| 摘要 |
PROBLEM TO BE SOLVED: To provide a fruit harvester having high work efficiency and harvesting fruits without damaging the fruits.SOLUTION: The fruit harvester 1 for harvesting fruits in a plurality of target fruits suspended in a culture space is provided with an arm mechanism attached to a vertically extended support 3 and a manipulator 2 to clamp and harvest the fruit with a clamping hand 10 attached to a tip end of the arm mechanism. The arm mechanism is a triaxial arm mechanism including a first arm 5 attached to the support 3 through a first shaft 4 and bendable in a vertical plane, a second arm 7 attached to the first arm 5 through a second shaft 6 and bendable in a vertical plane, and a third arm 9 attached to the second arm 7 through a third shaft 8 and bendable in a vertical plane. The third arm is driven in a manner that the clamping hand 10 attached to a tip end of the third arm 9 keeps horizontal posture, and the first arm 5 and the second arm 7 are driven to fit the positions of the clamping hand 10 and the fruit 111 in height direction and depth direction. |
