Harvesting device and its weighing and discharging mechanism

Abstract

To provide a suspension-type harvester for agricultural use that enables implementation of measuring and discharging mechanism without adding a driving device.SOLUTION: A suspension-type harvester for agricultural use includes: a main body part; an arm to vertically lift and lower with respect to the main body part; an arm lifting and lowering mechanism to drive the arm, a storage part 32 provided below the main body part; a cover 34 to open and close an outlet on a bottom surface of the storage part 32. The harvester further includes: interlocking means for detecting the load necessary for measuring the mass of contents contained in the storage part 32 by a load cell 50A, in conjunction with the lowering of the arm, and for opening the cover 34 to discharge the contents contained in the storage part 32, in conjunction with the further lowering of the arm, after the detection of the load is completed; and a control part which controls the arm lifting and lowering mechanism and measures mass of the contents from the load detected by the interlocking means.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a harvesting device for harvesting crops and the like and its weighing and discharging mechanism.

Background Art

[0002] Conventionally, it has been known that a robot acquires crops in a plant factory. For example, there is also known a robot that can be suspended by a wire or the like and harvests crops grown in the height direction (Non-Patent Document 1).

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a suspended type harvesting device, in the harvesting box provided in the device, a mechanism for discharging when full is essential. In addition, the result of the operation of the device needs to actually weigh the harvested product, and it is also preferable that the device performs this without relying on human hands.

[0005] However, driving the weighing and discharging mechanisms respectively with a motor or the like leads to an increase in the number of control targets and an increase in the weight and price of the device, resulting in a problem of reducing the marketability.

[0006] Therefore, an object of the present invention is to enable the implementation of a weighing and discharging mechanism in a suspended type harvesting device without adding a driving device by using the movable mechanism provided in the device as a power source for the weighing and discharging mechanism.

Means for Solving the Problems

[0007] The first invention is a weighing and discharging mechanism of a suspension type harvesting device for agricultural crops, wherein the harvesting device includes a main body, an arm that moves up and down in a direction perpendicular to the main body, an arm lifting mechanism that drives the arm, a storage portion provided below the main body, and a cover that opens and closes a discharge port on the bottom surface of the storage portion. In conjunction with the lowering of the arm, a load required for weighing the mass of the contents stored in the storage portion is detected. After the detection of the load is completed, in conjunction with further lowering of the arm, a linkage means that opens the cover to discharge the contents stored in the storage portion, and a control unit that controls the arm lifting mechanism and weighs the mass of the contents from the load detected by the linkage means. A weighing and discharging mechanism of a suspension type harvesting device for agricultural crops is provided, which is characterized by comprising the above components.

[0008] According to the first invention, by using the arm lifting mechanism provided in the harvesting device as a power source for the weighing and discharging mechanism, the weighing and discharging mechanism can be mounted on the harvesting device without adding a driving device.

[0009] The second invention is, in the first invention, wherein the interlocking means includes a bracket fixed to the main body portion, a first fulcrum provided on the bracket, a lever rotatably connected to the bracket via the first fulcrum, a second fulcrum provided at the tip of the lever for rotatably lifting the housing portion, a flap having one end connected to the cover, a vertical oblong hole provided at the other end of the flap, a third fulcrum provided near the oblong hole of the flap for rotatably connecting the housing portion and the flap, a first protrusion provided at the tip of the bracket, movable along the oblong hole and restricting the movement of the flap, a flap rotation restricting portion provided on the housing portion for restricting the rotation of the flap, a second protrusion provided on the rear end side of the extension member and a third protrusion provided on the rear end side of the lever, which are provided on the extension member extending in the longitudinal direction of the lever at the rear end of the lever and have the same height provided at predetermined intervals on the upper surface of the extension member, a vertical movement member vertically moved by the arm lifting mechanism, a load cell provided on the bottom surface of the vertical movement member for contacting the second protrusion of the extension member, and a fourth protrusion provided on the bottom surface of the vertical movement member, set shorter than the load cell and contacting the third protrusion, and provides a weighing and discharging mechanism for a suspended type harvesting device for agricultural crops.

[0010] The third invention provides a suspended type harvesting device for agricultural crops, characterized by comprising the weighing and discharging mechanism according to the first or second invention.

