Hand device and actuator

Abstract

To provide a hand device and an actuator that can pick a target object without damaging other objects.SOLUTION: A hand device (10) is provided with a rod-shaped hand body (11) that picks up an object at a tip part (10a). The hand body (11) is provided with: a fixing part (20) in which a first groove part (21) through which the object passes is formed in a radial direction that intersects a central axis (O) of the hand body (11) in the tip part (10a); a holding part (30) that is provided so as to be capable of rotating around the central axis (O) with respect to the fixing part (20) and sandwiches the object with the fixing part (20) by displacement with respect to the first groove part (21); and a cutting part (40) that is provided so as to be capable of rotating around the central axis (O) with respect to the fixing part (20) and the holding part (30) and cuts the object.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a hand device and an actuator. [Background technology]

[0002] Patent Document 1 below discloses a fruit harvesting hand for harvesting fruits such as strawberries, mandarin oranges, tomatoes, cucumbers, and eggplants. This fruit harvesting hand has a stem holding chuck that clamps and holds the stems of the fruit to be harvested in a stem holding section, a first blade that cuts the stem at a position above the stem holding chuck while the stem is held in the stem holding section, and a second blade that is positioned below the stem holding chuck and moves down along the stem due to the action of gravity, stops when it comes into contact with the calyx of the fruit, and then cuts the stem. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6991611 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the fruit stalks are too long, they may damage other fruit in the harvesting box. For this reason, the above-mentioned fruit harvesting hand has cutting blades on the top and bottom of the stem-holding chuck, which cut the fruit stalks in two stages, one above the other, to shorten the fruit stalks. However, providing cutting blades on the top and bottom of the stem-holding chuck increases the vertical dimension of the fruit harvesting hand, which can cause it to collide with other fruit, stems, or leaves when picking fruit, potentially damaging them.

[0005] The present invention has been made in view of the above-mentioned problems, and has an object to provide a hand device and an actuator that can pick up a target object without damaging other objects. [Means for solving the problem]

[0006] In order to solve the above problems, the hand device of the present invention comprises a rod-shaped hand body that picks up an object at its tip, and the hand body comprises a fixing portion at its tip, having a first groove portion formed in a radial direction intersecting the central axis of the hand body, through which the object passes, a holding portion that is rotatable about the central axis relative to the fixing portion and that clamps the object between itself and the fixing portion by displacement relative to the first groove portion, and a cutting portion that is rotatable about the central axis relative to the fixing portion and the holding portion and that cuts the object.

[0007] Moreover, the actuator of the present invention includes the above-described hand device, a first drive unit that rotates the holding portion of the hand device, and a second drive unit that rotates the cutting portion of the hand device. [Effects of the Invention]

[0008] According to the present invention, the rod-shaped hand body can be used to pick up a target object without damaging other objects. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view of a fruit harvesting device according to a first embodiment. FIG. [Figure 2] FIG. 1 is a perspective view of an actuator according to a first embodiment. [Figure 3] FIG. 2 is a diagram illustrating the internal configuration of the actuator according to the first embodiment. [Figure 4] FIG. 2 is a perspective view of the tip of the hand body according to the first embodiment. [Figure 5] FIG. 2 is a front view of the tip of the hand body according to the first embodiment. [Figure 6] FIG. 10 is an operational flow diagram of a first picking mode according to the first embodiment. [Figure 7] 4A and 4B are front views showing the operation of the hand device in a first picking mode according to the first embodiment. [Figure 8] 4A and 4B are front views showing the operation of the hand device in a first picking mode according to the first embodiment. [Figure 9] FIG. 10 is an operational flow diagram of a second picking mode according to the first embodiment. [Figure 10] 10 is a front view showing the operation of the hand device in a second picking mode according to the first embodiment. FIG. [Figure 11] FIG. 10 is a perspective view of the tip of a hand body according to a first modified example. [Figure 12] FIG. 10 is a side view of a cutting section according to a second modified example. [Figure 13] FIG. 10 is a diagram showing the internal configuration of an actuator according to a second embodiment. [Figure 14] FIG. 14 is a perspective view of an area A shown in FIG. [Figure 15] FIG. 10 is a perspective view of the tip of a hand body according to a second embodiment. [Figure 16] 10A and 10B are front views showing the operation of the hand device according to the second embodiment. [Figure 17] 10A and 10B are front views showing the operation of the hand device according to the third embodiment. [Figure 18] 10A and 10B are front views showing the operation of the hand device according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. Note that in the following description, an example will be described in which a hand device and an actuator according to each embodiment of the present invention are applied to a fruit harvesting device, but the object to be picked is not limited to fruit, and may be other organic matter (vegetables, seaweed, other plants, etc.) or inorganic matter (metal, etc.).

[0011] (First embodiment) FIG. 1 is a perspective view of a fruit harvesting device 1 according to a first embodiment. As shown in FIG. 1, the fruit harvesting device 1 includes a travellable carriage 2, a robot arm 3 mounted on the carriage 2, and an actuator 4 attached to the tip of the robot arm 3.

[0012] The cart 2 has multiple wheels 2a and moves autonomously based on a preset program. A harvest box 5 for placing harvested fruit 101 is attached to the cart 2. The robot arm 3 is, for example, an articulated robot arm, and controls the position and posture of the actuator 4 based on a preset program.

[0013] The actuator 4 includes a hand device 10 that picks an object 100. The object 100 shown in Fig. 1 includes a plurality of fruits 101 and a plurality of fruit stalks 102 that support the plurality of fruits 101. In the object 100 shown in Fig. 1, the plurality of fruits 101 are closely packed together.

