Harvesting device

Abstract

To provide a harvesting device capable of efficiently harvesting fruit vegetables.SOLUTION: A harvesting device 1 includes a chassis 113, a manipulator 19, and a packer mechanism 2. The chassis 113 can convey a storage box C. The manipulator 19 harvests fruit vegetables F. The packer mechanism 2 receives the fruit vegetables F from the manipulator 19 and stores them in the storage box C.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a harvesting device.

Background Art

[0002] Conventionally, a harvesting device is known that harvests crops such as fruits and vegetables and stores the fruits and vegetables in a storage box mounted on a vehicle. For example, in the harvesting vehicle of Patent Document 1, after the harvesting hand body grips and picks the crop, it moves the gripped crop onto the storage basket and then releases it. Thereby, the crop is stored in the storage basket.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, the harvesting hand body that picks the crop needs to move the gripped crop onto the storage position in the storage basket. That is, the harvesting hand body needs to pick the crop, move it onto the storage position, and move it from the storage position to the picking position of the next crop. Therefore, since it takes a long time from picking one crop to picking the next crop and it is necessary to widen the movable range of the harvesting hand body, there is a risk that the harvesting efficiency will decrease.

[0005] In view of the above situation, an object of the present invention is to provide a harvesting device capable of efficiently harvesting fruits and vegetables.

Means for Solving the Problems

[0006] To achieve the above object, a harvesting device according to one aspect of the present invention includes a vehicle body, a manipulator, and a packer mechanism. The vehicle body is capable of transporting a storage box. The manipulator harvests fruits and vegetables. The packer mechanism receives fruits and vegetables from the manipulator and stores them in the storage box.

[0007] Further features and advantages of the present invention will be further clarified by the embodiments shown below.

Effect of the Invention

[0008] According to the present invention, it is possible to provide a harvesting device capable of efficiently harvesting fruits and vegetables.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Figure 6E

Figure 6F

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] <1. Embodiment> FIG. 1 is an external view of the harvesting device 1. FIG. 2 is a side view of the harvesting device 1 seen from the left side. FIG. 3 is a rear view of the harvesting device 1 seen from the front side. FIG. 4 is an external view of the harvesting device 1 with the exterior panel 10 described later removed. FIG. 5 is a cross-sectional view of the harvesting device 1 taken along the dashed line V-V in FIG. 4. In FIGS. 1, 3, and 4, the illustration of the manipulator 19 described later is omitted. Also, in FIGS. 2 to 5, all the exterior panels 10 are omitted to make the internal configuration easier to see.

[0012] Also, FIGS. 6A to 6F are diagrams for explaining the harvesting operation of the harvesting device 1. FIG. 6A is a plan view showing the operation of the harvesting device 1 for preparing to harvest the fruit and vegetable F by accommodating the empty storage box C. FIG. 6B is a plan view showing the operation of the harvesting device 1 for starting the harvesting of the fruit and vegetable F from the fruit tree Tr facing the row R1. FIG. 6C is a plan view showing the operation of the harvesting device 1 after completing the harvesting of the fruit and vegetable F from the fruit tree Tr facing the row R1. FIG. 6D is a plan view showing the operation of the harvesting device 1 moving to the adjacent row R1. FIG. 6E is a plan view showing the operation of the harvesting device 1 that has moved to the adjacent row R1. FIG. 6F is a plan view showing the operation of the harvesting device 1 for preparing to harvest the fruit and vegetable F by accommodating the empty storage box C in the adjacent row R1. FIGS. 6A to 6F show the harvesting device 1 and the fruit tree Tr as seen from above.

[0013] The harvesting device 1 holds and conveys a storage box C (so-called container) placed on a pallet P, and while moving along the hot water pipe Ht, harvests the fruits and vegetables F of the fruit tree Tr and drops them into the storage box C for storage. Hereinafter, an empty storage box C without fruits and vegetables F may be referred to as a "storage box Co". Also, a storage box C filled to the allowable capacity with fruits and vegetables F may be referred to as a "storage box Cf".

[0014] As shown in FIGS. 6A to 6F, the rows and aisles R1 of the fruit trees Tr extend in the first direction D1. In FIGS. 6A to 6F, the left side of the paper surface in the first direction D1 is referred to as the "one side D1a of the first direction", and the right side of the paper surface in the first direction D1 is referred to as the "other side D1b of the first direction". Also, a plurality of rows of the fruit trees Tr are arranged in the second direction D2 intersecting the first direction D1. The aisle R1 is a straight path arranged between two adjacent rows of the fruit trees Tr in the second direction D2. The end portions of the rows and aisles R1 of the fruit trees Tr on the pallet P side in the first direction D1 face a passage R2 extending in the second direction D2. Hereinafter, the aisle R1 and the passage R2 may be collectively referred to as the "floor R".

[0015] The hot water pipe Ht is a pipe through which hot water for maintaining the environmental temperature of the fruit tree Tr at an appropriate temperature flows, and is arranged on the aisle R1. However, the end portion of the hot water pipe Ht on the other side D1b of the first direction is arranged on the passage R2.

[0016] The pallet P is arranged on the passage R2 and is connected to the end portion of the hot water pipe Ht on the other side D1b of the first direction. A plurality of storage boxes C stacked in the vertical direction are arranged on the pallet P. However, the storage box C may be singular or may be placed on the passage R2.

[0017] Also, on the passage R2, magnetic tapes Rd1, Rd2 for guiding the harvesting device 1 moving on the passage R2 and markers M1 to M4 are arranged. The magnetic tape Rd1 extends from each hot water pipe Ht in the first direction D1. The magnetic tape Rd2 is arranged on the other side D1b of the first direction from the pallet P and extends in the second direction D2, intersecting each magnetic tape Rd1. The markers M1 to M4 are arranged to detect the position of the harvesting device 1 moving on the passage R2 as shown in FIGS. 6A to 6F. The markers M1 to M4 are arranged for each magnetic tape Rd1. The marker M1 is arranged to detect the position where the harvesting device 1 loads and unloads the storage box C. The marker M2 is arranged to detect the start position of the harvesting operation of the harvesting device 1 in each row R1. The marker M3 is arranged to detect the position where the harvesting device 1 moving in the other direction D1b of the first direction turns clockwise when viewed from above. By turning at the detection of the marker M3, the harvesting device 1 advances in the second direction d2. The marker M4 is arranged to detect the position where the harvesting device 1 moving in the second direction D2 turns counterclockwise when viewed from above. By turning at the detection of the marker M4, the harvesting device 1 changes its traveling direction to the first direction D1a to accommodate the empty storage box Co and enter the adjacent row R1.