Advantages of the Invention

[0011] According to the present invention, there is provided a weighing and discharging mechanism for a suspended harvesting device for agricultural crops, wherein the harvesting device includes a main body, an arm that moves up and down in a direction perpendicular to the main body, an arm lifting mechanism that drives the arm, a storage portion provided below the main body, and a cover that opens and closes a discharge port on the bottom surface of the storage portion. In conjunction with the lowering of the arm, a load required for weighing the mass of the contents stored in the storage portion is detected. After the detection of the load is completed, in conjunction with further lowering of the arm, a linkage means that opens the cover to discharge the contents stored in the storage portion, and a control unit that controls the arm lifting mechanism and weighs the mass of the contents from the load detected by the linkage means.

[0012] Therefore, by using the arm lifting mechanism provided in the harvesting device as a power source for the weighing and discharging mechanism, the weighing and discharging mechanism can be implemented in the harvesting device without adding a driving device.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0014] The present invention will be described below with reference to the drawings for preferred modes for carrying out the present invention. It should be noted that this is merely an example, and the technical scope of the present invention is not limited thereto.

[0015] <Configuration of Suspension-Type Harvesting Device> ··· Fig. 1 is a diagram showing an example of a suspension-type crop harvesting device equipped with a weighing and discharging mechanism according to the present embodiment. The harvesting device 10 acquires the harvested product F of the crop C planted along a predetermined direction. Here, in the field, rows S in which the crops C are planted at regular intervals along a predetermined direction are provided in a plurality of rows at regular intervals. Further, the harvesting device 10 is used for acquiring vegetables and fruits such as peppers, tomatoes, oranges, strawberries, eggplants, cucumbers, etc., which extend above the ground surface and bear harvested products above the ground surface among the crops. Such a harvesting device 10 is suspended from a wire W provided at a position higher than the crop C.

[0016] The wire W is supported by a column erected from the ground surface, a structure of a greenhouse, or a member attached to this structure, is arranged at a position higher than the harvested product of the crop, and extends along the predetermined direction in which the row S extends. The harvesting device 10 is suspended from the wire W and includes a main body portion 30 and a cover 31 that covers at least a part of the main body portion 30.

[0017] The harvesting device 10 includes a vertical member (not shown) provided in the main body portion 30, a suspension portion 14, an engaging portion 16 that engages with the wire W, an arm 20, a storage portion 32 provided below the main body cover 30, a cover 34 (see Fig. 2) that covers the discharge port on the bottom surface of the storage portion 32, and an acquisition portion 70 provided at the tip of the arm 20. The arm 20 is capable of moving up and down along a groove 30A provided vertically on the front surface of the main body cover 30. The lifting member 50 described later is directly or indirectly attached to the arm 20 and moves up and down in conjunction with the movement of the arm 20.

[0018] Further, the harvesting device 10 includes an arm lifting mechanism 62 for lifting and lowering the arm 20 and a control unit 60 inside the main body cover 30. The interlocking means detects a load necessary for weighing the mass of the contents stored in the storage portion 32 in conjunction with the lowering of the arm 20, and after the detection of the load is completed, opens the cover 34 and discharges the contents stored in the storage portion 32 in conjunction with the further lowering of the arm 20.

[0019] The control unit 60 controls the driving of the arm elevating mechanism 62 and measures the mass of the content from the load detected by the interlocking means.

[0020] The arm elevating mechanism 62 includes a power source such as a motor. In addition, the harvesting device 10 is provided with a battery that serves as a power source for driving the harvesting device 10.

[0021] <Configuration of the weighing and discharging mechanism>... Next, with reference to FIG. 2, the configuration of the weighing and discharging mechanism of the present embodiment will be described. FIG. 2 shows a side view showing the normal state of the weighing and discharging mechanism of the above-described embodiment. The above-described interlocking means includes a bracket 40 fixed to the main body portion 30. The bracket 40 has a horizontal portion on the side fixed to the main body portion 30 and an extension portion extending obliquely downward from an end portion of the horizontal portion. A first fulcrum 40A is provided at the boundary portion between the horizontal portion and the extension portion.

[0022] Further, the interlocking means includes a lever 42 rotatably connected to the bracket 40 via the first fulcrum 40A. The lever 42 is arranged in the horizontal direction in the state shown in FIG. 2. Further, a substantially V-shaped groove 43 is formed at the tip of the lever 42, and a second fulcrum 44 for rotatably suspending the housing portion 32 is provided at the bottom of the groove 43. In the example of FIG. 2, the position of the second fulcrum 44 is near the center of the upper surface of the housing portion 32.