[0014] Fig. 2 is a perspective view of the actuator 4 according to the first embodiment. Fig. 3 is a diagram showing the internal configuration of the actuator 4 according to the first embodiment. As shown in these figures, the actuator 4 includes a hand device 10 that picks up an object 100 with a tip portion 10a, and a first drive unit 60 and a second drive unit 70 that drive the hand device 10.

[0015] The hand device 10 includes a rod-shaped hand body 11 and a housing 12 that supports the hand body 11. The actuator 4 includes a waterproof cover 4A that covers the housing 12, the first drive unit 60, and the second drive unit 70. The hand body 11 is provided so as to protrude from the waterproof cover 4A.

[0016] In the following description, an XYZ Cartesian coordinate system is set, and the positional relationship of each component is sometimes described with reference to this XYZ Cartesian coordinate system. The X-axis direction is the axial direction along which the central axis O of the rod-shaped hand main body 11 extends. The X-axis direction is also referred to as the front-rear direction of the hand device 10 and the actuator 4.

[0017] The Y-axis direction is a first radial direction perpendicular to the axial direction. The Y-axis direction is also referred to as the left-right or horizontal direction of the hand device 10 and the actuator 4. The Z-axis direction is a second radial direction perpendicular to the axial direction and the first radial direction. The Z-axis direction is also referred to as the up-down or vertical direction of the hand device 10 and the actuator 4.

[0018] 3, the hand body 11 includes a fixed part 20 fixed to the housing 12, a holding part 30 provided rotatable about a central axis O relative to the fixed part 20, and a cutting part 40 provided rotatable about the central axis O relative to the fixed part 20 and the holding part 30. The fixed part 20, the holding part 30, and the cutting part 40 are arranged concentrically with the central axis O as a common axis.

[0019] The fixed portion 20 is formed in a cylindrical shape extending in the X-axis direction. A first groove portion 21, through which the target object 100 passes in the Z-axis direction, is formed at the end on the +X side of the fixed portion 20. As shown in FIG. 2, the first groove portion 21 is formed in a substantially U-shape in plan view. The end on the -X side of the fixed portion 20 is inserted into the housing 12 and fixed to the housing 12 by a fixing member 15 such as a setscrew.

[0020] As shown in FIG. 3 , the retaining portion 30 is formed in a cylindrical shape extending in the X-axis direction and is disposed radially inside the fixed portion 20. A second groove portion 31 that can face the first groove portion 21 in the radial direction is formed at the +X side end of the retaining portion 30. As shown in FIG. 2 , the second groove portion 31 is formed in a substantially U-shape in plan view. The -X side end of the retaining portion 30 is inserted into the housing 12 and extends further rearward than the -X side end of the fixed portion 20, as shown in FIG. 3 . The -X side end of the retaining portion 30 is journaled by a pair of first bearings 13 provided in the housing 12.

[0021] The cutting portion 40 is detachably provided at the +X side end of a cylindrical support tube portion 41 that extends in the X-axis direction. The cutting portion 40 and the support tube portion 41 are arranged radially inside the holding portion 30. The -X side end of the support tube portion 41 is inserted into the housing 12 and extends further rearward than the -X side end of the holding portion 30. The -X side end of the support tube portion 41 is journaled by a pair of second bearings 14 provided in the housing 12.

[0022] The first drive unit 60 includes a first motor 61 and a first power transmission mechanism 62 that transmits the torque of the first motor 61 to the holder 30. The first motor 61 is, for example, a servo motor, and is attached to a first motor attachment portion 16 provided on the upper part of the housing 12. The first power transmission mechanism 62 includes a drive pulley 63, a timing belt 64, and a driven pulley 65.

[0023] The drive pulley 63 is attached to the output shaft of the first motor 61. The driven pulley 65 is attached to the outer periphery of the holder 30 between the pair of first bearings 13. The driven pulley 65 is fixed to the holder 30 by a fixing member 66 such as a setscrew. The timing belt 64 is installed between the drive pulley 63 and the driven pulley 65.

[0024] According to the first driving unit 60 configured as described above, when the output shaft of the first motor 61 rotates, the torque of the first motor 61 is transmitted to the holder 30 via the first power transmission mechanism 62, causing the holder 30 to rotate around the central axis O. This allows the tip 10a of the hand body 11 to hold the object 100.

[0025] The second drive unit 70 includes a second motor 71 and a second power transmission mechanism 72 that transmits the torque of the second motor 71 to the cutting unit 40 via the support cylinder unit 41. The second motor 71 is, for example, a servo motor, and is attached to a second motor attachment unit 17 provided at the bottom of the housing 12. The second power transmission mechanism 72 includes a drive pulley 73, a timing belt 74, and a driven pulley 75.

[0026] The drive pulley 73 is attached to the output shaft of the second motor 71. The driven pulley 75 is attached to the outer periphery of the support cylinder portion 41 between the pair of second bearings 14. The driven pulley 75 is fixed to the support cylinder portion 41 by a fixing member 76 such as a setscrew. The timing belt 74 is installed between the drive pulley 73 and the driven pulley 75.

[0027] According to the second drive unit 70 configured as described above, when the output shaft of the second motor 71 rotates, the torque of the second motor 71 is transmitted to the support cylinder part 41 via the second power transmission mechanism 72, and the cutting part 40 rotates around the central axis O via the support cylinder part 41. This allows the object 100 held at the tip end 10a of the hand body 11 to be cut.

