Picking machine

Abstract

To provide a picking machine capable of thinning operation.SOLUTION: A picking machine (3) includes: a first finger part (31) which approaches or separates picking objects (6b) of a plant; a second finger part (32) which is movable with the first finger part (31) and in which a space from the first finger part (31) relatively expands as it moves in a direction approaching the picking objects (6b); and a grip auxiliary part (33) which is supported at least by one of the first finger part (31) and the second finger part (32), the grip auxiliary part (33) composed in a stretchable manner and, as it contracts, bulging out in the second direction.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a picking device for plucking unnecessary branches, buds, flower buds, etc. of plants, and more particularly to a picking device that can be suitably used when plucking or thinning buds using an agricultural robot. [Background technology]

[0002] In recent years, agriculture has become increasingly mechanized, and research and development of agricultural robots has also progressed. As agricultural robots, devices for picking (harvesting) grown vegetables and fruits are known from Patent Documents 1 and 2.

[0003] Patent Document 1 (Patent Publication No. 6894586) describes an apparatus for harvesting agricultural crops such as peppers, in which a pair of endless belts (10) with teeth (concave and convex) (10a) formed on their outer surfaces are arranged on the left and right, and a round blade (13) is disposed between the pair of endless belts (10), and as the endless belts (10) rotate, the round blade (13) cuts the stalks (FS) of the agricultural crops (C) sandwiched between the endless belts (10).

[0004] Patent Document 2 (JP 2022-63393 A) describes a device that grips columnar crops such as asparagus between a pair of left and right gripping members (11, 12) and cuts the gripped crops by rotating and swinging a pair of left and right blade members (51, 52). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6894586 ("0017"-"0037" (particularly "0023" and "0027"), Figures 1-5) [Patent Document 2] JP 2022-63393 A ("0012"-"0044" (especially "0013"-"0014", "0034"), Figures 1-5) Summary of the Invention [Problem to be solved by the invention]

[0006] (Problems with the Prior Art) In the production and cultivation of commercial crops (plants, flowers) such as chrysanthemums and roses, the process of pruning out the side buds that grow between the main stem and side branches (topping) is carried out in order to properly distribute nutrients and maximize crop yield and quality. In contrast to cutting the middle of rod-shaped or column-shaped parts that are independent of each other, such as rod-shaped fruit stalks as in Patent Document 1 and asparagus as in Patent Document 2, the target topping work involves plucking the side shoots that sprout from between the main stem and the side branches from the base, so the work is carried out in a state where there is a non-target part near the target to be picked (side shoot). In other words, when performing the topping work, the working space for plucking the part to be picked (the detached part or the cut part) is narrower than in Patent Documents 1 and 2, where the picking parts are independent one by one, and it is necessary to insert a finger-shaped part into this narrow part. Therefore, when trying to perform topping using the technology described in Patent Documents 1 and 2, the pair of endless belts or gripping members are too large, making it difficult to insert the tip part into the part of the side shoot, etc., and if it is forcibly inserted, there is a problem that the part that is not the target to be picked will be damaged. If damage is caused to crops and other things, it may induce disease or slow down growth.

[0007] In particular, Patent Document 1 uses an endless belt with a toothed outer surface, which can cause problems such as sand getting tangled in the belt and causing it to stop working. This makes maintenance a hassle, and also limits its application to hydroponics (cultivation) and production in facilities with well-maintained environments.

[0008] An object of the present invention is to provide a picking device capable of performing top pinching. [Means for solving the problem]

[0009] In order to solve the above technical problem, the picking device of the invention described in claim 1 comprises: A first finger portion that extends along a first direction toward or away from a picking target portion of a plant and is movable along the first direction; a second finger portion extending along the first direction and movable along the first direction together with the first finger portion, the second finger portion being spaced apart from the first finger portion by a relatively large distance as the second finger portion moves along the first direction toward the picking target portion; A gripping auxiliary part supported by at least one of the first finger part and the second finger part, the gripping auxiliary part being configured to be expandable and contractible in the first direction and expanding in a second direction intersecting the first direction as the gripping auxiliary part contracts in the first direction; The present invention is characterized by comprising:

[0010] The invention described in claim 2 is the picking device described in claim 1, the gripping auxiliary portion, in which at least one of the first finger portion and the second finger portion is formed in a hollow tubular shape penetrating the inside, and which is made of a rubber material that is elastically deformable in the first direction and the second direction; The present invention is characterized by comprising:

[0011] The invention described in claim 3 is the picking device described in claim 1, The gripping auxiliary portion is constituted by a hollow bellows through which at least one of the first finger portion and the second finger portion penetrates; The present invention is characterized by comprising:

[0012] The invention described in claim 4 is the picking device described in claim 1, a cutting member that is disposed at a position spaced apart from the picking target portion in the first direction and cuts the picking target portion gripped by the first finger portion and the second finger portion; The present invention is characterized by comprising:

[0013] The invention described in claim 5 is a picking device according to any one of claims 1 to 4, a partition member having a first storage section capable of storing the picking target portion, a second storage section capable of storing the picking non-target portion of the plant, and a partition section separating the first storage section from the second storage section; The present invention is characterized by comprising:

[0014] The invention described in claim 6 is a picking device according to any one of claims 1 to 4, a direction change mechanism capable of changing the direction of the first finger portion and the second finger portion along the second direction; The present invention is characterized by comprising:

[0015] In order to solve the above technical problem, the picking device of the invention described in claim 7 comprises: A partition member having a first storage section capable of storing a part of the plant to be picked, a second storage section capable of storing a part of the plant not to be picked, and a partition section separating the first storage section from the second storage section; A picking unit that picks up the picking target portion of the first storage unit; A picking mechanism that operates the picking portion; The present invention is characterized by comprising:

[0016] The invention described in claim 8 is the picking device described in claim 7, The picking unit has a cutting blade for cutting the picking target portion; the picking mechanism for moving the cutting blade between a separated position away from the picking target portion and a cutting position for cutting the picking target portion; The present invention is characterized by comprising:

[0017] The invention described in claim 9 is the picking device described in claim 8, a cutting assistant part supported on a side surface of the cutting blade in a thickness direction and which increases a gap between the picking target part and the non-picking target part; The present invention is characterized by comprising:

[0018] The invention described in claim 10 is the picking device described in claim 8 or 9, a pressing member supported so as to be movable integrally with the cutting blade, and contacting the target portion at a pressing position between the separation position and the cutting position to press the target portion between the partition member and the pressing member; The present invention is characterized by comprising: Effect of the Invention

[0019] According to the invention as set forth in claims 1 and 7, a picking device capable of performing top-picking operation can be provided. According to the invention described in claim 2, the part to be picked can be stably gripped by the gripping auxiliary part made of an elastically deformable rubber material. According to the invention described in claim 3, the part to be picked can be stably gripped by the gripping auxiliary part constituted by the bellows. According to the invention as recited in claim 4, the part to be picked that is held by the two finger portions is cut by the cutting member, whereby the part to be picked can be picked up and the top-picking operation can be performed.

[0020] According to the invention as recited in claim 5, compared to a case where no partition member is provided, the chance of finger parts accidentally coming into contact with the non-pickable parts is reduced, and damage to the non-pickable parts can be suppressed. According to the invention as recited in claim 6, it becomes easier to accommodate picking targets in various positions and orientations, compared to a case in which the orientation of the finger portion cannot be changed by the orientation change mechanism. According to the invention described in claim 8, when it is difficult to pick, the part to be picked can be cut with a cutting blade, whereby the top picking operation can be performed. According to the invention recited in claim 9, even if the gap between the picking target part and the non-picking target part is narrow, the gap can be widened by the cutting assistant part to perform cutting. According to the invention recited in claim 10, the part to be picked can be cut more stably than when the part to be picked is not pressed by the pressing member. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic explanatory diagram of a robot according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram of the picking device of the first embodiment. [Diagram 3] FIG. 3 is an explanatory diagram of the tip of the picking device of Example 1, where FIG. 3A is an explanatory diagram of the state in which the orientation-changing mechanism faces the central storage section, FIG. 3B is an explanatory diagram of the state in which the orientation-changing mechanism faces the storage section on the right side, and FIG. 3C is an explanatory diagram of the state in which the finger portion has moved to an advanced position from the state in FIG. 3B. [Figure 4] FIG. 4 is an explanatory diagram of the finger portion of the first embodiment, FIG. 4A is an explanatory diagram of a state where the finger portion has been moved to an advanced position, and FIG. 4B is an explanatory diagram of a state where the finger portion has been moved to a retracted position. [Diagram 5] 5A and 5B are explanatory diagrams of a first modified example of the first embodiment, in which FIG. 5A is an explanatory diagram of a state in which the finger portion has moved to an advanced position, and FIG. 5B is an explanatory diagram of a state in which the finger portion has moved to a retracted position. [Figure 6] 6A is an explanatory diagram of modified example 2 of embodiment 1, in which FIG. 6A is an explanatory diagram of a state in which the finger portion has moved to the advanced position, FIG. 6B is an explanatory diagram of the finger portion moving from the state of FIG. 6A toward the retracted position, and FIG. 6C is an explanatory diagram of the finger portion moving further toward the retracted position from the state of FIG. 6B. [Figure 7] FIG. 7 is an explanatory diagram of a picking device according to the second embodiment, and corresponds to FIG. 2 of the first embodiment. [Figure 8] FIG. 8 is an explanatory view of the main part of the blade of the picking device of the second embodiment. [Figure 9] Figure 9 is an explanatory diagram of the operation of the picking device of Example 2, where Figure 9A is an explanatory diagram of the case where the part to be picked is cut while inserted into the comb portion, and Figure 9B is an explanatory diagram of the case where the part to be picked is cut without being inserted into the comb portion. [Figure 10] FIG. 10 is an explanatory diagram of a picking device according to a first modified example of the second embodiment, and corresponds to FIG. 7 of the second embodiment. [Figure 11]11A is an explanatory diagram of the operation of the picking device of variant example 1 of embodiment 2, in which FIG. 11A is an explanatory diagram of the state in which the picking part has moved to the separated position, FIG. 11B is an explanatory diagram of the state in which the picking part has moved to the pressing position from the position of FIG. 11A, FIG. 11C is an explanatory diagram of the state in which the picking part has moved to the cutting position from the position of FIG. 11B, and FIG. 11D is an explanatory diagram of the state in which the picking part has moved to the pressing position from the position of FIG. 11C. [Figure 12] FIG. 12 is an explanatory diagram of a picking device according to a second modified example of the second embodiment, and corresponds to FIG. 7 of the second embodiment. [Figure 13] Figure 13 is an explanatory diagram of the picking device of Example 3 corresponding to Figure 3 of Example 1, Figure 13A is an explanatory diagram of the state before the holding portion comes into contact with the object to be picked, Figure 13B is an explanatory diagram of the state when the holding portion comes into contact with the object to be picked, Figure 13C is an explanatory diagram of the state when the orientation of the oscillating arm has been adjusted from the state of Figure 13B, and Figure 13D is an explanatory diagram of the state when the tactile fingers have advanced and opened from the state of Figure 13C. [Figure 14] Figure 14 is an explanatory diagram of the picking device of Example 4 corresponding to Figure 3 of Example 1, Figure 14A is an explanatory diagram of the state in which the picking device faces the object to be picked, Figure 14B is an explanatory diagram of the state in which the orientation of the swivel arm has been adjusted, Figure 14C is an explanatory diagram of the state in which the tactile fingers have advanced from the state of Figure 14B, and Figure 14D is an explanatory diagram of the state in which the tactile fingers have started to retreat after pressing the object to be picked from the state of Figure 14C. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Next, specific examples of the present invention (hereinafter, referred to as examples) will be described with reference to the drawings, but the present invention is not limited to the following examples. In the following description using the drawings, illustrations of components other than those necessary for the description are omitted as appropriate to facilitate understanding. EXAMPLES