[0023] Further, the interlocking means includes a flap 46 having one end connected to the cover 34. In the example of FIG. 2, the flap 46 is arranged in a horizontal state slightly above the middle of the height of the housing portion 32. A vertically long oval hole 48 (a hole having a slightly larger diameter at the lower part than at the upper part) is provided at the other end side of the flap 46, and a third fulcrum 32A for rotatably connecting the housing portion 32 and the flap 46 is provided in the vicinity of the oval hole 48.

[0024] Furthermore, the interlocking means is provided at the tip of the extension of the bracket 40, is movable along the dumpling hole 48, and includes a first protrusion 40B that restricts the movement of the flap 46, and a flap rotation restricting portion 32B (see FIG. 5) that is provided in the housing portion 32 and restricts the rotation of the flap 46.

[0025] Also, the interlocking means includes an extension member extending in the longitudinal direction of the lever 42 at the rear end of the lever 42, and a second protrusion 42A (rear end side) and a third protrusion 42B (lever 42 side) having the same height provided at predetermined intervals on the upper surface of the extension member.

[0026] Furthermore, the interlocking means includes a vertically moving member 50 that moves vertically by the arm elevating mechanism 60, a load cell 50A provided on the bottom surface of the vertically moving member 50 and in contact with the second protrusion 42A on the rear end side of the extension member, and a fourth protrusion 50B provided on the bottom surface of the vertically moving member 50, set shorter than the load cell 50A and in contact with the third protrusion 42B. The vertically moving member 50 is directly or indirectly fixed to the arm 20 and moves up and down in conjunction with the raising and lowering of the arm 20.

[0027] <Operation>... Next, with reference to FIGS. 2 to 5, the harvesting and discharging mechanism according to the present embodiment will be described. FIG. 2 is a side view showing the normal state of the weighing and discharging mechanism of the present embodiment, FIG. 3 is a side view showing the state after weighing of the weighing and discharging mechanism, FIG. 4 is a side view showing the transition state from after weighing to discharging of the weighing and discharging mechanism, and FIG. 5 is a side view showing the state at the time of discharging of the weighing and discharging mechanism.

[0028] (1) Normal time... First, as shown in FIG. 2, in the normal state, the first protrusion 40B at the tip of the extension of the bracket 40 is fitted above the dumpling hole 48 of the flap 46, and the movement of the flap 46 is restricted. Also, the rotation of the flap 46 is restricted by the flap rotation restricting portion 32B.

[0029] (2) From the start of weighing to the end of weighing... Next, during weighing, due to the self-weights of the housing portion 32 and the flap 46, although the lever 42 rotates clockwise, it is supported at the position shown in FIG. 2 by the engagement between the dumpling hole 48 and the first protrusion 40B.

[0030] Next, when the vertical moving member 50 descends vertically, first, the load cell 50A comes into contact with the second protrusion 42A. When the vertical moving member 50 further descends, the lever 42 lifts the housing portion 32 and the flap 46, and as shown in FIG. 3, the restraint between the dumpling hole 48 and the first protrusion 40B is released. At this time, the control unit 60 measures the load on the load cell 50A as the mass of the housing portion 32 + the flap 46 + the contents (for example, the harvested product).

[0031] (3) During discharge... Subsequently, when the vertical moving member 50 is lowered, the inclination angle of the lever 42 increases, and the third protrusion 42B comes into contact with the fourth protrusion 50B of the vertical moving member 50. When the vertical moving member 50 is further lowered, the contact between the load cell 50A and the second protrusion 42A is lost, and the load on the load cell 50A is lost.

[0032] Then, when the vertical moving member 50 is further lowered, the lever 42 lifts the housing portion 32 and the flap 46 upward, and as shown in FIG. 4, the first protrusion 40B comes into contact with the bottom surface of the dumpling hole 48.

[0033] When the vertical moving member 50 is further lowered, the first protrusion 40B pushes down the dumpling hole 48, and as shown in FIG. 5, the flap 46 rotates about the third fulcrum 32A to open the cover 34, and the contents of the housing portion 32 are discharged from the discharge port on the bottom surface of the housing portion 32.

[0034] <Effect> ··· The suspended harvesting device 10 for crops includes a main body 30, an arm 20 that moves up and down in a vertical direction with respect to the main body 30, an arm lifting mechanism 62 that drives the arm 20, a storage part 32 provided below the main body 30, and a cover 34 that opens and closes a discharge port on the bottom surface of the storage part 32. In conjunction with the lowering of the arm 20, a load required for measuring the mass of the contents stored in the storage part 32 is detected by a load cell 50A. After the detection of the load is completed, in conjunction with further lowering of the arm 20, a linkage means for opening the cover 34 and discharging the contents stored in the storage part 32, and a control part 60 that controls the arm lifting mechanism 62 and measures the mass of the contents from the load detected by the linkage means are provided.