[0028] Fig. 4 is a perspective view of the tip portion 10a of the hand body 11 according to the first embodiment. Fig. 5 is a front view of the tip portion 10a of the hand body 11 according to the first embodiment. As shown in these figures, the hand body 11 is provided with a detection unit 50 for detecting an object 100 on the central axis O.

[0029] As shown in FIG. 5, the cutting unit 40 includes a cylindrical base 42 extending in the X-axis direction and an arc-shaped cutting blade 43 protruding from the base 42 toward the +X side. A through-hole 42a in which the detection unit 50 is disposed is formed in the center of the base 42. The detection unit 50 is, for example, an imaging camera disposed on the central axis O. The cutting blade 43 cuts the target object 100 by rotating around the central axis O, so only one cutting blade is required. This allows the dimensions of the tip 10a of the hand body 11 to be smaller than those of conventional scissors equipped with two cutting blades. Note that multiple cutting blades 43 may be provided.

[0030] 3, the detection unit 50 is provided in a sensor tube portion 51 that is arranged radially inside the support tube portion 41. The -X side end of the sensor tube portion 51 extends rearward beyond the -X side end of the support tube portion 41 and protrudes rearward from the housing 12. A cable connected to the detection unit 50 passes through the sensor tube portion 51 and can be connected to a power supply device or an external device (not shown).

[0031] The detection unit 50 is not limited to an imaging camera, and may be a contact-type touch sensor or a non-contact-type photoelectric sensor. In addition, instead of or together with the detection unit 50, an auxiliary device may be provided that sucks air to attract the target object 100 or sprays air to blow away the cut fruit stalk 102. In this case, the detection unit 50 (for example, an imaging camera) may be attached to the outside of the fixed unit 20.

[0032] 5, the first groove 21 formed in the fixed part 20 has first wall surfaces 21a and 21b extending parallel to each other in the vertical direction (radial direction). The first wall surface 21a is formed on the -Z side of the central axis O at the open end of the fixed part 20. The first wall surfaces 21a are provided in pair so as to face each other in the Y-axis direction and are spaced apart by a width W1 in the Y-axis direction.

[0033] A first wall surface 21b is formed on the +Z side of the central axis O at the open end of the fixing portion 20. The first wall surfaces 21b are provided as a pair facing each other in the Y-axis direction and are spaced apart by a width W2 in the Y-axis direction. The width W2 of the first wall surface 21b is larger than the width W1 of the first wall surface 21a. Because the width W2 is larger than the width W1, it becomes easier to pass the fruit stalk 102 through the first groove portion 21, for example, even if the fruit stalk 102 extending upward from the fruit 101 is curved.

[0034] The second groove portion 31 formed in the holding portion 30 has second wall surfaces 31a, 31b extending in radial directions from the central axis O when viewed axially of the central axis O. The second wall surface 31a is formed on the -Z side of the central axis O at the open end of the holding portion 30. The second wall surfaces 31a are provided in pairs so as to open at an angle θ1 with respect to the central axis O. The inner and outer diameter side ends (corners) of the second wall surfaces 31a, 31b are chamfered so as not to damage the target object 100.

[0035] A second wall surface 31b is formed on the +Z side of the central axis O at the open end of the holding portion 30. The second wall surfaces 31b are provided in pair so as to open at an angle θ2 with respect to the central axis O. The angle θ2 of the second wall surfaces 31b is larger than the angle θ1 of the second wall surface 31a. Because the angle θ2 is larger than the angle θ1, for example, even if the fruit stalk 102 extending upward from the fruit 101 is curved, the fruit stalk 102 can be easily passed through the second groove portion 31.

[0036] 3, the actuator 4 includes a control unit 80 that controls the first drive unit 60 and the second drive unit 70. The control unit 80 is capable of switching its operation between a first picking mode and a second picking mode depending on the target object 100.

[0037] In the first picking mode, the control unit 80 drives the first driving unit 60 to sandwich the object 100 between the fixing unit 20 and the holding unit 30, and then drives the second driving unit 70 to cut the side (-Z side) of the object 100 that is sandwiched between the fixing unit 20 and the holding unit 30, of the object 100 that has passed through the first groove portion 21. The first picking mode, which will be described later, is suitable, for example, when the fruit stalk 102 is not slippery or the fruit 101 is light.

[0038] In the second picking mode, the control unit 80 drives the first driving unit 60 to sandwich the object 100 between the fixing unit 20 and the holding unit 30, and then drives the second driving unit 70 to cut the side of the object 100 passed through the first groove 21 opposite to the side sandwiched between the fixing unit 20 and the holding unit 30 (the +Z side), and then cut the side sandwiched between the fixing unit 20 and the holding unit 30 (the -Z side). The second picking mode, which will be described later, is suitable for, for example, a fruit stalk 102 that is slippery, a fruit stalk 102 that is long, or a fruit 101 that is heavy.

[0039] Fig. 6 is an operation flow diagram of the first picking mode according to the first embodiment. Note that Fig. 6 shows the position of the hand device 10 in the first picking mode and the operation of the hand device 10 in parallel. Figs. 7 and 8 are front views showing the operation of the hand device 10 in the first picking mode according to the first embodiment. As shown in FIG. 6, in the first picking mode, first, the hand device 10 is moved to the vicinity of the target object 100, which is a crop (step S1).

[0040] When the hand device 10 moves near the crop, it detects the fruit stalk 102 attached to the fruit 101 to be picked (step S11). Specifically, as shown in Fig. 7(a), the hand body 11 is positioned so that the fruit stalk 102 passes through the first groove portion 21 and the second groove portion 31 in the vertical direction, and the fruit stalk 102 is detected by the detection unit 50 arranged on the central axis O.