[0018] Line tracing sensors Sf, Sr are arranged at the front and rear sides of the harvesting device 1, at least on one side (the right side in FIGS. 6A to 6F) in the left-right direction of the harvesting device 1 at the lower part. The line tracing sensors Sf, Sr detect the magnetic tapes Rd1, Rd2 and the markers M1 to M4.

[0019] Next, with reference to FIGS. 6A to 6F, the harvesting operation of the harvesting device 1 will be described. In FIGS. 6A to 6F, the reference numerals 1a to 1h indicate the harvesting device 1 in each operation.

[0020] First, as shown in FIG. 6A, the harvesting device 1a moves in the first direction D1a along the magnetic tape Rd1 on the passage R2. When the rear line tracing sensor Sr detects the marker M1, the harvesting device 1a stops and accommodates and holds the empty storage box Co on the pallet P at the front part.

[0021] Then, as shown in FIG. 6B, the harvesting device 1b moves in one direction D1a of the first direction and enters the row R1 aligned with the pallet P in the first direction D1. When the marker M2 is detected by the front line tracing sensor Sf, it temporarily stops. This stop position is the harvesting start position. That is, after the temporary stop, the harvesting device 1b sequentially harvests the fruits and vegetables F from the fruit tree Tr while moving in one direction D1a of the first direction.

[0022] Next, as shown by the dashed line in FIG. 6C, when the harvesting device 1c finishes accommodating the fruits and vegetables F up to the allowable amount in all the storage boxes C to be accommodated, it moves in the other direction D1b of the first direction and returns toward the original pallet P on the extension line of the row R1. Alternatively, even if not all the storage boxes C are full storage boxes Cf, the harvesting device 1 may return toward the original pallet P when it finishes harvesting the fruits and vegetables F that can be harvested from the fruit tree Tr facing the traveling row R1. Then, as shown by the solid line in FIG. 6C, when the harvesting device 1d detects the marker M1 with the rear line tracing sensor Sr, it stops, releases the holding of the full storage box Cf, and lowers and places it on the pallet P.

[0023] Next, as shown in FIGS. 6D and 6E, the harvesting device 1 moves to the adjacent row R1. For example, as shown by the dashed line in FIG. 6D, the harvesting device 1e moves in the other direction D1b of the first direction along the magnetic tape Rd1 from the pallet P and stops when the marker M3 is detected by the rear line tracing sensor Sr, and then turns clockwise around the rear part when viewed from above. After turning, the harvesting device 1e moves in the second direction D2 along the magnetic tape Rd2. Then, as shown by the solid line in FIG. 6D, the harvesting device 1f stops when the rear line tracing sensor Sr detects the marker M4 of the magnetic tape Rd1 extending from the hot water pipe Ht of the adjacent row R1.

[0024] After stopping, as shown in FIG. 6E, the harvesting device 1g turns counterclockwise around the rear part when viewed from above.

[0025] After turning, as shown in FIG. 6F, the harvesting device 1h moves in the one-way D1a of the first direction along the magnetic tape Rd1 extending from the hot water pipe Ht of the adjacent row R1 in the second direction D2, similar to FIG. 6A. Then, when the harvesting device 1h detects the marker M1 of the magnetic tape Rd1 with the rear line tracing sensor Sr, it stops and accommodates and holds the empty storage box Co on the pallet P at the front part.

[0026] The harvesting device 1 repeats the above operations, harvests the fruits and vegetables F from each row of the fruit trees Tr, accommodates them in the storage box C, and places the full storage box Cf on each pallet P.

[0027] In the above example, the harvesting device 1 detects the magnetic tapes Rd1 and Rd2 and moves along them. However, the present invention is not limited to the above example, and the harvesting device 1 may have the map information of the floor R and move on the floor R based on the map information, its own moving direction, moving distance, etc.

[0028] <1-1. Harvesting device 1> Next, with reference to FIGS. 1 to 5, a configuration example of the harvesting device 1 will be described. The harvesting device 1 includes a vehicle body 11, a wheel unit 12, a vehicle body 13, a compressor 14, a battery 15, a control device 16, an operation panel 17, an emergency stop button 18, and a manipulator 19.

[0029] The vehicle body 11 can hold and transport one or a plurality of storage boxes C. Note that the plurality of storage boxes C are stacked in the vertical direction. For example, the lower end portion of the upper storage box C overlaps with the upper end portion of the lower storage box C in a state of being in contact with the upper end portion of the lower storage box C where the lower storage box C opens. Therefore, the storage boxes C can be stacked in the vertical direction without narrowing the internal space of the storage boxes C.

[0030] The vehicle body 11 has a first vehicle body 111, a second vehicle body 112, and a third vehicle body 113. The first vehicle body 111 is the rear part of the vehicle body 11. The second vehicle body 112 is the central part of the vehicle body 11 and connects the first vehicle body 111 and the third vehicle body 113. A manipulator 19 is installed on the second vehicle body 112. The third vehicle body 113 is the front part of the vehicle body 11. The third vehicle body 113 has a pair of left and right frames 1131 and a frame 1132. The frame 1131 extends in the front-rear direction and is arranged on both sides in the left-right direction respectively. The frame 1132 extends in the left-right direction and connects the rear ends of the frames 1131. The third vehicle body 113 has a U-shaped shape that opens forward when viewed from the up-down direction.

[0031] The wheel unit 12 is attached to the vehicle body 11. The wheel unit 12 has a floor drive rear wheel unit 121, a floor running front wheel unit 122, a pipe upper drive wheel unit 123, an alignment upper roller unit 124, and an alignment side roller unit 125. The floor drive rear wheel unit 121 is a drive wheel that can run independently in contact with the floor R and is attached to both sides in the left-right direction of the first vehicle body 111. The floor running front wheel unit 122 is a dependent wheel in contact with the floor R and is attached to both sides in the left-right direction of the third vehicle body 113. The pipe upper drive wheel unit 123 is a drive wheel that can run independently in contact with the upper part of the hot water pipe Ht and is attached to both sides in the left-right direction of the third vehicle body 113. The alignment upper roller unit 124 is a dependent roller in contact with the upper part of the hot water pipe Ht and is attached to the front ends on both sides in the left-right direction of the third vehicle body 113. The alignment side roller unit 125 is attached to both sides in the left-right direction of the first vehicle body 111 and both sides in the left-right direction of the third vehicle body 113. The alignment side roller unit 125 is a dependent roller in contact with the outer part in the left-right direction of the hot water pipe Ht and guides the vehicle body 11 in the direction of moving forward or backward along the hot water pipe Ht.