[0023] FIG. 1 is a schematic explanatory diagram of a robot according to a first embodiment of the present invention. In FIG. 1, a picking work system S of Example 1 as an example of a robot of the present invention has a camera 1, a main arm 2, a picking device 3 supported on the tip of the main arm 2, and a control device (controller) 4. The camera 1 captures an image of a chrysanthemum 6 as an example of a crop (plant), and inputs a signal to the control device 4. The control device 4 analyzes the image captured by the camera 1 and analyzes the positions of the main stems 6a that are not to be picked and the buds 6b that are to be picked. When an operator checks the image displayed on the display 4a of the control device 4 and specifies the bud 6b to be picked using the mouse 4b, keyboard 4c, etc., a control signal is sent to the main arm 2 and the picking device 3. The main arm 2 is composed of an articulated arm, and a motor (not shown) is built into the joint. The motor rotates in response to a control signal from the control device 4, and moves the position of the picking device 3 at the tip of the main arm 2 to the position of the bud 6b to be picked.

[0024] (Explanation of picking device 3) FIG. 2 is an explanatory diagram of the picking device of the first embodiment. The picking device 3 has a housing 11 as an example of a case. A base end 11a of the housing 11 is connected to the tip of the main arm 2. A reciprocating motor 12 as an example of a first drive source is supported in front of the base end 11a. The reciprocating motor 12 is configured as a motor capable of forward and reverse rotation, and receives a control signal from the control device 4 to control forward rotation, reverse rotation, and stopping. A first output gear 13 as an example of a first transmission member is supported on the output shaft of the reciprocating motor 12.

[0025] A reciprocating slider 14, which is an example of a first operating member, is disposed below the first output gear 13. The reciprocating slider 14 is supported so as to be movable along the longitudinal direction (the direction approaching or moving away from the chrysanthemum 6) relative to the housing 11. Rack teeth 14a, which are an example of a first transmitted member, are formed on the upper surface of the reciprocating slider 14. The rack teeth 14a mesh with the first output gear 13. Therefore, as the reciprocating motor 12 rotates forward or backward, the reciprocating slider 14 moves in a direction approaching or moving away from the chrysanthemum 6 via the first output gear 13 and the rack teeth 14a. The forward / backward motor 12, the first output gear 13, the forward / backward slider 14, the rack teeth 14a, etc. constitute a picking mechanism of the embodiment that operates a picking portion (tactile fingers 31, 32 described later). A wire 16, which is an example of a finger portion, is supported on the advance / retract slider 14. The wire 16 will be described later.

[0026] 2, a swivel motor 17 as an example of a second drive source is disposed in front of the first output gear 13. The swivel motor 17 is configured as a motor capable of forward and reverse rotation, and forward rotation, reverse rotation, and stopping are controlled by inputting a signal from the control device 4. The forward and backward motor 12 and the swivel motor 17 can be connected to the control device 4 either by wire or wirelessly. A second output gear 18 as an example of a second transmission member is supported on the output shaft of the oscillating motor 17. The second output gear 18 in the first embodiment is configured as a so-called bevel gear.

[0027] FIG. 3 is an explanatory diagram of the tip of the picking device of Example 1, where FIG. 3A is an explanatory diagram of the state in which the orientation-changing mechanism faces the central storage section, FIG. 3B is an explanatory diagram of the state in which the orientation-changing mechanism faces the storage section on the right side, and FIG. 3C is an explanatory diagram of the state in which the finger portion has moved to an advanced position from the state in FIG. 3B. 2 and 3, a swivel arm 21 as an example of a swinging body is provided in front of the swivel motor 17. The swivel arm 21 is supported rotatably around a base end 21a. A swivel gear 22 as an example of a second force receiving member is supported on the upper surface of the base end 21a of the swivel arm 21. The second output gear 18 is engaged with the swivel gear 22. Therefore, as the swivel motor 17 rotates forward and backward, the swivel gear 22 rotates around the base end 21a via the second output gear 18 and the swivel gear 22.

[0028] 2, the swivel arm 21 is formed in a hollow cylindrical shape extending forward, through which the wire 16 passes. When the swivel arm 21 rotates around the base end 21a, the wire 16 elastically deforms together with the swivel arm 21, changing the orientation of the front end. The oscillating motor 17, the second output gear 18, the oscillating arm 21, the oscillating gear 22, etc. constitute a direction changing mechanism 20 of the first embodiment. A cutter 23 as an example of a cutting member is supported at the tip of the oscillating arm 21 in close proximity to and below the wire 16. The cutter 23 in the first embodiment is formed in a disk shape, and a blade is formed on the outer periphery of the disk.

[0029] 3, a comb portion 26, which is an example of a partition member, is supported at the front end of the housing 11 below the oscillating arm 21. The comb portion 26 has three storage portions 27a, 27b, and 27c arranged side by side in the width direction, and the three storage portions 27a to 27c are partitioned by comb-tooth portions 28a, 28b, 28c, and 28d, which are examples of partition portions. The size (depth) of the recess of each of storage sections 27a to 27c is set so that, when swivel arm 21 rotates, the outer periphery of cutter 23 is positioned outside the bottom of the recess of storage section 27a to 27c, i.e., so that bud 6b pulled in by wire 16 comes into contact with the cutter. An elastic plate 29, which is an example of a vibration suppression member, is supported at the tip of each of the comb teeth 28a to 28d so as to bulge toward the inside of the storage sections 27a to 27c. As an example, the elastic plate 29 can be made of a thin plate-like or film-like member having a thickness of about 0.3 mm. Although it is desirable to provide the elastic plate 29, it is also possible to configure the structure without providing the elastic plate 29.

