JPH101222A - Article feeder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce manufacturing cost by simplifying a structure and control for changing the position of an article taking-out part. SOLUTION: In this article feeder which takes out an article at the first position A with an article taking-out part 16 that can reciprocate between the first position A and the second position B and feeds it to the second position B side, an oscillating arm 14 is oscillatably-supported around the first oscillating shaft center X by a supporting part 13, and the article taking-out part 16 is fitted on the oscillating end side of the oscillating arm 14. A posture holding mechanism 17 for holding the posture of the article takingout part 16 is fitted, and by oscillating the oscillating arm 14, the article taking-out part 16 is so constituted as to draw an arc-shaped locus R with the prescribed posture maintained and reciprocate between the first position A and the second position B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for feeding an article, which reciprocates between a first position and a second position, picks up an article at the first position by an article pick-up unit and feeds the article to the second position. About.

[0002]

2. Description of the Related Art Conventionally, as the above-mentioned article feeding apparatus, for example, as disclosed in Japanese Patent Application Laid-Open No. Hei 4-279416, a swing arm is provided on the peripheral side of a rotating body which rotates around a horizontal axis. , Supported swingably around an axis parallel to the horizontal axis,
An article take-out section is provided at the tip of the swing arm, and a posture holding mechanism for holding the article take-out section is provided. To configure the posture holding mechanism, the swing arm rotates with the rotation of the rotating body. Some have provided a gear mechanism for swinging the body.

[0003]

According to the above-mentioned conventional structure, the article take-out section draws a complicated curved path as shown in FIG. In order to reciprocate between them, the structure and control for changing the position are complicated, and the manufacturing cost is high.

An object of the present invention is to simplify the structure and control for changing the position of an article take-out section, thereby reducing the manufacturing cost.

[0005]

[Means for Solving the Problems]

[Structure] According to a characteristic structure of the invention according to claim 1, in the article feeding device described at the beginning, the swing arm is swingably supported around a first swing axis by a support portion. The article take-out section is provided on the swinging end side of the apparatus, and a posture holding mechanism for holding the posture of the article take-out section is provided, and as the swing arm swings, the article take-out section is moved to a predetermined position. The present invention is configured to reciprocate between the first position and the second position while drawing an arc trajectory in the posture.

According to a second aspect of the present invention, in the first aspect of the present invention, the second swinging shaft is formed by the swinging end of the swinging arm and the supporting portion along the swinging arm. One end and the other end of the article take-out section support member are attached to the swing end of the auxiliary swing arm that is swingably supported around the core.
The article take-out portion support members are pivotally connected to each other so as to be parallel to an imaginary line connecting the first swing axis and the second swing axis, and the article take-out portion support members are pivoted. The posture holding mechanism is constituted by a parallel quadruple link mechanism configured to reciprocate between the first position and the second position while keeping the posture parallel to the virtual line with the swing of the moving arm. There is to be.

A feature of the invention according to claim 3 is that, in the invention according to claim 1 or 2, the article is a crop, and the first position is a crop take-out position in a transport mechanism that sends the crop horizontally. The second position is a crop receiving position in the crop processing device.

According to the first aspect of the present invention, when the swing arm is swung, the article take-out section draws an arc locus centered on the first swing axis while keeping the article take-out portion in a predetermined posture. Reciprocating between the first position and the second position, the article is taken out by the article take-out section at the first position and sent to the second position side.

In other words, since the article take-out section reciprocates between the first position and the second position in a circular locus about the first swing axis, a structure for changing the position of the article take-out section is provided. And control can be simplified.

According to the second aspect of the present invention, the same operation as that of the first aspect can be achieved, and the attitude holding mechanism is constituted by the parallel quadruple link mechanism as described above. Therefore, the structure and control for changing the position can be further simplified as compared with a structure in which the posture holding mechanism is constituted by a gear mechanism, a chain mechanism, or the like.