[0032] The vehicle body 13 is a housing arranged on the vehicle body 11. The vehicle body 13 has a first vehicle body 131, a second vehicle body 132, and a third vehicle body 133.

[0033] The first vehicle body 131 is arranged on the first vehicle chassis 111 and has a two-stage structure. The control device 16 is accommodated in the upper stage of the first vehicle body 131. The compressor 14 and the battery 15 are accommodated in the lower stage of the first vehicle body 131. The rear, left, right, and upper surfaces of the first vehicle chassis 111 are covered with the exterior panel 10.

[0034] The second vehicle body 132 is arranged on the second vehicle chassis 112. The rear and upper surfaces of the second vehicle chassis 112 are covered with the exterior panel 10. On the other hand, the front surface (except for the upper part), left surface, and right surface of the second vehicle chassis 112 are open.

[0035] The third vehicle body 133 is arranged on the third vehicle chassis 113 and can accommodate one or a plurality of storage boxes C. In this embodiment, the third vehicle body 133 accommodates a plurality of storage boxes C stacked in the vertical direction. The left, right, upper, and upper front surfaces of the third vehicle chassis 113 are covered with the exterior panel 10. On the other hand, the part other than the upper front surface of the third vehicle chassis 113 is open and functions as an entrance and exit for the storage box C accommodated inside. Also, the part other than the upper rear surface of the third vehicle chassis 113 is open. Due to the opening of the rear surface of the third vehicle chassis 113 (and the front surface of the second vehicle chassis 112), the manipulator 19 can pass the harvested fruits and vegetables F to the packer mechanism 2 described later inside the third vehicle body 133.

[0036] A stopper 1331, a support frame 1332, a fixing member 1333, a pair of left and right lower plate portions 1334, and a pair of left and right upper plate portions 1335 are arranged on the third vehicle body 133.

[0037] The stopper 1331 is arranged on the frame 1132 of the third vehicle chassis 113 and is arranged side by side in the left-right direction. Note that the number of stoppers 1331 is two in this embodiment, but it is not limited to this example and may be a single one or a plurality of three or more. The stopper 1331 faces at least the rear surface of the lowermost stage of the storage box C accommodated in the third vehicle body 133 and restricts the backward displacement of the storage box C.

[0038] Further, the support frames 1332 are erected at the four corners (both left and right sides of the front end and the rear end) of the third vehicle body 133 and extend upward from the third chassis 113. In the present embodiment, a pair of front and rear support frames 1332 are arranged on both the left and right sides of the third vehicle body 133. The left support frame 1332 is erected at the front end and the rear end of the left frame 1131 of the third vehicle body 133. The right support frame 1332 is erected at the front end and the rear end of the right frame 1131 of the third vehicle body 133.

[0039] Also, the fixing members 1333 are arranged on each support frame 1332 at a predetermined vertical position, and a plurality of them are particularly arranged on the inner surface in the front-rear direction thereof. The fixing members 1333 arranged on each inner surface in the front-rear direction are plural and are arranged at equal intervals in the vertical direction. Further, the fixing members 1333 arranged on each inner surface in the front-rear direction are arranged at the same vertical position. For example, the fixing members 1333a arranged on the inner surface in the front-rear direction of each support frame 1332 are arranged at the same vertical position. The vertical positions of the fixing members 1333b to 1333e arranged on the inner surface in the front-rear direction of each support frame 1332 are the same. In the present embodiment, five fixing members 1333a to 1333e are arranged on each support frame 1332. However, the present invention is not limited to this example, and the number of the fixing members 1333 arranged on each support frame 1332 may be the same, and may be a single number or a plurality other than five. Preferably, the number is larger than the number of the storage boxes C carried by the chassis 11.

[0040] Also, the lower plate portion 1334 and the upper plate portion 1335 are plate-shaped and extend in the front-rear direction and spread in the left-right direction. The lower plate portion 1334 is arranged on the frames 1131 on both the left and right sides of the third chassis 113 respectively. The upper plate portion 1335 is arranged on both the left and right sides near the ceiling of the third vehicle body 133 and faces the lower plate portion 1334 in the vertical direction.

[0041] Next, the compressor 14 compresses air and supplies compressed air to the components that air-drive the harvesting device 1.

[0042] The battery 15 is a rechargeable secondary battery and supplies the power to each component that requires power in the harvesting device 1.

[0043] The control device 16 controls each component of the harvesting device 1 based on information and programs stored in the memory 161. Note that the memory 161 is a non-transitory storage medium that maintains storage even when the power supply is stopped.

[0044] The operation panel 17 has a notification unit (reference numeral omitted) such as sound and screen display, and an input unit (reference numeral omitted) that receives the user's operation input. The emergency stop button 18 stops the operation of the harvesting device 1 and each component and the power supply from the battery 15 in response to being pressed. In the present embodiment, the operation panel 17 and the emergency stop button 18 are disposed at the upper part of the rear surface of the second vehicle body 132. Further, the emergency stop button 18 is also disposed at the upper part of the front surface of the third vehicle body 133.

[0045] The manipulator 19 is a robot arm for harvesting the fruit and vegetable F and passes the harvested fruit and vegetable F to the packer mechanism 2. The manipulator 19 has an arm base 191, an articulated arm 192, and a harvesting hand 193. The arm base 191 is fixed on the second vehicle platform 112. The arm 192 is an articulated body disposed on the arm base 191 and performs an operation according to the control of the control device 16. For example, the arm 192 moves the harvesting hand 193 that holds the fruit and vegetable F closer to the fruit and vegetable F and moves the harvesting hand 193 that holds the fruit and vegetable F toward the packer mechanism 2. The harvesting hand 193 is disposed at the tip of the arm 192, grips the fruit and vegetable F, and harvests it from the fruit tree Tr. The harvesting hand 193 releases the holding of the fruit and vegetable F directly above a packer 21 (to be described later) of the packer mechanism 2 and passes the fruit and vegetable F to the packer mechanism 2.

[0046] Next, the harvesting device 1 further includes a packer mechanism 2, a lifter 3, a separator 4, a lifting mechanism 5, a guide shaft 6, and an upward movement limiting portion 7. These are arranged within the third vehicle body 133. Further, the guide shaft 6 is a shaft member extending in the vertical direction and is arranged at the front and rear between the left lower plate portion 1334 and the upper plate portion 1335 and at the front and rear between the right lower plate portion 1334 and the upper plate portion 1335.