[0030] By storing the bud 6b in one of the three storage sections 27a to 27c and storing the main stem 6a in one of the remaining storage sections, it is possible to separate the bud 6b, which is the part to be picked, from the main stem 6a, which is the part not to be picked, by the comb section 26. In the first embodiment, the main arm 2 is controlled by the control device 4 to store the main stem 6a in the central storage section (an example of a second storage section) 27b, and store the bud 6b in either the left or right storage section (an example of a first storage section) 27a, 27c depending on the position of the bud 6b relative to the main stem 6a. In the first embodiment, the central storage section 27b is exemplified to store the main stem 6a, which is a part not to be picked, but the present invention is not limited thereto. It is also possible to store the bud 6b, which is a part to be picked, in the central storage section 27b, and the main stem 6a (or the buds to be left), which is a part not to be picked, in the left and right storage sections 27a, 27c. In addition, although the configuration in which three storage sections 27a to 27c are provided is exemplified, the present invention is not limited thereto. It is also possible to have one, two, or four or more. That is, the number of comb-tooth parts 28a to 28d is not limited to four, and it is also possible to have three or less, five or more, and it is also possible to have a configuration in which the number of parts corresponding to the comb-tooth parts 28a to 28d is one, as in the fourth embodiment described later, or none at all, as in the third embodiment described later.

[0031] FIG. 4 is an explanatory diagram of the finger portion of the first embodiment, FIG. 4A is an explanatory diagram of a state where the finger portion has been moved to an advanced position, and FIG. 4B is an explanatory diagram of a state where the finger portion has been moved to a retracted position. 2 to 4, the wire 16 of the first embodiment has a first tactile finger 31 as an example of a first finger portion, and a second tactile finger 32 as an example of a second finger portion. The first tactile finger 31 and the second tactile finger 32 are arranged as a pair on the left and right opposite each other. The pair of left and right tactile fingers 31, 32 constitute a picking portion of the first embodiment. Further, claw portions 31a, 32a are formed at the tip portions of the first tactile finger 31 and the second tactile finger 32, and the claw portions 31a, 32a are formed in a shape that is bent inwardly relative to each other.

[0032] In the first embodiment, the first tactile finger 31 supports a rubber tube 33 as an example of a gripping assistant. The rubber tube 33 in the first embodiment is made of a hollow tubular rubber material through which the first tactile finger 31 passes. Therefore, the rubber tube 33 is configured to be elastically deformable and expandable along the longitudinal direction (an example of a first direction, the forward and backward direction) of the first tactile finger 31. Therefore, when the rubber tube 33 shrinks in the longitudinal direction, it elastically deforms to bulge in the radial direction (an example of a second direction) or elastically deforms into a bellows shape (accordion shape). Note that even when it is deformed into a bellows shape, the outer diameter becomes larger than before the deformation (i.e., it is in a bulging state). In the first embodiment, a configuration in which the rubber tube 33 is provided only on the first tactile finger 31 has been exemplified, but this is not limited thereto, and it is also possible to provide the rubber tube 33 on both tactile fingers 31, 32, or to provide the rubber tube 33 only on the second tactile finger 32.

[0033] In Fig. 4A, the first tactile finger 31 and the second tactile finger 32 of the first embodiment move to an advanced position where the tactile fingers 31, 32 protrude from the tip 21b of the oscillating arm 21 when the forward / reverse slider 14 moves forward. The tactile fingers 31, 32 of the first embodiment are made of a shape memory alloy, and are shape-memorized so that the distance between them increases when they are in the advanced position. Note that the configuration is not limited to the shape memory alloy, and it is also possible to interpose a spring between the tactile fingers 31, 32 that biases the tactile fingers 31, 32 in a direction to open them, or to configure the tactile fingers 31, 32 as a plate-shaped member instead of a wire, and to configure the tactile fingers 31, 32 so that the distance between them increases due to the elastic force of the plate spring. In addition, in the advanced position shown in FIG. 4A, the rubber tube 33 elastically restores to its natural length as shown in FIG. 4A, and covers most of the first tactile finger 31 in the longitudinal direction.

[0034] In Fig. 4B, when the forward / retractable slider 14 moves backward, most of the tactile fingers 31, 32 are accommodated in the oscillating arm 21, and the claws 31a, 32a move to a retracted position where they surround and grasp the target to be picked between them. In Fig. 4B, in the retracted position, the claws 31a, 32a are set to move to the position of the cutter 23 so that the retracted bud 6b can be cut by the cutter 23. In the retracted position shown in Fig. 4B, the rubber tube 33 is compressed in the longitudinal direction between the claw portion 31a of the first tactile finger 31 and the tip 21b of the swing arm 21, and is in a contracted state. Therefore, as shown in Fig. 4B, the radial size of the rubber tube 33 becomes larger (is in a bulging state) compared to the state shown in Fig. 4A. In Figures 4A and 4B, it is preferable to install members such as bearings, pulleys, and sheaves that reduce friction at points where the tactile fingers 31, 32 come into contact with and rub against the oscillating arm 21 when moving forward and backward, or to coat (form a film) the contact surface of the oscillating arm 21 with a low-friction material such as fluororesin.