[0041] Next, the holding part 30 is rotated to grasp the fruit stalk 102 (step S12). Specifically, as shown in FIG. 7(b), the holding part 30 is rotated, and the second groove part 31 is displaced relative to the first groove part 21, thereby sandwiching the fruit stalk 102 between the fixing part 20 and the holding part 30. The fruit stalk 102 is sandwiched on the -Z side of the hand main body 11, but not on the +Z side of the hand main body 10. Depending on the thickness of the fruit stalk 102, it may be sandwiched on both the +Z and -Z sides of the hand main body 10.

[0042] Next, the cutting unit 40 is rotated to cut the lower portion of the fruit stalk 102 (step S13). Specifically, as shown in FIG. 8(a), the cutting unit 40 is rotated to cut the lower portion of the fruit stalk 102 sandwiched between the fixing unit 20 and the holding unit 30. This shortens the fruit stalk 102 extending from the fruit 101, making it less likely to damage other fruits 101 in the harvest box 5 (see FIG. 1).

[0043] Next, the hand device 10 is moved to the harvest box 5 (step S2). Once the hand device 10 has moved to the harvest box 5, it releases the grip on the fruit stalk 102 on the harvest box 5 (step S14). Specifically, as shown in FIG. 9(b), the holding part 30 is rotated in the opposite direction to release the fruit stalk 102 that has been clamped between the fixing part 20 and the holding part 30. As a result, the fruit 101 is placed into the harvest box 5 from the tip part 10a of the hand body 11.

[0044] When picking other fruits 101, the hand device 10 is moved to the vicinity of the crops (step S3). At this time, the hand device 10 is returned to the origin position (step S15). After that, the above-mentioned flow is repeated. This completes the operation of the first picking mode.

[0045] Fig. 9 is an operation flow diagram of the second picking mode according to the first embodiment. Note that Fig. 9 shows the position of the hand device 10 in the second picking mode and the operation of the hand device 10 in parallel. Fig. 10 is a front view showing the operation of the hand device 10 in the second picking mode according to the first embodiment. As shown in FIG. 9, in the second picking mode, first, the hand device 10 is moved to the vicinity of the target object 100, which is a crop (step S1).

[0046] When the hand device 10 moves near the crop, it detects the fruit stalk 102 attached to the fruit 101 to be picked (step S21). Next, the holding unit 30 rotates to grasp the fruit stalk 102 (step S22). Note that steps S21 and S22 have the same flow as steps S11 and S12 described above, and operate in the same manner as in FIG. 7.

[0047] Next, the cutting unit 40 is rotated to cut off the upper part of the fruit stalk 102 (step S23). Specifically, as shown in Fig. 10(a), the cutting unit 40 is rotated to cut off the upper part of the fruit stalk 102 on the +Z side of the hand body 10. This allows the fruit stalk 102 extending from the fruit 101 to be shortened to some extent.

[0048] When the upper part of the fruit stalk 102 is cut, the weight of the fruit 101 is supported only by the clamping between the fixing part 20 and the holding part 30 on the -Z side of the hand body 11. If the fruit stalk 102 is slippery or heavy, the impact of cutting may cause the fruit stalk 102 to slide slightly downward. In this case, by ensuring a certain length of the fruit stalk 102, a clamping margin between the fixing part 20 and the holding part 30 can be secured to prevent slippage and prevent the fruit 101 from falling.

[0049] Next, the hand device 10 is moved to the harvest box 5 (step S2). When the hand device 10 moves to the harvest box 5, the cutting unit 40 rotates above the harvest box 5 to cut the lower part of the fruit stalk 102 (step S24).

[0050] Specifically, as shown in Figure 10(b), the cutting unit 40 is rotated to cut the lower part of the fruit stalk 102 on the -Z side of the hand body 10. As a result, the fruit 101 falls and is collected in the harvest box 5. If the fruit 101 does not fall even after cutting the lower part of the fruit stalk 102, the holding unit 30 may be rotated in the opposite direction as in step S15 to release the grip of the fruit stalk 102.

[0051] When picking other fruits 101, the hand device 10 is moved to the vicinity of the crops (step S3). At this time, the hand device 10 is returned to the origin position (step S25). After that, the above-mentioned flow is repeated. This completes the operation of the second picking mode.

[0052] As described above, the hand device 10 of this embodiment includes a rod-shaped hand body 11 that picks an object 100 with the tip 10a, and the hand body 11 includes a fixing part 20 having a first groove 21 formed at the tip 10a in a radial direction intersecting the central axis O of the hand body 11, through which the object 100 passes, a holding part 30 that is rotatable relative to the fixing part 20 about the central axis O and that sandwiches the object 100 between itself and the fixing part 20 by displacement relative to the first groove 21, and a cutting part 40 that is rotatable relative to the fixing part 20 and the holding part 30 about the central axis O and that cuts the object 100 sandwiched between the fixing part 20 and the holding part 30. With this configuration, fruit 101 can be picked with the tip 10a of the rod-shaped hand body 11, and the hand body 11 has small vertical and lateral dimensions, so that other fruits 101 and fruit stalks 102 are not damaged. Furthermore, with this configuration, the fruit stalk 102 is held by the tip 10a of the rod-shaped hand body 11, so there is no need to suck or grasp the fruit 101 itself, and the picked fruit 101 is not damaged.