[0047] <1-2. Packer mechanism 2> First, with reference to FIGS. 1 to 5 and FIG. 7 etc., a configuration example of the packer mechanism 2 will be described. FIG. 7 is a perspective view showing an enlarged structure in the vicinity of the packer mechanism 2.

[0048] The packer mechanism 2 receives the fruit and vegetables F from the manipulator 19 and lowers and stores them in the storage box C conveyed to the third vehicle body 113. By doing so, after the manipulator 19 delivers the harvested fruit and vegetables F to the packer mechanism 2, it can immediately proceed to harvest the next fruit and vegetables F. Therefore, the harvesting device 1 can harvest the fruit and vegetables F at shorter time intervals compared to a configuration that performs both the harvesting of the fruit and vegetables F and the storage in the storage box C only with the manipulator 19. Thus, the harvesting device 1 can efficiently harvest the fruit and vegetables F.

[0049] Further, the packer mechanism 2 can move up and down in the vertical direction along the guide shaft 6 by the drive of the lifting mechanism 5. The packer mechanism 2 includes a packer 21, a pair of left and right holding portions 22, and a moving mechanism 23.

[0050] The packer 21 temporarily stores the harvested fruit and vegetables F and can discharge (i.e., lower) the temporarily stored fruit and vegetables F into the storage box C according to the control of the control device 16. For example, when receiving the fruit and vegetables F from the manipulator 19, the packer 21 moves to the rear side of the third vehicle body 133 and preferably moves to a position behind the storage box C. Thereby, the manipulator 19 can deliver the fruit and vegetables F to the packer 21 without contacting the storage box C. Further, when the packer 21 moves directly above the storage position determined by the control device 16 of the storage box C, it discharges (i.e., lowers) the stored fruit and vegetables F and stores them at the storage position.

[0051] The packer 21 has a cylindrical portion 211 and a bottom portion 212 (see FIGS. 5 and 7). The cylindrical portion 211 has an inner peripheral surface in the shape of a frustum of a cone whose diameter narrows downward, and houses the fruit and vegetable F received from the manipulator 19. The bottom portion 212 is disposed at the lower end of the cylindrical portion 211 and closably closes the lower end portion of the inner peripheral surface of the cylindrical portion 211. The bottom portion 212 opens and closes according to the control of the control device 16. For example, the bottom portion 212 closes when the packer 21 receives the fruit and vegetable F from the manipulator 19, and opens when the packer 21 moves to a predetermined storage position in the storage box C. Thereby, the fruit and vegetable F is dropped and stored at the storage position. Note that the opening and closing mechanism of the bottom portion 212 is not particularly limited. For example, the bottom portion 212 may have a door portion that rotates in the vertical direction or opens in a direction intersecting the vertical direction, and a drive portion that rotates or opens and closes the door portion.

[0052] The holding portion 22 is plate-shaped and extends in the front-rear direction and spreads in the vertical direction, and is disposed on both the left and right sides (for example, on the frame 1131) inside the third vehicle body 133. Rails 221 extending in the front-rear direction are disposed on the inner side surfaces in the left-right direction of each holding portion 22. Guides 222 are fixed to the front side and the rear side of the outer side surface in the left-right direction of each holding portion 22. Each guide 222 guides the raising and lowering of the packer mechanism 2. For example, each guide 222 has a through hole extending in the vertical direction. A guide shaft 6 is inserted into the through hole. Therefore, each guide 222 is movable in the vertical direction along the guide shaft 6. In addition, a fixing portion 223 connected to a belt 52 (described later) of the elevating mechanism 5 is disposed on the outer side surface in the left-right direction of at least one holding portion 22.

[0053] The moving mechanism 23 is controlled by the control device 16 to move the packer 21. Specifically, the moving mechanism 23 moves the packer 21 relative to the storage box C in at least one of the front-rear direction and the left-right direction. For example, in the present embodiment, the moving mechanism 23 of the packer mechanism 2 has a forward and backward mechanism 231, a lateral movement mechanism 232, a forward and backward drive portion 233, and a lateral drive portion 234.

[0054] The forward and backward movement mechanism 231 moves the packer 21 in the front-rear direction with respect to the storage box C. The packer mechanism 2 can lower and store the fruits and vegetables F from the packer 21 into the front-rear free space with respect to the storage box C by means of the forward and backward movement mechanism 231. For example, the packer mechanism 2 can store the fruits and vegetables F side by side in the front-rear direction in the storage box C by means of the forward and backward movement mechanism 231.

[0055] The left and right movement mechanism 232 moves the packer 21 in the left-right direction with respect to the storage box C. The packer mechanism 2 can lower and store the fruits and vegetables F from the packer 21 into the left-right free space with respect to the storage box C by means of the left and right movement mechanism 232. For example, the packer mechanism 2 can store the fruits and vegetables F side by side in the left-right direction in the storage box C by means of the left and right movement mechanism 232.

[0056] In this way, the packer mechanism 2 can store the fruits and vegetables F side by side in the front-rear direction and the left-right direction in the storage box C by driving the forward and backward movement mechanism 231 and the left and right movement mechanism 232.

[0057] The forward and backward drive unit 233 outputs the power for moving the packer 21 to the forward and backward movement mechanism 231. The lateral drive unit 234 outputs the power for moving the packer 21 to the left and right movement mechanism 232. That is, the forward and backward movement mechanism 231 and the left and right movement mechanism 232 are supplied with the power for moving the packer 21 from individual drive sources. For example, the movement mechanism 23 further has a slider 235. The slider 235 extends in the left-right direction and supports the packer 21 so as to be movable in the left-right direction. That is, the left and right movement mechanism 232 is configured to include the slider 235. The left end of the slider 235 is movably connected in the front-rear direction to the rail 221 of the left holding portion 22. The right end of the slider 235 is movably connected in the front-rear direction to the rail 221 of the right holding portion 22. That is, the forward and backward movement mechanism 231 is configured to include the slider 235 and the rail 221. The forward and backward drive unit 233 outputs to the slider 235 the power for moving the slider 235 forward or backward based on the control of the control device 16. Also, the lateral drive unit 234 outputs to the packer 21 the power for moving the packer 21 leftward or rightward based on the control of the control device 16.

