a) as it is moved to the retracted side. The cutter (17) acts so as to swing toward the protruding side, and the cutter (17) is brought into contact with the handle support member (18) or the handle is sandwiched between the cutter (17) and the cutter (17). The rocking of the handle and the handle support member (18) is prevented.

As shown in FIGS. 4 and 7, the second gear (45) is interlockingly engaged with the first gear (44) externally fitted to the support shaft (40) of the worm wheel (39) so as to be integrally rotatable. Let this second
The operating shaft (45) attached to the gear (45) to rotate integrally with it.
By supporting the first potentiometer (46) provided with a) on the base end portion (15a) and detecting the drive rotational position of the electric motor (19) by the first potentiometer (46), the cutter (17) Also, it is possible to determine the completion of the standing up operation of the handle support member (18), the completion of the intermediate standing up operation on the front side of the completion of the standing up operation, and the completion of the withdrawal operation.

Also, a gear portion (17d) is formed at one end of the pivot member (17c),
The third gear (47) is interlocked with this gear part (17d),
A second potentiometer (48) having an operating shaft (48a) attached to the third gear (47) so as to rotate integrally with the third gear (47) is supported on the base end portion (15a), and the second portion of the cutter (17) is supported. The protrusion position detection means (22) of the cutter (17) is configured by detecting the swing amount by the second potentiometer (48).

The four gears (17d), (44), (45), (47)
The tooth number ratio of is set to the relationship of the following equation.

As will be described later, various sensors for controlling the operation of each part of the harvesting hand (H) are provided, and these various sensors will be described.

As shown in FIG. 3, a negative pressure sensor (S ₁ ) for detecting that the fruit is adsorbed on the vacuum pad (10) is attached to the branch pipe (12).

As shown in FIGS. 3 to 5, the harvesting hand (H) is used.
In other words, a light reflection type proximity sensor (S ₂ ) that detects that the vacuum pad (10) has approached the harvest target fruit within a set distance, and an image sensor that detects the direction in which the harvest target fruit is located. (S ₃ ) is provided inside the vacuum pad (10) in a state where their detection direction is directed toward the suction port front side of the vacuum pad (10), and at the rear of the upper cover portion (15b), A strobe device (28) that emits light with a set light amount in synchronization with the image pickup process by the image sensor (S ₃ ) is provided so that the image pickup process can be performed with an appropriate light amount regardless of the ambient brightness.

Next, the structure of the control means for automatically approaching the harvesting target fruit (H) toward the fruit to be harvested and cutting and harvesting the handle of the captured fruit will be described.

As shown in FIG. 8, the image processing means for determining the direction in which the harvested fruit is located based on the imaging information from the image sensor (S ₃ ), the harvesting hand (H) is directed toward the harvested fruit. Guiding means for guiding by a discriminating means (23) for discriminating the longitudinal direction of the handle of the fruit captured in the capturing part case (15) based on the detection information of the protruding position detecting means (22), the cutter ( 17) and the handle support member (18) are projected, and before the cutter (17) is cut, the cutter (17) is positioned so that the cutter (17) and the handle support member (18) are located on the root side of the fruit handle. And a control device which comprises a moving means (24) for moving the handle support member (18), a harvesting operation control means for controlling the operation of each part for cutting the handle by the cutter (17) and harvesting the fruit ( 25) is provided. That is, the control device (25) provides the image pickup information from the image sensor (S ₃ ), the detection information of the negative pressure sensor (S ₁ ) and the proximity sensor (S ₂ ), and the potentiometer (4).
The detection information of 6) and (48) are entered.

Then, based on the information and the information stored in advance, the controller (49) for driving the cylinder (5) for raising and lowering the boom, the controller (50) for driving the boom turning motor (6), A drive controller (51) for the auxiliary boom swinging motor (7), drive controllers (52a), (52b), (5) for the electric motors (9a), (9b), (9c) of the telescopic arm (8). 52c), a control valve (53) for the operation air cylinder (16) of the trap portion case (15), a control valve (54) for the operation air cylinder (20) of the cutter (17), and the cutter ( 17) and the drive controller (55) of the electric motor (19) for up-and-down operation of the handle support member (18), the control valve (56) for controlling the suction operation of the vacuum pad (10), and the shutter (29). Control valve for opening / closing air cylinder (30) ( 57), and the image sensor (S ₃ ) and strobe device (25)
Output an operation command to each of them to detect the direction in which the fruit to be harvested is located, to cause the harvesting hand (H) to approach the fruit to be harvested, to harvest the fruit, and to harvest the fruit. The fruits are discharged at a predetermined position, and each of them is automatically performed.

Next, the operation of the control device (25) will be described.