[0035] (Function of Example 1) In the picking operation system S of the first embodiment having the above-mentioned configuration, when the operation of picking unnecessary buds 6b of the chrysanthemum 6 is performed, the main arm 2 is controlled by the control device 4 so that the main stem 6a of the chrysanthemum 6 (or the buds to be left (buds not to be picked)) is stored in the central storage section 27b of the comb section 26 and the bud 6b is stored in either the left or right storage section 27a, 27c. When the bud 6b is stored in the storage section 27a, 27c, the oscillating motor 17 is operated to rotate the oscillating arm 21, and the oscillating arm 21 stops at a position where the tip of the wire 16 faces the bud 6b. Next, the forward / backward motor 12 rotates forward to move the forward / backward slider 14 forward, and the antenna fingers 31, 32 of the wire 16 open and approach the bud 6b. At this time, the contracted rubber tube 33 also expands. When the wire 16 advances to its limit, the bud 6b is sandwiched between the tactile fingers 31 and 32.

[0036] Then, when the forward / reverse motor 12 rotates in the reverse direction and the forward / reverse slider 14 moves backward, the wire 16 retracts, the tactile fingers 31, 32 are accommodated in the oscillating arm 21, and the open tactile fingers 31, 32 close. Therefore, by retracting the wire 16, a force is applied to move the tactile fingers 31, 32 in the normal direction to the moving direction of the wire 16, and a force is applied to grip the bud 6b. Therefore, in the first embodiment, the force to grip the bud 6b in the normal direction to the retracting direction is formed by the elastic force of the shape-memorized wire 16 and is independent of the retracting force. Therefore, it is possible to apply a force to grip the bud 6b without providing a dedicated member or mechanism for applying a gripping force to the bud 6. When the wire 16 further retracts, the bud 6b is pulled in while being gripped by the claw portions 31a, 32a, and is cut by the cutter 23, whereby the bud 6b is picked (the tip is pinched off).

[0037] Here, when the bud 6b is drawn in, the rubber tube 33 comes into contact with the bud 6b. Therefore, compared to the case where only the wire 16 is provided, the contact area between the bud 6b and the rubber tube 33 increases, and the frictional force between the rubber tube 33 and the bud 6b also increases. Here, when the rubber tube 33 is elastically deformed, it may deform into a barrel shape or a bellows shape (accordion shape). When it deforms into a barrel shape, the adhesion between the bud 6b and the rubber tube 33 tends to be strong, and the frictional force tends to increase. Even in the case of an accordion shape, multiple unevenness exists in the axial direction, and the bud 6b is caught and gripped strongly and stably. Therefore, compared to the case where the rubber tube 33 is not provided, the bud 6b is more likely to be drawn in reliably. Therefore, it is possible to perform the apex pinching operation stably. In addition, when the bud 6b is drawn in, the rubber tube 33 is compressed in the axial direction and bulges out in the radial direction as a result of the compression. Therefore, the force with which the rubber tube 33 contacts the bud 6b, i.e., the force with which the wire 16 holds and grips the bud 6b, becomes greater. Therefore, the bud 6b is more reliably gripped and drawn in than when the rubber tube 33 is not provided.

[0038] Furthermore, in the first embodiment, the buds 6b, which are the parts to be picked, and the main stems 6a, which are the parts not to be picked, are picked in a state where they are separated by the comb portion 26. Therefore, the parts not to be picked are prevented from being picked by mistake or from being damaged. Furthermore, by storing the buds 6b in the storage portions 27a to 27c of the comb portion 26, the swinging of the buds 6b is restricted by the comb teeth portions 28a to 28d. Therefore, compared to a case where the comb teeth portions 28a to 28d are not provided, the swinging of the buds 6b is suppressed, and the buds 6b are easily grasped by the tactile fingers 31 and 32. In particular, in the first embodiment, the elastic plate 29 is provided, and the elastic plate 29 comes into contact with the buds 6b that have entered the storage portions 27a to 27c, and the swinging of the buds 6b is further suppressed. Therefore, the buds 6b are even more easily grasped by the tactile fingers 31 and 32.

[0039] In addition, in the first embodiment, the tactile fingers 31, 32 are made of wire and are thin, so that they can enter narrow places. Therefore, compared with the conventional configuration, it is possible to pick even a picking target part in a narrow space or a small picking target part, and the possibility of damaging the surrounding non-pick target parts is reduced. Note that in the first embodiment, the case where the bud 6b is picked from the base, that is, the case where the comb part 26 and the tactile fingers 31, 32 are inserted to the base part of the bud 6b to perform the core picking operation, is exemplified, but this is not limited. It is also possible to perform the operation of picking (breaking off) the tip part of the bud instead of the base.

[0040] (Modification 1 of the first embodiment) 5A and 5B are explanatory diagrams of a first modified example of the first embodiment, in which FIG. 5A is an explanatory diagram of a state in which the finger portion has moved to an advanced position, and FIG. 5B is an explanatory diagram of a state in which the finger portion has moved to a retracted position. Instead of the rubber tube 33 as an example of the gripping auxiliary part shown in FIG. 4, it is possible to use a hollow bellows 41 through which the first tactile finger 31 passes, as shown in FIG. The bellows 41 of the first modified example of the first embodiment is made of a resin material as an example, and is configured to be elastically deformable between a natural length state shown in Fig. 5A and a compressed state shown in Fig. 5B. Therefore, like the rubber tube 33, the bellows 41 of the modified example is in a state in which it covers the first tactile finger 31 in the natural length state, and in the compressed state, it bulges out radially to assist in grasping the bud 6b. It should be noted that bellows 41 itself cannot be elastically deformed, but it is also possible to incorporate a coil spring or the like inside to make it expandable and contractible.