[0058] <1-3. Lifter 3> Next, with reference to FIGS. 1 to 5 and FIG. 7, a configuration example of the lifter 3 will be described. The lifter 3 is disposed on both the left and right sides below the packer mechanism 2, and loads and unloads the storage box C with respect to the third chassis 113. For example, as described above, the frames 1131 on both the left and right sides in the left-right direction and the frame 1132 connecting the rear ends of both form the third chassis 113 that opens forward. The lifter 3 is disposed on the frames 1131 on both the left and right sides in the left-right direction, and holds the storage box C between the frames 1131 on both the left and right sides when viewed from the up-down direction. By the lifter 3 disposed on the frames 1131 on both the left and right sides in the left-right direction holding the storage box C, the harvesting device 1 can accommodate and convey the storage box C between the frames 1131 on both the left and right sides. On the other hand, by the lifter 3 releasing the holding of the storage box C, the storage box C can be lowered. Thereby, the harvesting device 1 can easily perform the loading of the empty storage box Co and the loading and unloading of the full storage box Cf after the fruits and vegetables F have been accommodated.

[0059] For example, when harvesting the fruits and vegetables F, the harvesting device 1 first advances toward the empty storage box Co placed on the pallet P or the floor R, and thereby disposes the empty storage box Co in the third chassis 113. Further, the harvesting device 1 holds and lifts the empty storage box Co with the lifter 3, and thereby accommodates and conveys the empty storage box Co in the third vehicle body 133.

[0060] Also, after harvesting the fruits and vegetables F, the harvesting device 1 advances and moves the full storage box Cf onto the pallet P or the floor R at a predetermined placement position. The harvesting device 1 lowers the full storage box Cf from the third chassis 113 by releasing the holding of the lifter 3. Therefore, the harvesting device 1 can place the full storage box Cf thereon.

[0061] In particular, when the harvesting device 1 loads and unloads the storage box C on the pallet P, the storage box C can be moved by a forklift or the like while remaining on the pallet P. Therefore, it is possible to easily perform operations such as replenishment of the empty storage box Co and transportation of the full storage box Cf.

[0062] The lifter 3 includes a lower plate portion 1334 and has a claw portion 31 and a rotation mechanism 32. The claw portions 31 are respectively arranged on the front side and the rear side at the left and right direction inner ends of the lower plate portion 1334 on both the left and right sides. Each claw portion 31 is rotatable in the vertical direction about a rotation axis extending in the front-rear direction. The rotation mechanism 32 rotates the claw portion 31 by using compressed air supplied from the compressor 14 under the control of the control device 16.

[0063] For example, when lifting the storage box C with the lifter 3, the rotation mechanism 32 rotates the claw portion 31 upward. At this time, the claw portion 31 abuts against the lower surface of the flange portion Cb protruding laterally from the upper end portion of the storage box C and rotates upward while remaining in the abutting state. Thereby, the storage box C is lifted and held in a state where the flange portion Cb is supported by the claw portions 31 in the front and rear on both the left and right sides.

[0064] Also, when lowering the storage box C from the lifter 3, the rotation mechanism 32 rotates the claw portion 31 downward. At this time, as the storage box C descends downward, the claw portion 31 separates from the lower surface of the flange portion Cb. Thereby, the holding of the storage box C is released, and the storage box C is placed on the pallet P or the floor R or the like.

[0065] <1-4. Separator 4> Next, with reference to FIGS. 1 to 5 and the like, a configuration example of the separator 4 will be described. The separator 4 is disposed above the packer mechanism 2 and is vertically movable along the guide shaft 6 as the packer mechanism 2 moves by the lifting mechanism 5. For example, in the present embodiment, the separator 4 can be moved upward by being placed on the ascending packer mechanism 2 and lifted. The separator 4 can hold some of the storage boxes C stacked in the vertical direction at a position above the remaining storage boxes C.

[0066] The separator 4 has a pair of left and right holding portions 41, a claw portion 42, a rotation mechanism 43, a guide 44, and a fixing mechanism 45.

[0067] The holding part 41 is plate-shaped, extending in the front-rear direction and spreading in the up-down direction, and is arranged on both the left and right sides inside the third vehicle body 133.

[0068] Claw parts 42 are arranged on the front side and the rear side of the inner surface in the left-right direction of each holding part 41. Each claw part 42 is rotatable about a rotation axis extending in the up-down direction. The rotation mechanism 43 rotates the claw part 42 by using the compressed air supplied from the compressor 14 under the control of the control device 16. For example, when holding the storage box C with the separator 4, the rotation mechanism 43 rotates the claw part 42 so as to face inward in the left-right direction. On the other hand, when releasing the holding of the separator 4, the rotation mechanism 43 rotates the claw part 42 so as to face forward or backward.

[0069] In addition, guides 44 are fixed to the front side and the rear side of the outer surface in the left-right direction of each holding part 41. Each guide 44 guides the up-down movement of the separator 4. For example, each guide 44 has a through hole extending in the up-down direction. A guide shaft 6 is inserted into the through hole. Therefore, each guide 44 is movable in the up-down direction along the guide shaft 6.

[0070] In addition, fixing mechanisms 45 are arranged on the front side and the rear side of the outer surface in the left-right direction of each holding part 41. The fixing mechanism 45 positions the separator 4 in the up-down direction by engaging with a fixing member 1333 arranged on the support frame 1332. In this embodiment, the fixing mechanism 45 has a pin 451 and a pin driving part 452. The pin 451 extends in the front-rear direction. The pin driving part 452 moves the pin 451 in the front-rear direction under the control of the control device 16. For example, when engaging the fixing mechanism 45 with the fixing member 1333, the pin driving part 452 moves the pin 451 toward a recess facing the pin 451 of the fixing member 1333 in the front-rear direction and inserts it into the recess. On the other hand, when releasing the above engagement, the pin driving part 452 moves the pin 451 to the side opposite to the fixing member 1333 in the front-rear direction and pulls the pin 451 out of the recess of the fixing member 1333.

[0071] By the fixing mechanism 45 positioning the separator 4, it is possible to reliably prevent the group of storage boxes C held by the separator 4 from descending. Therefore, a space where the packer mechanism 2 can move can be secured below the group of storage boxes C held by the separator 4. Also, the packer mechanism 2 does not have to continue to support the separator 4. That is, after the separator 4 is positioned, the packer mechanism 2 can be separated downward from the separator 4, and the packer 21 can be freely moved. Therefore, the packer mechanism 2 can carry out the storage of fruits and vegetables F.