According to the third aspect of the present invention, while the crop is reciprocated between a crop pick-up position in the transport device for feeding crops in the horizontal direction and a crop pick-up position in the crop processing device, the crop pick-up unit moves the crop. The crop is taken out at the position and sent to the crop receiving position. That is, according to the configuration of the third aspect, the same operation as the operation of the configuration of the first or second aspect can be obtained in the crop feeding device.

[Effect] Therefore, according to the configuration of the first aspect, the structure and control for changing the position can be simplified, and the manufacturing cost can be reduced.

According to the second aspect of the invention, the manufacturing cost can be further reduced.

According to the third aspect of the present invention, in addition to providing the same operation as the operation of the first or second aspect, the agricultural product is taken out at the agricultural product take-out position by the agricultural product take-out section. In the case where the sheet is sent to the receiving position, the same effect as the effect of the above-described claim 1 or 2 can be obtained.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a belt conveyor 1 (an example of a transport mechanism) for feeding lettuce supplied by an operator in a lateral direction, and a belt conveyor 1 sends the lettuce to a predetermined lettuce takeout position A (corresponding to a first position). The lettuce taken out is taken out, and the lettuce inlet 3 of the lettuce packaging device 2 (an example of a processing device) located on the lateral outer side of the belt conveyor 1
Robot hand 4 to be sent to (corresponding to lettuce receiving unit)
(An example of a feeding mechanism) and a control device 5 (an example of control means) for controlling the belt conveyor 1, the lettuce packaging device 2, and the robot hand 4 are provided to constitute a lettuce supply device.

As shown in FIG. 11, a plurality of concentric annular projecting members 6 each having a different diameter in plan view are provided on the lettuce mounting surface of the belt conveyor 1.
(Corresponding to the holding portion) is formed of a rubber material such that the outer protruding member 6 is longer than the inner protruding member 6, so that the center position of the lettuce can be determined and held regardless of the diameter of the lettuce. (Ie, the smaller diameter lettuce is supported by the inner projecting member 6 and the larger diameter lettuce is supported by the outer projecting member 6).
A cross mark 7 is formed on the protruding member 6 as an index for visually determining the mounting direction of the lettuce. The transport frame 8 of the belt conveyor 1 has both ends as viewed in the transport direction formed in a U-shape in cross section with an opening on the inner side in the width direction, and a wire harness 9 for various controls is passed through a concave portion along the transport direction. (See FIG. 9 and FIG. 11). The configuration is such that contact between the rotating transport belt 10 and the wire harness 9 is avoided.

As shown in FIGS. 1 and 2, the lettuce wrapping apparatus 2 is an apparatus for receiving lettuce from a lettuce inlet 3 formed at a receiving position in the center of the upper surface and packing it with a transparent wrapping sheet. Are formed such that the upper side walls 36A, 37A are wider than the lower side walls 36B, 37B in a side view (viewing the conveying direction of the belt conveyor 1), and the upper side walls 36A, 37A and the lower side walls 36A, 37B. Side wall 36
B, 37B, a pair of inclined side walls 36C extending upward.
37C.

As shown in FIGS. 2 and 3, the robot hand 4 has a support frame 12 removably attached to the main body 2A of the packaging device 2 from above. The support frame 12 is formed of the pair of outer portions 36 and 37 of the main body 2 </ b> A of the packaging device 2.
A pair of first vertical frame members 19 respectively applied to portions extending from 6A, 37A to the inclined side walls 36C, 37C from the lateral outer side, and two round pipes connecting upper end portions of the first vertical frame members 19 to each other. A screw mechanism 21 is provided between an end of one of the first vertical frame members 19 and the second frame member 20 to allow them to approach and separate from each other. The fixing of the support frame 12 to the main body portion 2A is performed by tightening the tightening bolts 21A of the screw mechanism 21 by operating both first vertical frame members 1A.
9, both outer portions 36 of the main body 2A,
This is carried out by pressing and fixing each of them separately.