[0053] In this embodiment, the first groove portion 21 has first wall surfaces 21a, 21b extending parallel to the radial direction. This configuration makes it easier to introduce the object 100 (such as the fruit stalk 102) hanging down in the vertical direction into the first groove portion 21.

[0054] Moreover, in this embodiment, the holding part 30 has a second groove part 31 that can face the first groove part 21 in the radial direction, and the second groove part 31 has second wall surfaces 31a, 31b that extend radially from the central axis O when viewed from the axial direction of the central axis O. With this configuration, when the holding part 30 is rotated, the holding part 30 abuts against the object 100 (such as the fruit stalk 102) with a surface thereof, making it easier to clamp the object 100 and preventing the object 100 from falling after cutting.

[0055] Furthermore, in this embodiment, the cutting unit 40 is disposed radially inward of the fixing unit 20. With this configuration, the fixing unit 20 can protect the cutting unit 40, so that when the hand device 10 goes to pick up an object 100, the cutting unit 40 is less likely to damage another object 100.

[0056] In this embodiment, the hand body 11 is also provided with a detection unit 50 that detects the object 100. With this configuration, the accuracy with which the object 100 is picked up is improved.

[0057] In this embodiment, the detection unit 50 is disposed on the central axis O. With this configuration, the object 100 set in the first groove portion 21 can be easily detected.

[0058] This embodiment also includes the hand device 10 described above, a first drive unit 60 that rotates the holding unit 30 of the hand device 10, and a second drive unit 70 that rotates the cutting unit 40 of the hand device 10. With this configuration, the holding unit 30 and the cutting unit 40 can be rotated to pick up the target object 100.

[0059] Furthermore, in this embodiment, the control unit 80 is provided which drives the first drive unit 60 to sandwich the target object 100 between the fixing unit 20 and the holding unit 30, and then drives the second drive unit 70 to cut the side of the target object 100 that is sandwiched between the fixing unit 20 and the holding unit 30 (-Z side) of the target object 100 that has passed through the first groove portion 21 (first picking mode). This configuration shortens the stalk 102 extending from the fruit 101, thereby reducing the time required to pick the fruit 101.

[0060] Furthermore, in this embodiment, the control unit 80 is provided which drives the first drive unit 60 to sandwich the target object 100 between the fixing unit 20 and the holding unit 30, and then drives the second drive unit 70 to cut the side of the target object 100 passed through the first groove 21 opposite to the side sandwiched between the fixing unit 20 and the holding unit 30 (the +Z side), and then cuts the side sandwiched between the fixing unit 20 and the holding unit 30 (the -Z side) (second picking mode). With this configuration, even if the fruit stalk 102 slides slightly downward due to the impact of cutting, a certain length of the fruit stalk 102 is ensured to ensure a clamping margin between the fixing unit 20 and the holding unit 30, preventing slippage and preventing the fruit 101 from falling.

[0061] As described above, according to this embodiment, the rod-shaped hand body 11 can pick up the target object 100 without damaging other objects 100. The hand device 10 may also have the following configuration.

[0062] FIG. 11 is a perspective view of a tip portion 10a of a hand body 11 according to a first modified example. 11, the cutting part 40 may be disposed radially outward of the fixing part 20 and the holding part 30. With this configuration, the cutting part 40 can cut the fruit stalk 102 closer to the fruit 101 than the clamping part between the fixing part 20 and the holding part 30, thereby making it possible to shorten the fruit stalk 102.

[0063] FIG. 12 is a side view of a cutting unit 40 according to the second modified example. For example, as shown in Fig. 12(a), the cutting portion 40 may have a cutting blade 43A that extends parallel to the central axis O. With this configuration, the cutting blade 43A can be easily processed and has excellent strength.

[0064] 12(b), the cutting unit 40 may have a cutting blade 43B that is inclined with respect to the central axis O. The cutting blade 43B has a blade width that increases on both sides in the circumferential direction toward the tip, but if the rotation direction of the cutting unit 40 is fixed to one direction, the blade width may increase on only one side in the circumferential direction. With this configuration, the fruit stalk 102 can be cut by being pulled in.

[0065] 12(c), the cutting unit 40 may be provided with a cutting blade 43C having an uneven surface like a saw blade. With this configuration, even if the fruit stalk 102 is slippery, it can be easily cut.

[0066] In addition, in the cutting portion 40 shown in Figure 12, if the rotation direction of the cutting portion 40 is fixed to one direction, the edges (cutting edges) of the cutting blades 43A to 43C may be provided on only one side in the circumferential direction, or if the rotation direction of the cutting portion 40 is not fixed to one direction (if it rotates forward and backward), the edges (cutting edges) of the cutting blades 43A to 43C may be provided on both sides in the circumferential direction.

[0067] In the above embodiment, the fixing portion 20, the holding portion 30, and the cutting portion 40 are each formed in a cylindrical (pipe) shape, but they are not limited to a cylindrical shape. For example, at least one of the fixing portion 20, the holding portion 30, and the cutting portion 40 may be formed in an arc-shaped plate shape when viewed from the axial direction.

[0068] Furthermore, in the above embodiment, a configuration in which the detection unit 50 is disposed on the central axis O has been described, but the present invention is not limited to this configuration, and the detection unit 50 may be attached as close as possible to the cutting unit 40. Specifically, the detection unit 50 may be disposed at a position away from the central axis O, for example, at the bottom of the outermost fixing unit 20, and may be attached so that the fruit stalk 102 fits into the first groove 21 but does not protrude from the first groove 21 in plan view.