[0072] Also, in the present embodiment, the separator 4 can be raised by being placed on the packer mechanism 2. For example, when the separator 4 is not positioned by the fixing mechanism 45, the lower end of the holding portion 41 of the separator 4 abuts on the upper end of the packer mechanism 2. Thereby, the separator 4 (holding portion 41 thereof) is placed on the packer mechanism 2 (holding portion 22 thereof) and supported by the packer mechanism 2 (holding portion 22 thereof). By moving the packer mechanism 2 (holding portion 22 thereof) upward, the separator 4 can be raised.

[0073] In this way, the separator 4 can be raised by being placed on the packer mechanism 2 without having a dedicated lifting mechanism or a driving unit such as a lifting motor. That is, a dedicated lifting mechanism or a driving unit can be omitted. Therefore, the manufacturing cost and manufacturing process of the separator 4 can be reduced, and its productivity can be improved. Also, compared with a configuration in which the separator 4 has a dedicated lifting mechanism or a driving unit, the space occupied by the driving unit can be omitted. Therefore, the separator 4 can be made into a simple configuration and compact, and its enlargement can be suppressed.

[0074] However, the above example does not exclude a configuration in which the separator 4 has a driving unit such as a dedicated lifting mechanism or a lifting motor. That is, the separator 4 may have, for example, a lifting mechanism having the same configuration as the lifting mechanism 5, or a driving unit for lifting the separator 4.

[0075] Next, in this embodiment, the process in which the separator 4 holds the storage box C and ascends will be described. At this time, at least the packer 21 and the slider 235 of the packer mechanism 2 are located behind the storage box C. Thereby, the packer mechanism 2 can move in the vertical direction without contacting the storage box C.

[0076] When the separator 4 holds the storage box C and moves it upward, the packer mechanism 2 moves up and down together with the separator 4, so that the vertical position of the claw portion 42 is positioned below the flange portion Cb of the lowermost storage box C among the group of storage boxes C held by the separator 4. At this time, the vertical position of the claw portion 42 is located above the flange portion Cb of the uppermost storage box C among the group of storage boxes C not held by the separator 4. The rotation mechanism 43 rotates the claw portion 42 inward in the left-right direction. In this state, as the packer mechanism 2 ascends together with the separator 4, the claw portion 42 abuts against the lower surface of the flange portion Cb of the lowermost storage box C described above, and lifts and holds the group of storage boxes C to be held upward. When the pin 451 of the separator 4 reaches the same vertical position as any of the recesses of the fixing members 1333a to 1333e, the fixing mechanism 45 inserts the pin 451 into the above-described recess to position-fix the separator 4. The packer mechanism 2 descends to between the lowermost storage box C held by the separator 4 and the uppermost storage box C among the storage boxes not held by the separator 4. Thereby, the packer mechanism 2 can perform the operation of storing the fruit and vegetables F in the uppermost storage box C.

[0077] Also, when changing the storage box C held by the separator 4, the packer mechanism 2 moves at least the packer 21 and the slider 235 backward from the storage box C, and then rises until the holding part 22 abuts against the holding part 41 of the separator 4, and places the separator 4 (its holding part 41) on the packer mechanism 2 (its holding part 22). The fixing mechanism 45 of the separator 4 releases the engagement with the fixing member 1333. Thereby, the positioning of the separator 4 is released. The packer mechanism 2 once descends with the separator 4 placed thereon, and places the lowest storage box C that was held on the storage box C that is not held. The separator 4 rotates the claw part 42 to release the holding of the storage box C. Next, the packer mechanism 2 rises together with the separator 4, and positions the vertical position of the claw part 42 below the flange part Cb of the new lowest storage box C held by the separator 4. At this time, the vertical position of the claw part 42 is above the flange part Cb of the new uppermost storage box C among the group of storage boxes C not held by the separator 4. The rotation mechanism 43 rotates the claw part 42 inward in the lateral direction. In this state, when the packer mechanism 2 rises together with the separator 4, the separator 4 lifts and holds the new group of storage boxes C upward. Then, the separator 4 is positioned by the engagement between the fixing mechanism 45 and the fixing member 1333, and the packer mechanism 2 descends to between the lowest storage box C to be held and the uppermost storage box C not held, and performs the operation of storing the fruit and vegetable F in the uppermost storage box C.

[0078] Preferably, when the harvesting device 1 starts harvesting the fruit and vegetable F, the separator 4 holds the storage boxes C in order from the lower storage box C in the vertical stacking. Thereby, the packer mechanism 2 stores the fruit and vegetable F in the storage box C in order from the lower storage box C in the vertical stacking. By doing so, the separator 4 only needs to hold the lightweight empty storage box Co, that is, it does not need to hold the high-weight full storage box Cf. Therefore, the separator 4 can have a simple configuration.

[0079] For example, the separator 4 first holds the storage box C at the second level from the bottom among the empty storage boxes Co stacked vertically. That is, the packer mechanism 2 leaves the bottommost storage box C on the lifter 3 and lifts and holds the other storage boxes C upward. Therefore, the packer mechanism 2 stores the fruits and vegetables F in the storage box C left on the lifter 3.

[0080] When the storage box C is filled with fruits and vegetables F up to the full capacity, the separator 4 returns the empty storage box Co that it has been holding onto the full-capacity storage box Cf left on the lifter 3. Then, the separator 4 holds the storage box C at the third level from the bottom. That is, the packer mechanism 2 leaves the empty storage box Co placed on the full-capacity storage box Cf on the lifter 3 and lifts and holds the other empty storage boxes Co upward. Therefore, the packer mechanism 2 stores the fruits and vegetables F in the second-level storage box C left on the lifter 3.

[0081] After that, the empty storage boxes C held by the separator 4 are similarly replaced.

[0082] <1-5. Elevating mechanism 5> Next, a configuration example of the elevating mechanism 5 will be described. The elevating mechanism 5 is arranged on both left and right sides of the third vehicle body 133 and elevates the packer mechanism 2 together with the separator 4. Each elevating mechanism 5 has a pair of upper and lower pulleys 51, a belt 52, and a drive unit 53. Each pulley 51 is arranged on the lower plate portion 1334 and the upper plate portion 1335 and is rotatable about a rotating shaft extending in the left-right direction. The belt 52 is annular and is wound around the pair of upper and lower pulleys 51. The drive unit 53 has, for example, a motor that rotates the upper pulley and is arranged on the upper plate portion 1335 to rotate the upper pulley 51 about a rotating shaft extending in the left-right direction in one circumferential direction or the other circumferential direction. Thereby, between the pair of upper and lower pulleys 51, the belt 52 wound around both of them rotates seamlessly.