[0041] (Modification 2 of Example 1) 6A is an explanatory diagram of modified example 2 of embodiment 1, in which FIG. 6A is an explanatory diagram of a state in which the finger portion has moved to the advanced position, FIG. 6B is an explanatory diagram of the finger portion moving from the state of FIG. 6A toward the retracted position, and FIG. 6C is an explanatory diagram of the finger portion moving further toward the retracted position from the state of FIG. 6B. Instead of the first tactile finger 31 and the second tactile finger 32 extending in parallel in the first embodiment, in the second modification of the first embodiment, as shown in Fig. 6, a first tactile finger 46 and a second tactile finger 47 as an example of a pinching part are arranged to cross at the outlet of the swing arm 21. That is, the front end of the first tactile finger 46 has a first crossing bent part 46a bent toward the second tactile finger 47, and a first tip bent part 46b bent toward the front end side of the first crossing bent part 46a and in the opposite direction to the first crossing bent part 46a. The second tactile finger 47 has a second crossing bent part 47a and a second tip bent part 47b that are symmetrical to the first tactile finger 46.

[0042] Therefore, when the retractable slider 14 moves forward, as shown in Fig. 6A, at the advanced position, the tactile fingers 46, 47 are open at the front due to shape memory. Therefore, the bud 6b can be accommodated between the tactile fingers 46, 47. At this time, the rubber tube 33 also returns to its natural length. Next, when the retractable slider 14 starts to move backward, as shown in Fig. 6B, the tip bent portions 46b, 47b come into contact with the outlet of the oscillating arm 21 and are elastically deformed so as to be pushed inward. Therefore, the front ends of the tactile fingers 46, 47 close, and the bud 6b is pinched. Then, when the retractable slider 14 moves further backward and the tactile fingers 46, 47 are pulled further backward, the tip side of the tip bent parts 46b, 47b naturally turns inward and closes, as shown in Fig. 6C. This further increases the force of gripping the bud 6b. At this time, the rubber tube 33 also shrinks and deforms to bulge radially, increasing the force of restraining the bud 6b (gripping force).

[0043] Therefore, in the second modification of the first embodiment, the bud 6b can be pulled in more stably than in the first embodiment, and a stable pinching operation is possible. In particular, in the second modification of the first embodiment, the tactile fingers 46, 47 are crossed, so that the shape of the shape memory can be easily maintained. In addition, by crossing the tactile fingers 46, 47, the opening angle between the tactile fingers 46, 47 at the advanced position can be made larger than that of the first embodiment, and the bud 6b can be easily accommodated and grasped even if the amount of advance (the amount of forward movement of the tactile fingers 46, 47, the stroke) is small. In other words, the bud 6b can be grasped with a small stroke. EXAMPLES

[0044] FIG. 7 is an explanatory diagram of a picking device according to the second embodiment, and corresponds to FIG. 2 of the first embodiment. Next, a second embodiment of the present invention will be described. The same components as those in the first embodiment are given the same reference numerals and detailed descriptions thereof will be omitted. In FIG. 7, a picking device 3' of the second embodiment has a single wire 16' supported by a reciprocating slider 14, instead of the pair of left and right wires 16 of the first embodiment. In the picking device 3' of the second embodiment, a cutting blade 51 as an example of a picking part is supported at the tip of the oscillating arm 21. The cutting blade 51 of the second embodiment has a fixed part 52 supported at the base end 21a of the oscillating arm 21, and a rotating part 54 supported rotatably about a rotating shaft 53 relative to the fixed part 52. The rotating part 54 has a claw-shaped tip, and a blade part 56 is formed on the inner circumference of the claw-shaped tip. The wire 16' is supported on the rotating part 54 at a position below the rotating shaft 53. Therefore, as the retractable slider 14 moves back and forth, the rotating part 54 can rotate about the rotating shaft 53 between an upper separated position and a lower cutting position. Furthermore, when the rotating part 54 has rotated to the lowest cutting position, the blade part 56 is set to pass through the storage spaces 27a to 27c of the comb part 26 and reach the bottom, and is set to be able to cut the buds 6b passing vertically through the storage spaces 27a to 27c.

[0045] FIG. 8 is an explanatory view of the main part of the blade of the picking device of the second embodiment. The cutting assistant parts 57 are supported on both sides of the blade part 56 in the width direction (thickness direction, left-right direction). The cutting assistant parts 57 in the second embodiment are made of an elastic body, and are attached to the outer surfaces of both sides of the blade part 56 with an adhesive or the like. The cutting assistant parts 57 are formed so as to become thinner from above the rotating part 54 toward the blade part 56 (as they move downward). Therefore, when viewed from the front, the overall shape including the cutting assistant parts 57 and the blade part 56 is formed in a wedge shape.

[0046] Figure 9 is an explanatory diagram of the operation of the picking device of Example 2, where Figure 9A is an explanatory diagram of the case where the part to be picked is cut while inserted into the comb portion, and Figure 9B is an explanatory diagram of the case where the part to be picked is cut without being inserted into the comb portion. (Function of Example 2) In the picking device 3' of Example 2 having the above configuration, when the bud 6b, which is the part to be picked, is cut by the cutting blade 51, as shown in Fig. 9A, in a state in which the main stem 6a and the bud 6b are separated by the comb section 26, when the forward / reverse slider 14 moves backward, the cutting blade 51 rotates downward, and the blade section 56 cuts between the main stem 6a and the bud 6b. Note that, as shown in Fig. 9B, even in a state in which the main stem 6a and the bud 6b are not separated by the comb section 26, it is possible to cut the bud 6b by sandwiching it between the cutting blade 51 and the comb section 26 from above and below.