[0069] (Second embodiment) Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the above-described embodiment will be denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0070] Fig. 13 is a diagram showing the internal configuration of the actuator 4 according to the second embodiment. Fig. 14 is a perspective view of an area A shown in Fig. 13. As shown in these figures, the actuator 4 includes a hand device 10 that picks up an object 100 with a tip 10a, and a drive unit 90 that drives the hand device 10. In other words, the actuator 4 of the second embodiment is configured so that the hand device 10 is driven by a single drive unit 90.

[0071] 13, the hand device 10 includes a rod-shaped hand body 11 and a housing 12 that supports the hand body 11. The hand body 11 includes a fixed part 20 fixed to the housing 12, a holding part 30 that is rotatable about a central axis O relative to the fixed part 20, and a cutting part 40 that is rotatable about the central axis O relative to the fixed part 20 and the holding part 30.

[0072] The fixed portion 20 is formed in a cylindrical shape extending in the X-axis direction. A first groove portion 21, through which the target object 100 passes in the Z-axis direction, is formed at the end on the +X side of the fixed portion 20. The first groove portion 21 is formed in a substantially U-shape in plan view. The end on the -X side of the fixed portion 20 is inserted into the housing 12 and fixed to the housing 12 by a fixing member 15.

[0073] The retaining portion 30 is formed in a cylindrical shape extending in the X-axis direction and is disposed radially inside the fixed portion 20. A second groove portion 31 that can face the first groove portion 21 in the radial direction is formed at the +X side end of the retaining portion 30. The second groove portion 31 is formed in a substantially U-shape in plan view. The -X side end of the retaining portion 30 is inserted into the housing 12 and extends to the same position as the -X side end of the fixed portion 20. The retaining portion 30 of the second embodiment is not journaled by a bearing but is rotatably guided along the inner circumferential surface of the fixed portion 20.

[0074] The cutting portion 40 is detachably provided at the +X side end of a cylindrical support tube portion 41 that extends in the X-axis direction. The cutting portion 40 and the support tube portion 41 are arranged radially inside the holding portion 30. The -X side end of the support tube portion 41 is inserted into the housing 12 and extends rearward beyond the -X side ends of the fixing portion 20 and the holding portion 30. The -X side end of the support tube portion 41 is journaled by a pair of bearings 18 provided inside the housing 12.

[0075] The drive unit 90 includes a motor 91 and a power transmission mechanism 92 that transmits the torque of the motor 91 to the cutting unit 40. The motor 91 is, for example, a servo motor, and is attached to a motor attachment portion 19 provided at the bottom of the housing 12. The power transmission mechanism 92 includes a drive pulley 93, a timing belt 94, and a driven pulley 95.

[0076] The drive pulley 93 is attached to the output shaft of the motor 91. The driven pulley 95 is attached to the outer periphery of the support cylinder portion 41 between a pair of bearings 18. The driven pulley 95 is fixed to the holder 30 by a fixing member (not shown) such as a setscrew. The timing belt 94 is stretched between the drive pulley 93 and the driven pulley 95.

[0077] According to the drive unit 90 configured as described above, when the output shaft of the motor 91 rotates, the torque of the motor 91 is transmitted to the support cylinder 41 via the power transmission mechanism 92, and the cutting unit 40 rotates around the central axis O via the support cylinder 41. This allows the object 100 held at the tip 10a of the hand body 11 to be cut.

[0078] 14, the actuator 4 includes a spring portion 110 that transmits the torque of the cutting portion 40 to the holding portion 30. The spring portion 110 is a torsion coil spring that receives a torsional moment around the central axis O from the cutting portion 40 (supporting cylinder portion 41) and transmits the torsional moment to the holding portion 30, thereby rotating the holding portion 30.

[0079] An insertion hole 44 is formed in the circumferential surface of the support tube portion 41. One end portion 111 of the spring portion 110 is bent and extends radially and is inserted into the insertion hole 44. Furthermore, a slit 32 is formed in the end portion on the -X side of the holding portion 30, extending linearly from the end face of the holding portion 30 toward the +X side. The other end portion 112 of the spring portion 110 is bent and extends axially and is inserted into the slit 32 from the -X side.

[0080] An arc-shaped rotation restricting groove 33 extending in the circumferential direction is formed on the peripheral surface of the holding portion 30 on the +X side of the slit 32. The rotation restricting groove 33 is formed in a one-to-one correspondence with a pair of fixing members 15 that fix the fixed portion 20 to the housing 12. Ends of the fixing members 15 are inserted radially into the rotation restricting groove 33. In other words, the holding portion 30 is rotatable relative to the fixed portion 20 within the range of movement of the fixing members 15 from one end to the other end of the rotation restricting groove 33 in the circumferential direction.

[0081] FIG. 15 is a perspective view of the tip portion 10a of the hand body 11 according to the second embodiment. 15, the fixing part 20 of the second embodiment has an inner convex part 120 that protrudes onto the movement path of the holding part 30. The inner convex part 120 has a plate shape that curves along the inner circumferential surface of the fixing part 20, and is fixed to the fixing part 20 by a fixing member such as a pin. The inner convex part 120 may be bonded or formed integrally with the fixing part 20.

[0082] The radial thickness of the inner convex portion 120 is preferably the same as the radial thickness of the holding portion 30. The inner convex portion 120 can face the holding portion 30 in the circumferential direction to sandwich the object 100 between itself and the holding portion 30. Note that the inner convex portion 120 cannot face the cutting portion 40 in the circumferential direction because it applies shear force to the object 100. The inner convex portion 120 is arranged on the periphery of the first groove portion 21 on the -Z side. The cutting portion 40 of the second embodiment has an initial position on the -Y side when viewed from the front from the central axis O. In contrast, the inner convex portion 120 is arranged on the opposite side (+Y side) from the cutting portion 40 on the periphery of the first groove portion 21.