[0083] Further, a fixing portion 223 disposed on the outer side surfaces in the left - right direction of the holding portion 22 of the packer mechanism 2 is connected to the belt 52. Therefore, in response to the seamless rotation of the belt 52, the fixing portion 223 and the holding portion 22 move up and down. As a result, the packer mechanism 2 moves up and down. For example, in the lifting mechanism 5 on the right side of FIG. 4, when the belt 52 rotates seamlessly clockwise, the fixing portion 223 and the holding portion 22 move upward, so that the packer mechanism 2 rises. On the other hand, when the belt 52 rotates seamlessly counterclockwise, the fixing portion 223 and the holding portion 22 move downward, so that the packer mechanism 2 descends.

[0084] In this embodiment, the packer mechanism 2 is moved up and down by the seamless rotation of the belt 52. However, it is not limited to this example, and the lifting of the packer mechanism 2 may be realized using other components than the belt 52. For example, the lifting mechanism 5 may have a feed screw mechanism or a ball screw mechanism that converts the rotational motion of the drive portion 53 into a linear motion in the vertical direction instead of the belt 52. Even using these mechanisms, the lifting mechanism 5 can move the packer mechanism 2 up and down.

[0085] <1 - 6. Upper movement restricting portion 7> The upper movement restricting portion 7 restricts the upward movement of the uppermost storage box C among the storage boxes C stacked in the vertical direction. In this embodiment, the upper movement restricting portion 7 has four vertically extending rods 71. The upper end portions of the respective rods 71 are fixed to the frame near the ceiling of the third vehicle body 133. The lower end portions of the respective rods 71 are disposed near the upper part of the third vehicle body 133 and can contact the upper end portion (particularly the flange portion Cb) of the storage box C held by the separator 4 and moving upward. That is, when the lower end portion of the rod 71 contacts the storage box C, the upward movement of the storage box C is restricted.

[0086] Incidentally, the storage box C held by the separator 4 may be lifted upward until it abuts against the rod 71. By doing so, in the vertical direction, a group of storage boxes C held by the separator 4 can be clamped between the claw portion 42 of the separator 4 and the rod 71. Therefore, the harvesting device 1 can stably convey a group of storage boxes C. However, this example does not exclude a configuration in which a group of storage boxes C lifted upward to the upper limit do not abut against the lower end of the rod 71.

[0087] <1-7. Separation limiting mechanism 8> Also, preferably, the harvesting device 1 further includes a pair of left and right separation limiting mechanisms 8. The separation limiting mechanisms 8 are arranged on both sides in the left-right direction and limit the distance between the packer mechanism 2 and the separator 4 in the vertical direction within a predetermined distance. For example, the separation limiting mechanism 8 connects the holding portion 22 of the packer mechanism 2 and the holding portion 41 of the separator 4 so as to be able to approach and separate from each other.

[0088] FIG. 8 is a schematic diagram showing a configuration example of the separation limiting mechanism 8. Note that FIG. 8 shows the right separation limiting mechanism 8 as viewed from the right side. As shown in FIG. 8, the separation limiting mechanism 8 includes guides 81, 82, a rod 83, a lower stopper 84, and an upper stopper 85.

[0089] The guide 81 is fixed to the outer surface in the left-right direction of the holding portion 22 of the packer mechanism 2. The guide 82 is fixed to the outer surface in the left-right direction of the holding portion 41 of the separator 4. The guides 81, 82 each have a through hole extending in the vertical direction, and guide the approach and separation between the holding portion 22 of the packer mechanism 2 and the holding portion 41 of the separator 4 in the vertical direction.

[0090] The rod 83 extends in the vertical direction and is inserted through the through hole of the guide 81 and the through hole of the guide 82. The rod 83 is movable in the vertical direction with respect to the guides 81, 82.

[0091] The lower stopper 84 is disposed at the lower end of the rod 83 and restricts the upward movement of the rod 83 with respect to the guide 82. For example, the width of the lower stopper 84 in the front-rear direction is larger than the diameter of the lower end of the through hole of the guide 82. Therefore, when the upper end of the lower stopper 84 abuts against the lower end of the guide 82, the upward movement of the rod 83 is prevented.

[0092] The upper stopper 85 is disposed at the upper end of the rod 83 and restricts the downward movement of the rod 83 with respect to the guide 82. For example, the width of the upper stopper 85 in the front-rear direction is larger than the diameter of the upper end of the through hole of the guide 82. Therefore, when the lower end of the upper stopper 85 abuts against the upper end of the guide 82, the downward movement of the rod 83 is prevented.

[0093] By arranging the separation limiting mechanism 8, it is possible to prevent the packer mechanism 2 from separating from the separator 4 by more than a predetermined distance downward. For example, when the separator 4 is positioned by the engagement between the fixing member 1333 and the fixing mechanism 45, if the harvesting device 1 makes an emergency stop, only the packer mechanism 2 may move downward and may move significantly downward from the separator 4. In this case, for example, there is a risk that the wiring between the packer mechanism 2 and the separator 4 may be pulled and broken, or that the packer mechanism 2 may interfere with the packer mechanism 2 and cause damage to the packer mechanism 2. Therefore, by providing the harvesting device 1 with the separation limiting mechanism 8, the occurrence of the above problems can be prevented.

[0094] In addition, in FIG. 8, the separation limiting mechanism 8 is disposed on the front side and the rear side of the holding portion 22 and the holding portion 41. However, the present invention is not limited to this example, and the separation limiting mechanism 8 may be disposed at the central portion of the holding portion 22 and the holding portion 41. Further, the separation limiting mechanism 8 disposed on one side in the left-right direction may be single or a plurality of three or more. Further, the above example does not exclude a configuration in which the harvesting device 1 does not include the separation limiting mechanism 8.

[0095] <2. Remarks> The embodiments of the present invention have been described above. It should be noted that the above-described embodiments are examples, and various modifications are possible for each component and combination of each process, and it is understood by those skilled in the art that they are within the scope of the present invention.

[0096] <3. Summary> Hereinafter, the embodiments described so far will be summarized.

[0097] For example, the harvesting device 1 disclosed in this specification has a vehicle body 113 capable of transporting the storage box C, a manipulator 19 for harvesting fruits and vegetables F, and a packer mechanism 2 that receives fruits and vegetables F from the manipulator 19 and stores them in the storage box C, and is configured as a first configuration.