The robot hand 4 will be described in detail. A support box 13 (an example of a support portion) is supported by the support frame 12, and the swing arm 14 is swung about the first swing axis X by the support box 13. A first electric motor M1 that is movably supported and drives the swing arm 14 to swing.
Are provided in the support box 13 and six soft rubber finger portions 1 are provided by finger support members 15 (an example of a lettuce take-out portion support member) provided on the swing end side of the swing arm 14.
6 (an example of a lettuce take-out part) is suspended and supported, and as the swing arm 14 swings, the finger part 16 draws an arc trajectory R in a downward posture and the lettuce take-out position A and the lettuce receiving position B (Corresponding to the second position; see FIG. 1). A posture holding mechanism 17 is provided for holding the posture of the finger portion 16 so as to reciprocate between the finger portions 16.

The posture holding mechanism 17 includes a swing arm 14
And an auxiliary swing arm 18 that is swingably supported by the support box 13 around the second swing axis Y above the first swing axis X along the swing arm 14. One end and the other end of the finger support member 15 are attached to the swing end, and the finger support member 15 is connected to the first swing axis X and the second
Each of the finger support members 15 is pivotally connected to be parallel to the virtual vertical line L connecting to the swing axis Y, and the finger support member 15 is parallel to the virtual vertical line L with the swing of the swing arm 14. A parallel quadruple link mechanism configured to reciprocate between the lettuce take-out position A and the lettuce insertion position B while maintaining a proper posture. As shown in FIG. 2 and FIG. 14, a transparent cover 39 having upper and lower openings that covers movable parts such as the finger support member 15 that reciprocates is supported by the second frame member 20 so as to be capable of swinging. (In FIG. 1 and the like, the cover 39 is omitted for easy understanding of the internal structure.)

The finger portion 16 is formed of a rubber tube having a closed distal end and an open proximal end. The proximal end of the rubber tube is fitted to the finger support pipe 11. The back side is formed in a bellows shape 16a at regular intervals in the longitudinal direction, and air is supplied / discharged from the compressor 29 through the opening on the base end side, so that the lettuce is gripped.

The finger supporting member 15 is formed by connecting an umbrella-shaped finger holding portion 15B to the lower end of the vertical pipe member 15A. The finger holding mechanism 22 (corresponding to a finger opening diameter change adjusting mechanism) provided in the finger holding portion 15B will be described with reference to FIGS.
As shown in (a) and (b), the finger holding portion 1
5B is formed on the fixed disk 24, and the fixed disk 24
Six rotating first slots 25 formed concentrically and rotatably around the central axis at intervals above and separated from the rotating disk 23 and formed in a spiral shape by being dispersed in the rotating disk 23; Six straight second slots 26 radially formed in the fixed disk 24
The finger support pipes 11 are individually inserted through the corresponding parts, and the finger support pipes 11 are positioned between the rotating disk 23 and the fixed disk 24 to prevent the finger portions 16 from moving up and down. Flange part 27
Is formed. That is, the base end side of the finger portion 16 is supported on a circumference equally spaced from the center position (the center of the fixed disk). Then, a second electric motor M2 (see FIG. 3) for rotating the rotating disk 23 in the forward and reverse directions via the operation wire 28 is provided, and the second electric motor M2 is driven to fix each finger support pipe 11. While being guided by the second long hole 26 of the disk 24, the rotating disk 2
The first disc 25 is pushed and pulled in the radial direction by the first long hole 25, and is moved in the radial direction with reference to the center positions of both disks, so that the initial opening diameter of the finger portion 16 can be changed and adjusted.

As shown in FIG. 12, a pneumatically operated vertical piston mechanism 30 is provided at the center of the finger holding portion 15B, and a lettuce pushing pad 30b is provided at the tip of the piston rod 30a. The lettuce gripped by 16 is pushed out to the input port 3 of the packaging device 2 in a gripped state. A water-absorbing paper 31 for absorbing moisture leaking from a cut portion of the lettuce is detachably attached to the lettuce pushing pad 30b to prevent the packaging sheet from being soiled.