[0083] FIG. 16 is a front view showing the operation of the hand device 10 according to the second embodiment. As shown in Figure 16(a), when picking fruit 101, even in the second embodiment, the hand body 11 is positioned so that the fruit stalk 102 passes through the first groove portion 21 and the second groove portion 31 in the vertical direction, and the fruit stalk 102 is detected by the detection unit 50 arranged on the central axis O.

[0084] Next, as shown in Figure 16(b), the cutting unit 40 is rotated to cut the fruit stalk 102. Specifically, when the cutting unit 40, which is located in the initial position, is rotated counterclockwise, the holding unit 30, which is connected via the spring unit 110, also rotates in the same direction. Depending on how the cutting unit 40 and the spring unit 110 are assembled, the holding unit 30 may contact the fruit stalk 102 before the cutting unit 40, may contact the fruit stalk 102 simultaneously with the cutting unit 40, or may contact the fruit stalk 102 after the cutting unit 40 (while the fruit stalk 102 is being cut).

[0085] When the holding portion 30 contacts the fruit stalk 102, the fruit stalk 102 is sandwiched circumferentially between the holding portion 30 and the inner convex portion 120. In this state, the cutting portion 40 can be further rotated to cut the lower part of the fruit stalk 102. Even if the cutting portion 40 further rotates, the spring portion 110 is deformed by a torsional moment, so the holding portion 30 can stop with the fruit stalk 102 sandwiched in place. This allows the cut fruit stalk 102 to be held. Thereafter, as in the first embodiment, the fruit 101 from which the fruit stalk 102 has been cut is collected in the harvest box 5.

[0086] As described above, in the second embodiment, the holding unit 30 is disposed radially inward of the fixing unit 20, and the fixing unit 20 has an inner convex portion 120 that protrudes onto the movement path of the holding unit 30 and sandwiches the target object 100 between itself and the holding unit 30. With this configuration, the presence of the inner convex portion 120 prevents the fruit stalk 102 from escaping into the gap between the fixing unit 20 and the cutting unit 40, even if the cutting unit 40 and the holding unit 30 rotate in the same direction, and the fruit stalk 102 can be stably cut.

[0087] The actuator 4 of the second embodiment includes a hand device 10, a drive unit 90 that rotates either the holding unit 30 or the cutting unit 40 of the hand device 10 (the cutting unit 40 in the second embodiment), and a spring unit 110 that transmits the torque of either the holding unit 30 or the cutting unit 40 to the other (the holding unit 30 in the second embodiment). This configuration allows the single drive unit 90 to fulfill two functions: gripping and cutting the fruit stalk 102. Furthermore, because the holding unit 30 is connected to the cutting unit 40 via the spring unit 110, the phases of the fixing unit 20, the holding unit 30, and the cutting unit 40 around the central axis O can be changed to match the diameter of the fruit stalk 102. Furthermore, the design of the spring unit 110 allows adjustment of the gripping force of the fruit stalk 102. Alternatively, the drive unit 90 may rotate the holding unit 30, and the spring unit 110 may transmit the torque to the cutting unit 40.

[0088] (Third embodiment) Next, a third embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the above-described embodiment will be denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0089] FIG. 17 is a front view showing the operation of the hand device 10 according to the third embodiment. As shown in FIG. 17, the third embodiment differs from the above-described embodiments in that the holding portion 30 includes an outer protrusion 130 that protrudes into the first groove 21 of the fixing portion 20.

[0090] The outer convex portion 130 shown in Fig. 17 is formed integrally with the holding part 30. The outer convex portion 130 may be fixed to the holding part 30 as a separate part by a fixing member (not shown), such as a setscrew. The outer convex portion 130 protrudes radially outward and abuts against the wall surface on the -Y side of the first groove portion 21 of the fixing part 20 in the initial position shown in Fig. 17(a).

[0091] As shown in FIG. 17(b), when the cutting unit 40 is rotated in the same manner as in the second embodiment described above, the holding unit 30, which is connected via the spring unit 110, also rotates in the same direction. When the holding unit 30 contacts the fruit stalk 102, the fruit stalk 102 is circumferentially sandwiched between the holding unit 30 and the inner convex unit 120, and between the outer convex unit 130 and the fixing unit 20 (the wall surface on the +Y side of the first groove unit 21). Further rotation of the cutting unit 40 in this state allows the lower part of the fruit stalk 102 to be cut. Thereafter, as in the second embodiment, the fruit 101 from which the fruit stalk 102 has been cut is collected in the harvest box 5.

[0092] As described above, in the third embodiment, the holding part 30 is disposed radially inward of the fixing part 20, and the holding part 30 includes an outer convex part 130 that protrudes into the first groove part 21 and sandwiches the object 100 between the holding part 30 and the fixing part 20. With this configuration, the length range over which the hand device 10 grips the fruit stalk 102 increases, so that even if the fruit stalk 102 is slippery or the fruit 101 is heavy, the fruit 101 can be reliably prevented from falling.

[0093] (Fourth embodiment) Next, a fourth embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the above-described embodiments will be denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0094] FIG. 18 is a perspective view of the tip portion 10a of the hand body 11 according to the fourth embodiment. As shown in FIG. 18, the fourth embodiment differs from the above-described embodiments in that the tip portion 10a of the hand body 11 is formed in a semi-cylindrical shape.