[0098] The harvesting device 1 of the first configuration wherein the packer mechanism 2 has a packer 21 for temporarily storing fruits and vegetables F, and a moving mechanism 23 for moving the packer 21 with respect to the storage box C, and may be configured as a second configuration.

[0099] Further, the harvesting device 1 of the second configuration wherein the moving mechanism 23 may be configured to move the packer 21 in the front-rear direction with respect to the storage box C (third configuration).

[0100] Further, the harvesting device 1 of the third or third configuration wherein the moving mechanism 23 may be configured to move the packer 21 in the left-right direction with respect to the storage box C (fourth configuration).

[0101] Further, the harvesting device 1 of any one of the first to fourth configurations further includes a separator 4 capable of holding the storage box C disposed above a part of the storage boxes C, The vehicle body 113 may be configured (fifth configuration) to be capable of transporting a plurality of the storage boxes C stacked in the vertical direction.

[0102] Further, the harvesting device 1 having the above-described fifth configuration further includes a lifting mechanism 5 for raising and lowering the packer mechanism 2, the separator 4 may be configured (sixth configuration) to be disposed above the packer mechanism 2 and capable of rising by being placed on the packer mechanism 2.

[0103] Further, the harvesting device 1 having the above-described fifth or sixth configuration the packer mechanism 2 may be configured (seventh configuration) to sequentially store the fruits and vegetables F from the lower storage box C in the vertical stacking.

[0104] Further, the harvesting device 1 having any one of the above-described fifth to seventh configurations a support frame 1332 extending upward from the vehicle body 113, a fixing member 1333 disposed on the support frame 1332 at a predetermined vertical position, and further includes the separator 4 may be configured (eighth configuration) to have a fixing mechanism 45 for positioning the separator 4 in the vertical direction by engagement with the fixing member 1333.

[0105] Further, the harvesting device 1 having any one of the above-described fifth to eighth configurations may further include a separation limiting mechanism 8 for limiting the distance between the packer mechanism 2 and the separator 4 in the vertical direction within a predetermined distance (ninth configuration).

[0106] Further, the harvesting device 1 having any one of the above-described first to ninth configurations further includes a lifter 3 capable of loading and unloading the storage box C, the vehicle body 113 a first frame 1131 extending in the front-rear direction and disposed on both sides in the left-right direction, A second frame 1132 that extends in the left - right direction and connects the front - end portions of the first frame 1131 to each other. and has The lifter 3 may be arranged on the first frame 1131 and configured (tenth configuration) to hold the storage box C between the first frames 1131 on both left - right sides when viewed from the up - down direction.

Explanation of Reference Numerals

[0107] 1 Harvesting device 10 Exterior panel 11 Chassis 111 First chassis 112 Second chassis 113 Third chassis 1131, 1132 Frame 12 Wheel unit 121 Floor - driving rear - wheel unit 122 Floor - traveling front - wheel unit 123 Pipe - driving wheel unit 124 Alignment upper - roller unit 125 Alignment side - roller unit 13 Vehicle body 131 First vehicle body 132 Second vehicle body 133 Third vehicle body 1331 Stopper 1332 Support frame 1333 Fixing member 1334 Lower plate part 1335 Upper plate part 14 Compressor 15 Battery 16 Control device 161 Memory 17 Operation panel 18 Emergency stop button 19 Manipulator 191 Arm base 192 Arm 193 Harvesting hand 2 Packer mechanism 21 Packer 211 Cylindrical part Bottom of 212 Retention part 22 Rail 221 Guide 222 Fixing part 223 Moving mechanism 23 Advancing and retracting mechanism 231 Cross-moving mechanism 232 Advancing and retracting drive part 233 Cross drive part 234 Slider 235 Lifter 3 Claw part 31 Rotating mechanism 32 Separator 4 Retention part 41 Claw part 42 Rotating mechanism 43 Guide 44 Fixing mechanism 45 Pin 451 Pin drive part 452 Lifting mechanism 5 Pulley 51 Belt 52 Drive part 53 Guide shaft 6 Upper regulating part 7 Rod 71 Separation limiting mechanism 8 Guides 81, 82 Rod 83 Lower stopper 84 Upper stopper 85 Hot water pipe Ht Floor R Strip R1 Passage R2 Fruit tree Tr Fruit and vegetable F Pallet P Storage box C Flange part Cb Empty storage box Co Full storage box Cf Magnetic tapes Rd1, Rd2 Markers M1, M2, M3, M4

Claims

1. A chassis capable of transporting a storage box, A manipulator for harvesting fruits and vegetables, A packer mechanism that receives fruits and vegetables from the manipulator and stores them in the storage box, A harvesting device having the above components.

2. The packer mechanism includes: A packer for temporarily storing fruits and vegetables, A moving mechanism for moving the packer relative to the storage box, The harvesting device according to claim 1.

3. The moving mechanism moves the packer in the front-rear direction relative to the storage box. The harvesting device according to claim 2.

4. The moving mechanism moves the packer in the left-right direction relative to the storage box. The harvesting device according to claim 2.

5. Further comprising a separator capable of holding the storage box disposed above some of the storage boxes, The chassis is capable of transporting a plurality of the storage boxes stacked in the vertical direction. The harvesting device according to claim 1.

6. Further comprising a lifting mechanism for raising and lowering the packer mechanism, The separator is disposed above the packer mechanism and can be raised by placing it on the packer mechanism. The harvesting device according to claim 5.

7. The packer mechanism stores fruits and vegetables in order from the lower storage box in the vertical stacking direction. The harvesting device according to claim 5.

8. A support frame extending upward from the chassis, A fixing member disposed on the support frame at a predetermined vertical position, Further comprising the above components, The separator has a fixing mechanism for positioning the separator in the vertical direction by engaging with the fixing member. The harvesting device according to claim 5.

9. Further comprising a separation limiting mechanism for limiting the distance between the packer mechanism and the separator in the vertical direction within a predetermined distance. The harvesting device according to any one of claims 5 to 8.

10. Further comprising a lifter capable of loading and unloading the storage box, The chassis includes: A first frame extending in the front-rear direction and disposed on both sides in the left-right direction respectively, A second frame extending in the left-right direction and connecting the front ends of the first frames, Having the above components, The lifter is disposed on the first frame and holds the storage box between the first frames on both sides in the left-right direction when viewed from the vertical direction. The harvesting device according to any one of claims 1 to 8.

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