[0047] Therefore, the picking device 3' of the second embodiment can also perform the top-picking operation of picking the buds 6b. Note that the cutting is not limited to the cutting of the buds 6b, and cutting of the side branches (so-called pruning or trimming) is also possible. In addition, in Example 2, a cutting assistant part 57 is provided, and when the blade part 56 (blade tip) enters, the cutting assistant part 57 functions to widen (push away) the gap between the main stem 6a and the bud 6b. Therefore, even in a place where the angle between the main stem 6a and the bud 6b is small, the blade part 56 can cut the bud 6b with the angle increased, making it easier to reliably pick the bud 6b. Furthermore, the cutting assistant part 57 of the second embodiment is made of an elastic material, and acts as a cushion when it comes into contact with the main stem 6a. Therefore, it is possible to prevent the main stem 6a, which is not the part to be picked, from being damaged.

[0048] (Modification 1 of the second embodiment) FIG. 10 is an explanatory diagram of a picking device according to a first modified example of the second embodiment, and corresponds to FIG. 7 of the second embodiment. 10, in a picking device 3' of modified example 1 of embodiment 2, pressing members 61 are supported on the rotating part 54 of the cutting blade 51, which is the picking part, at positions on the outside of the left and right of the blade part 56. The pressing members 61 of modified example 1 of embodiment 2 are disposed at intervals corresponding to the comb teeth parts 28a to 28d. The pressing members 61 are made of an elastic body and are configured to be elastically deformable.

[0049] 11A is an explanatory diagram of the operation of the picking device of variant example 1 of embodiment 2, in which FIG. 11A is an explanatory diagram of the state in which the picking part has moved to the separated position, FIG. 11B is an explanatory diagram of the state in which the picking part has moved to the pressing position from the position of FIG. 11A, FIG. 11C is an explanatory diagram of the state in which the picking part has moved to the cutting position from the position of FIG. 11B, and FIG. 11D is an explanatory diagram of the state in which the picking part has moved to the pressing position from the position of FIG. 11C. In Fig. 11, when cutting the bud 6b (its stem 62) or side branch to be picked, the cutting blade 51 is moved to the separated position shown in Fig. 11A. At the separated position, the pressing member 61 rotates upward together with the cutting blade 51, and a space 63 capable of accommodating the stem 62 is generated between the pressing member 61 and the comb portion 26. In this state, the main arm 2 is controlled to move the picking device 3' forward, so that the stem 62 is sandwiched between the pressing member 61 and the comb portion 26.

[0050] In Fig. 11B, when the retractable slider 14 is moved backward and the wire 16' is pulled backward, the cutting blade 51 rotates downward and the pressing member 61 also rotates downward. Thus, as shown in Fig. 11B, the stem 62 is sandwiched between the pressing member 61 and the comb portion 26. At this time, the pressing member 61 is made of an elastic material and can be deformed to fit the outer shape of the stem 62. In Fig. 11C, when the forward / backward slider 14 is moved further backward from the state shown in Fig. 11B, the wire 16' is pulled further backward, and the cutting blade 51 moves to the cutting position. Therefore, the stem 62 is cut while being held down by the holding member 61. Therefore, the stem 62 is more likely to be cut stably than when the stem 62 is cut without being held down, and the top pinching operation is performed stably.

[0051] In Fig. 11D, when the forward / backward slider 14 advances after the cutting operation and the cutting blade 51 moves to the holding position shown in Fig. 11D, the cut stem 62 is held between the holding member 61 and the comb part 26. Therefore, in this state, it is possible to control the main arm 2 to move the picking device 3'. In the picking device 3' of the second embodiment shown in Figs. 7 to 9, the cut buds 6b fall and must be collected by the operator, but in the embodiment shown in Figs. 10 and 11, the cut buds 6b do not fall and are held by the picking device 3', making it easier for the operator to collect them.

[0052] (Modification 2 of Example 2) FIG. 12 is an explanatory diagram of a picking device according to a second modified example of the second embodiment, and corresponds to FIG. 7 of the second embodiment. In FIG. 12, in the picking device 3'' of the modified example 2 of the embodiment 2, a fixed blade 71 is supported on a fixed portion 52'' of a cutting blade 51''. The fixed blade 71 is disposed opposite to and below the rotating portion 54, and a fixed blade portion 71a is formed on the upper surface of the fixed blade 71. Therefore, in the cutting blade 51'' of variant 2 of Example 2, when the wire 16' is pulled rearward and the rotating part 54 moves to the cutting position, the blade part 56 of the rotating part 54 and the fixed blade part 71a of the fixed blade 71 cut the bud 6b from above and below, like scissors. Therefore, even if the stem part 62 is thick and difficult to cut in the form of Example 2, the form of variant 2 of Example 2 makes it easy to cut and facilitates the pinching operation. EXAMPLES

[0053] Figure 13 is an explanatory diagram of the picking device of Example 3 corresponding to Figure 3 of Example 1, Figure 13A is an explanatory diagram of the state before the holding portion comes into contact with the object to be picked, Figure 13B is an explanatory diagram of the state when the holding portion comes into contact with the object to be picked, Figure 13C is an explanatory diagram of the state when the orientation of the oscillating arm has been adjusted from the state of Figure 13B, and Figure 13D is an explanatory diagram of the state when the tactile fingers have advanced and opened from the state of Figure 13C. Next, a third embodiment of the present invention will be described. The same components as those in the first embodiment are given the same reference numerals and detailed descriptions thereof will be omitted. In FIG. 13, a picking device 303 of the third embodiment has one pressing portion 328 instead of the comb portion 26 having the four comb teeth portions 28a, 28b, 28c, and 28d of the first embodiment.