First, as shown in FIG. 1 (a), the vacuum pad (10) is positioned at a preset approach start position and is directed in a predetermined range in which the fruit to be harvested is located. After setting the flash device (2
8) is caused to emit light, and the image sensor (S ₃ ) performs image pickup processing.

However, the imaging visual field range of the image sensor (S ₃ ) includes movement of the vehicle body (2), turning and raising / lowering of the boom (1), horizontal swinging of the auxiliary boom (3), and the telescopic arm (8). The direction of the harvesting hand (H), that is, the vacuum pad (10) is changed and set by swinging or swinging back and forth with respect to the auxiliary boom (3).

Next, the picked-up image information is taken in, image processing is performed in which the background such as branches and leaves is removed, and image information corresponding to only the fruits to be harvested is extracted to obtain the direction in which the fruits to be harvested are located.

While maintaining the state where the suction port of the vacuum pad (10) is directed to the fruit to be harvested, move the harvesting hand (H) horizontally toward the direction in which the fruit to be harvested is located or at a high speed along a direction close thereto. The telescopic arm (8) is extended so that the telescopic arm (8) is approached.

Then, after the approach is started, while the first set distance (in this embodiment, it is set to half the maximum extendable approach distance of the telescopic arm (8)) is extended, the proximity sensor (S ₂ ) Detects that the target fruit has approached within a set distance, the suction operation of the vacuum pad (10) is started and the moving speed of the harvesting hand (H) is switched to a low speed, To move forward.

On the other hand, if the proximity sensor (S ₂ ) does not operate even when the telescopic arm (8) is extended by the first set distance, the approach of the harvesting hand (H) is temporarily stopped, and Re-imaging processing is performed while the strobe device (28) is re-emitted, the direction in which the fruit to be harvested is located is extracted again based on the captured image information, and the proximity sensor (S ₂ ) Is turned on and the approach is restarted.

However, even if the approach distance reaches the second set distance corresponding to the position where the telescopic arm (8) projects to the maximum extension position, if the proximity sensor (S ₂ ) does not turn on, it means that harvesting is impossible. Judging, the telescopic arm (8) is shortened and the harvesting hand (H) is returned to the approach start position.

After the suction operation of the vacuum pad (10) is started, it is determined whether or not the fruit has been adsorbed based on the detection information of the negative pressure sensor (S ₁ ) (see FIG. 1 (b)), and the desired value is obtained. When it is adsorbed, the vacuum pad (10) is stopped, and then the capturing part case (15) is protruded to the front side to collect the fruit to be harvested in the capturing part case (1).
5) It is taken into the inside so that the fruit is in a state of being located within the working range of the handle cutting device (see FIG. 1 (c)).

However, even if the harvesting hand (H) is moved forward by a set distance (for example, a distance corresponding to the working distance of the proximity sensor (S ₂ )) toward the harvest target fruit, the negative pressure sensor (S ₁ ) If it does not work, it is judged that the harvesting is not possible, and the trap case (15) is retracted to the rear side, the suction operation of the vacuum pad (10) is stopped, and the telescopic arm (8) is shortened. Then, the harvesting hand (H) is returned to the approach start position.

After the fruit has been taken into the capturing part case (15), the motor (19) for up-and-down operation is moved forward so that the cutter (17) and the handle support member (18) are erected to the front side. Drive to roll. Then, the potentiometer (46),
Based on the information detected by (48), the standing operation is temporarily stopped at an intermediate position on the front side of the standing operation completion position, and the suction operation of the vacuum pad (10) is stopped.

Then, the protruding positions of the cutter (17) and the handle support member (18) are discriminated based on the detection information of the potentiometers (46) and (48), and the cutter (17) is discriminated based on the discrimination result.
And the entire harvesting hand (H) is moved by a set distance in a state where the moving direction of the handle support member (18) matches the longitudinal direction of the handle of the fruit. For example, FIG. 1 (d) and FIG. 2 show two positions of the handle relative to the handle cutting device, and in each case, the harvesting hand (H) is placed in the direction of the arrow shown in the diagram. By moving the harvesting hand (H) smoothly, the position of the handle with respect to the handle cutting device is appropriately corrected so that the length of the handle cut by the cutter (17) becomes as short as possible. Of.

After that, based on the detection information from the potentiometers (46) and (48), the cutter (17) and the handle support member (18) are continuously erected to stand up until the standing up operation is completed, and the fruit is removed. The handle is held by being sandwiched between the cutter (17) and the handle support member (18), and the handle is cut by the cutter (17) (see FIG. 1 (e)).