[0095] Specifically, the tip portion 10a of the hand body 11 of the fourth embodiment is formed in a semi-cylindrical shape with the upper half on the +Z side missing. In the tip portion 10a, the fixing portion 20 is disposed on the +Y side and is formed in an arc shape. An inner convex portion 120 is attached to the inner wall surface of the fixing portion 20. In addition, in the tip portion 10a, the holding portion 30 is disposed on the -Y side and is formed in an arc shape. An outer convex portion 130 is attached to the outer wall surface of the holding portion 30. The cutting portion 40 is disposed radially inside the holding portion 30 and is rotatable in the circumferential direction by a drive unit 90 (not shown).

[0096] 16 and 17, the fourth embodiment having the above configuration also allows for grasping and cutting of the fruit stalk 102. Furthermore, in the fourth embodiment, the upper half of the tip 10a of the hand device 10 is missing, so that even if the fruit stalk 102 is significantly bent upward, grasping and cutting can be performed without interfering with the fruit stalk 102.

[0097] Although preferred embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the above-described embodiments. The shapes and combinations of the components shown in the above-described embodiments and modifications are merely examples, and various modifications and combinations are possible based on design requirements and the like, as long as they do not deviate from the spirit of the present invention. Furthermore, errors in dimensions and inclination are naturally allowed within the scope of the effects of the present invention. [Explanation of symbols]

[0098] DESCRIPTION OF SYMBOLS 1...fruit harvesting device, 2...cart, 2a...wheel, 3...robot arm, 4...actuator, 4A...waterproof cover, 5...harvesting box, 10...hand device, 10a...tip portion, 11...hand body, 12...housing, 13...first bearing, 14...second bearing, 15...fixing member, 16...first motor mounting portion, 17...second motor mounting portion, 18...bearing, 19...motor mounting portion, 20...fixing portion, 21...first groove portion, 21a...first wall surface, 21b...first wall surface, 30...holding portion, 31...second groove portion, 31a...second wall surface, 31b...second wall surface, 32...slit, 33...rotation restricting groove, 40...cutting portion, 41...support cylinder portion, 42...base, 42a...through hole, 43...cutting blade, 43A...cutting blade, 43B...cutting blade, 43C...cutting blade, 44...insertion hole , 50...detection unit, 51...sensor tube unit, 60...first drive unit, 61...first motor, 62...first power transmission mechanism, 63...drive pulley, 64...timing belt, 65...driven pulley, 66...fixed member, 70...second drive unit, 71...second motor, 72...second power transmission mechanism, 73...drive pulley, 74...timing belt, 75...driven pulley, 76...fixed member, 80...control unit, 90...drive unit, 91...motor, 92...power transmission mechanism, 93...drive pulley, 94...timing belt, 95...driven pulley, 100...object, 101...fruit, 102...fruit stalk, 110...spring unit, 111...one end, 112...other end, 120...inner convex portion, 130...outer convex portion, O...central axis, W1...width, W2...width, θ1...angle, θ2...angle

Claims

1. It has a rod-shaped hand body that picks up objects at the tip, The hand body includes: a fixing portion at the tip end, the fixing portion having a first groove portion formed in a radial direction intersecting a central axis of the hand body, through which the object passes; a holding portion that is rotatable about the central axis relative to the fixing portion, and that sandwiches the object between itself and the fixing portion by displacement relative to the first groove portion; a cutting unit that is rotatable about the central axis relative to the fixing unit and the holding unit and that cuts the object, Hand device.

2. The first groove portion includes a first wall surface extending parallel to the radial direction. The hand device according to claim 1 .

3. the holding portion includes a second groove portion that can face the first groove portion in the radial direction, The second groove portion includes a second wall surface extending in a radial direction from the central axis when viewed from the axial direction of the central axis. The hand device according to claim 1 or 2.

4. The cutting portion is disposed radially inward of the fixing portion. The hand device according to claim 1 or 2.

5. The cutting portion is disposed radially outward of the fixing portion and the holding portion. The hand device according to claim 1 or 2.

6. the holding portion is disposed radially inward of the fixing portion, the fixing portion includes an inner protrusion that protrudes onto a movement path of the holding portion and sandwiches the object between the fixing portion and the holding portion; The hand device according to claim 1 or 2.

7. the holding portion is disposed radially inward of the fixing portion, The holding portion includes an outer protrusion that protrudes into the first groove and sandwiches the object between the holding portion and the fixing portion. The hand device according to claim 1 or 2.

8. The hand body includes a detection unit that detects the object. The hand device according to claim 1 or 2.

9. The detection unit is disposed on the central axis. The hand device according to claim 8 .

10. The hand device according to claim 1 or 2; a first driving unit that rotates the holding unit of the hand device; a second drive unit that rotates the cutting unit of the hand device, Actuator.

11. a control unit that drives the first driving unit to sandwich the object between the fixing unit and the holding unit, and then drives the second driving unit to cut the side of the object that has been passed through the first groove portion and that is sandwiched between the fixing unit and the holding unit, The actuator of claim 10.

12. a control unit that drives the first driving unit to sandwich the object between the fixing unit and the holding unit, and then drives the second driving unit to cut the side of the object that has been passed through the first groove portion opposite to the side sandwiched between the fixing unit and the holding unit, and then cuts the side sandwiched between the fixing unit and the holding unit, The actuator of claim 10.

13. The hand device according to claim 1 or 2; a drive unit that rotates either the holding unit or the cutting unit of the hand device; a spring portion that transmits torque of either the holding portion or the cutting portion to the other. Actuator.

Images