[0035] Therefore, by using the arm lifting mechanism 62 provided in the harvesting device 10 as a power source for the weighing and discharging mechanism, it is possible to mount the weighing and discharging mechanism on the harvesting device 10 without adding a driving device.

[0036] As described above, the preferred embodiments of the present invention have been described. However, the present invention is not limited to the above-described embodiments. Also, the effects described in the embodiments of the present invention are merely an enumeration of the most preferred effects resulting from the present invention, and the effects according to the present invention are not limited to those described in the embodiments of the present invention.

Industrial Applicability

[0037] According to the present invention, a suspended harvesting device for crops includes a main body part, an arm that moves up and down in a vertical direction with respect to the main body part, an arm lifting mechanism that drives the arm, a storage part provided below the main body part, and a cover that opens and closes a discharge port on the bottom surface of the storage part. In conjunction with the lowering of the arm, a load required for measuring the mass of the contents stored in the storage part is detected. After the detection of the load is completed, in conjunction with further lowering of the arm, a linkage means for opening the cover and discharging the contents stored in the storage part, and a control part that controls the arm lifting mechanism and measures the mass of the contents from the load detected by the linkage means are provided.

[0038] By using the arm lifting mechanism as the power source of the weighing and discharging mechanism in this way, it is possible to implement the weighing and discharging mechanism without adding a driving device, which is suitable for the use of a suspended harvesting device.

Explanation of Signs

[0039] 1: Crop harvesting system 10: Harvesting device 14: Suspension part 16: Engagement part 20: Arm 30: Main body part 30A: Groove 31: Main body cover 32: Storage part 32A: Third fulcrum 32B: Flap rotation limiting part 34: Storage part discharge port cover 40: Bracket 40A: First fulcrum 40B: First protrusion 42: Lever 42A: Second protrusion 42B: Third protrusion 43: Groove 44: Second fulcrum 46: Flap 48: Sushi hole 50: Vertical moving member 50A: Load cell 50B: Fourth protrusion 60: Control part 62: Arm lifting mechanism 70: Acquisition part C: Crop F: Harvested product S: Strip W: Wire

Claims

1. A weighing and discharging mechanism for a suspended harvesting device for agricultural crops, wherein the harvesting device includes a main body, an arm that moves up and down in a direction perpendicular to the main body, an arm lifting mechanism that drives the arm, a storage portion provided below the main body, and a cover that opens and closes a discharge port on the bottom surface of the storage portion, linkage means for detecting a load required for weighing the mass of the contents stored in the storage portion in conjunction with the lowering of the arm, and after the detection of the load is completed, opening the cover in conjunction with further lowering of the arm to discharge the contents stored in the storage portion; a control unit that controls the arm lifting mechanism and weighs the mass of the contents from the load detected by the linkage means; A weighing and discharging mechanism for a suspended harvesting device for agricultural crops, characterized by comprising the above.

2. The linkage means includes a bracket fixed to the main body portion, a first fulcrum provided on the bracket, a lever rotatably connected to the bracket via the first fulcrum, a second fulcrum provided at the tip of the lever for rotatably lifting the storage portion, a flap having one end connected to the cover, a vertically long oblong hole provided at the other end of the flap, a third fulcrum provided near the oblong hole of the flap for rotatably connecting the storage portion and the flap, a first protrusion provided at the tip of the bracket, movable along the oblong hole and restricting the movement of the flap, a flap rotation restricting portion provided on the storage portion for restricting the rotation of the flap, At the rear end of the lever, it is provided on an extending member extending in the longitudinal direction of the lever. On the upper surface of the extending member, there are provided, at predetermined intervals, a second protrusion on the rear end side of the extending member and a third protrusion on the rear end side of the lever, which have the same height. A vertically moving member that moves vertically by the arm elevating mechanism. A load cell provided on the bottom surface of the vertically moving member and in contact with the second protrusion of the extending member. A fourth protrusion provided on the bottom surface of the vertically moving member, set shorter than the load cell and in contact with the third protrusion. The weighing and discharging mechanism of the suspended harvesting device for agricultural crops according to claim 1, characterized by comprising the above.

3. A suspended harvesting device for agricultural crops, characterized by comprising the weighing and discharging mechanism according to claim 1 or 2.

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