However, if it is not possible to detect that the cutter (17) and the handle support member (18) have reached the stand-up operation completion position or the intermediate position, even if the set time required to reach the stand-up operation complete position or the intermediate position has passed, it is not possible to harvest. The cutter (17) based on the information detected by the potentiometer (46).
And the handle support member (18) is retracted rearward to the retracted position to make the handle cutting device fall down to the initial position, and the catch case (15) is retracted rearward to the hand. The telescopic arm (8) will be shortened and returned to the approach start position.

After cutting the handle, after shortening the telescopic arm (8) and returning the harvesting hand (H) to a predetermined position while maintaining the state of holding the fruit in the catching case (15). By opening the shutter (29) downward, the harvested fruits are discharged into the storage box (K) placed beside the vehicle body (2).

After the harvested fruits are discharged, the cutter (17) and the handle support member (18) are caused to retreat rearward to the retreat completion position based on the detection information by the potentiometer (46), and the capture is performed. The part case (15) is retracted to the rear side of the hand to return to the initial position where the suction port of the vacuum pad (10) projects to the front side of the opening (26) of the capture part case (15). Then, the harvesting operation for one fruit is completed.

After completing the harvesting operation for one fruit, the harvesting hand (H) is returned to the initial position, and, for example, based on the information of the fruit extracted based on the image information or the like captured at the initial position. Then, it is determined whether or not the work is completed by determining whether or not there is a fruit to be harvested. When there is a fruit to be harvested, the harvesting operation for the fruit is restarted by repeating the series of processes described above.

[Another embodiment]

In the above-described embodiment, the cutter (17) and the handle support member (18) are located at the root side of the fruit handle at an intermediate position on the front side of the standing up completion position of the cutter (17) and the handle support member (18). The cutter (17) and the handle support member (18) are moved after the standing operation of the cutter (17) and the handle support member (18) is completed and before the cutter (17) is cut. Good.

Further, in the above-described embodiment, the potentiometer (48) is attached to the cutter (17) side to detect the protruding position of the cutter (17), but the handle support member (18) is required to detect the protruding position of the handle support member (18). The potentiometer (48) may be attached to the 18) side.

Further, in the above-mentioned embodiment, the case of harvesting fruits is shown, but it can be applied to the harvesting work of vegetables such as tomatoes.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a handle cutting device for a fruit and vegetable harvesting hand according to the present invention, and are shown in Figs. 1 (a), (b), (c),
(D) and (e) are explanatory views showing the harvesting operation, FIG. 2 is an explanatory view showing the moving direction of the harvesting hand, FIG. 3 is a side view with a part of the harvesting hand cut away, and FIG. 5 is a front view of the harvesting hand, FIG. 6 is a right side view of a notch of a main part showing a structure of a cutter cutting operation mechanism, and FIG. 7 is a cutter and a handle support. FIG. 8 is a left side view of a notch of a main part showing a structure of a drive mechanism of a member, FIG. 8 is a block diagram showing a control configuration, and FIG. 9 is an overall side view of a fruit harvesting machine. (17) …… Cutter, (18) …… Handle support member, (22) ……
Projection position detection means, (23) ... determination means, (24) ... moving means, (A) ... driving mechanism.

Claims (1)

[Claims] 1. A strip plate-shaped cutter (17) for cutting a trap of a picked fruit and vegetables, and a strip plate-shaped handle support member (18) for supporting the handle of the fruit and vegetables, and the cutter (17). ) And the handle support member (18), in order to form a passage for introducing the fruits and vegetables between them, a position retracted to the outside of the passage and an inside of the passage for supporting the handle of the fruits and vegetables between them. A drive mechanism (A) for switching to a position projecting toward one side is provided, and the drive mechanism (A) is adjusted to the position of the handle of the fruit and vegetables and each of the cutter (17) and the handle support member (18). The cutter (17) is configured so that the projecting position of the inside of the passage can be changed.
And the cutter (17) after the protrusion of the handle support member (18)
Before cutting the cutter (17) and the handle support member (1
A fruit harvesting hand provided with a moving means (24) for moving the cutter (17) and the handle support member (18) in order to position 8) on the root side of the handle of the fruit vegetable near the fruit vegetable. The pattern cutting device of the cutter (17)
Alternatively, a protruding position detecting means (22) for detecting the protruding position of the handle support member (18) is provided, and a determining means for determining the longitudinal direction of the handle of the fruit and vegetables based on the detection information of the protruding position detecting means (22). (23) is provided, and the determination result of the determination means (23) is such that the moving direction of the cutter (17) and the handle support member (18) by the moving means (24) is in the longitudinal direction of the handle of the fruit and vegetables. A handle cutting device for a fruit and vegetable harvesting hand, wherein the moving means (24) is configured to set a moving direction based on the above.