[0054] (Function of Example 3) In the picking device 303 of the third embodiment having the above-mentioned configuration, it is possible to prevent the bud 6b from swinging while the holding part 328 is in contact with the bud 6b. Then, while the holding part 328 is in contact with the bud 6b, it is possible to adjust the direction of the oscillating arm 21, grasp the bud 6b with the tactile fingers 31 and 32, and cut the bud 6b with the cutter 23. Therefore, in the third embodiment, as in the first embodiment, the picking operation of the bud 6b is possible. In addition, in Example 3, since there is only one pressing part 328, compared to Example 1, it is possible to minimize contact with other stems and buds compared to a configuration having four comb-tooth parts 28a to 28d. Also, it is expected that it will be easier to push back the main stem 6a and buds that are not to be picked that are in front of the bud 6b to be picked by the pressing part 328, and to push the bud 6b to be picked to the left and right to make it easier to pick, compared to a configuration having four comb-tooth parts 28a to 28d. EXAMPLES

[0055] Figure 14 is an explanatory diagram of the picking device of Example 4 corresponding to Figure 3 of Example 1, Figure 14A is an explanatory diagram of the state in which the picking device faces the object to be picked, Figure 14B is an explanatory diagram of the state in which the orientation of the swivel arm has been adjusted, Figure 14C is an explanatory diagram of the state in which the tactile fingers have advanced from the state of Figure 14B, and Figure 14D is an explanatory diagram of the state in which the tactile fingers have started to retreat after pressing the object to be picked from the state of Figure 14C. Next, a fourth embodiment of the present invention will be described. The same components as those in the first embodiment are given the same reference numerals and detailed descriptions thereof will be omitted. In FIG. 14, a picking device 403 of the fourth embodiment does not have the comb portion 26 having the four comb teeth 28a, 28b, 28c, and 28d of the first embodiment.

[0056] (Function of Example 4) In the picking device 403 of the fourth embodiment having the above-mentioned configuration, the oscillating arm 21 adjusts the orientation of the tactile fingers 31, 32 with respect to the bud 6b, and then the tactile fingers 31, 32 are advanced to bring one of the open tactile fingers 31, 32 (the left tactile finger 32 in FIG. 14) into contact with the bud 6b. Therefore, the bud 6b is pressed down by the inside of the tactile fingers 31, 32, and the swinging of the bud 6b is suppressed. That is, in the fourth embodiment, the tactile fingers 31, 32 also function as the comb part 26 and substitute for it. In this state, when the tactile fingers 31, 32 are retracted, the bud 6b is securely gripped by the tactile fingers 31, 32 and cut by the cutter 23. Therefore, in the fourth embodiment, as in the first embodiment, the picking operation of the bud 6b is possible.

[0057] (Example of change) Although the embodiments of the present invention have been described above in detail, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Modifications (H01) to (H03) of the present invention are illustrated below. (H01) In the first embodiment, it is desirable to provide the comb portion 26, but it is also possible to configure it without providing it. (H02) In the above-mentioned embodiments and modified examples, the specific material names and shapes exemplified are not limited to those exemplified, and can be changed arbitrarily according to the design, specifications, etc. (H03) In the above embodiment, it is preferable to provide a direction changing mechanism, but it is also possible to configure the device without providing the direction changing mechanism. [Explanation of symbols]

[0058] 3,3′…picking device, 6a…non-picking area, 6b, 62...Picking target part, 12~14...Picking mechanism, 20...orientation change mechanism, 23...Cutting member, 26...Partition member, 27a, 27c...first storage section, 27b...second housing section, 28a~28d…Partition section, 31...first finger portion, 31,32,51,51″…Picking part, 32...second finger portion, 33,41...Gripping auxiliary part, 41…Bellows, 57...Cutting auxiliary part, 61...Pressing member.

Claims

1. a first finger portion that extends along a first direction toward or away from a picking target portion of a plant and is movable along the first direction; a second finger portion extending along the first direction and movable along the first direction together with the first finger portion, the second finger portion being spaced apart from the first finger portion by a relatively large distance as the second finger portion moves along the first direction in a direction approaching the picking target portion; A gripping auxiliary part supported by at least one of the first finger part and the second finger part, the gripping auxiliary part being configured to be expandable and contractible in the first direction and expanding in a second direction intersecting the first direction as the gripping auxiliary part contracts in the first direction; A picking device comprising:

2. the gripping auxiliary portion, in which at least one of the first finger portion and the second finger portion is formed in a hollow tubular shape penetrating the inside, and which is made of a rubber material that is elastically deformable in the first direction and the second direction; 2. The picking device according to claim 1, further comprising:

3. The gripping auxiliary portion is constituted by a hollow bellows through which at least one of the first finger portion and the second finger portion penetrates; 2. The picking device according to claim 1, further comprising:

4. a cutting member that is disposed at a position spaced apart from the picking target portion in the first direction and cuts the picking target portion gripped by the first finger portion and the second finger portion; 2. The picking device according to claim 1, further comprising:

5. a partition member having a first storage section capable of storing the picking target portion, a second storage section capable of storing the picking non-target portion of the plant, and a partition section separating the first storage section from the second storage section; 5. The picking device according to claim 1, further comprising:

6. an orientation change mechanism capable of changing an orientation of the first finger portion and the second finger portion along the second direction; 5. The picking device according to claim 1, further comprising:

7. a partition member having a first storage section capable of storing a part of the plant to be picked, a second storage section capable of storing a part of the plant not to be picked, and a partition section separating the first storage section from the second storage section; A picking unit that picks up a picking target portion of the first storage unit; A picking mechanism that operates the picking portion; A picking device comprising:

8. The picking unit has a cutting blade for cutting the picking target portion; the picking mechanism for moving the cutting blade between a separated position away from the picking target portion and a cutting position for cutting the picking target portion; 8. The picking device according to claim 7, further comprising:

9. a cutting assistant part supported on a side surface of the cutting blade in a thickness direction and which increases a gap between the picking target part and the non-picking target part; 9. The picking device according to claim 8, further comprising:

10. a pressing member supported so as to be movable integrally with the cutting blade, and contacting the target portion at a pressing position between the separation position and the cutting position to press the target portion between the partition member and the pressing member; 10. The picking device according to claim 8 or 9, further comprising:

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