As shown in FIGS. 9 and 10, the outer diameter measuring sensor 32 for measuring the outer diameter of the lettuce conveyed by the belt conveyor 1 is connected to both rising ends of the belt conveyor 1 on the upper side of the conveyor from the take-out position A. Provided on the side wall 33, based on the detection result of the outer diameter measurement sensor 32, so that the initial open diameter of the finger portion 16 becomes a diameter corresponding to the outer diameter of the lettuce measured by the outer diameter measurement sensor 32, The control device 5 is configured to control the second electric motor M2 of the finger holding mechanism 22. The outer diameter measurement sensor 32 has a plurality of sensing units including a light emitter 32A and a light receiver 32B that detect the presence of a lettuce when the light beam is interrupted. It is configured to measure the outside diameter of the lettuce. Between the sensing units adjacent to each other, the light emitting device 32A and the light receiving device 32
B is located on the opposite side to prevent light from the adjacent light emitter 32A from entering the light receiver 32B.

As shown in FIG. 9, when a predetermined projecting member 6 is located at the take-out position A, the preceding projecting member 6 is moved to a set position on the start end side of the return stroke of the belt conveyor 1. C is disposed so as to be positioned in the downward position at the set position C, and the light beam is blocked at the front end of the projecting member 6 positioned at the set position C in the downward position.
Position sensor 34 that detects that is located at set position C
To detect that the predetermined projecting member 6 has reached the take-out position A. The position sensor 34 and each protruding member 6 as a detected part constitute a position detecting means. In addition, separately from each protruding member 6,
A detected portion may be provided for each protruding member 6 (in the present embodiment, each protruding member 6 is also configured as each detected portion as described above).

As shown in FIG. 10, there is provided a presence / absence sensor 35 for detecting whether or not a lettuce exists in the protruding member 6 at the take-out position A by blocking the light beam. When the position sensor 34 detects that the protruding member 6 that holds the lettuce has reached the take-out position A, based on the detection results of both sensors,
The control device 5 controls the belt conveyor 1 to stop it, and also controls the robot hand 4 so that the finger portion 16 takes it out. When the lettuce is taken out, the belt conveyor 1 starts conveying again.

The operation of the robot hand 4 will be briefly described. As shown in FIG.
Swings to the takeout position A side and stops. And
The finger portion 16 to which the pressurized air is supplied bends and grips the lettuce (see FIG. 5). Next, the swing arm 14 swings to the lettuce receiving position B side and stops (see FIG. 6),
When the piston mechanism 30 is operated, the lettuce pushing pad 3
0b pushes the lettuce in the gripping state to the input port 3 of the packaging device 2 in the gripping state (see FIG. 7). The lettuce is packed in the container 38 after being packaged by the packaging device 2 (see FIG. 8).

[Alternative Embodiment] The object to be fed by the present feeding apparatus is not limited to lettuce, but may be other vegetables or fruits such as cabbage, or may be other than agricultural products such as bottles. Good.

The transport mechanism may be a chain type endless conveyor.

The length between the two pivotal joints at both ends of the swing arm 14 and the length between the two pivotal joints at both ends of the auxiliary swing arm 18 can be changed and adjusted. Good.

Although not shown in the drawings, the posture holding mechanism 17 is constructed by swinging the swing arm 14 so that the article take-out portion is moved by the swing end of the swing arm. A drive rotation mechanism that rotates on the opposite side to the swing direction may be provided.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a lettuce supply device and a lettuce packaging device with a cover removed.

FIG. 2 is an exploded side view of the robot hand.

FIG. 3 is a partially cutaway side view showing a robot hand and a belt conveyor before gripping a lettuce;

FIG. 4 is a partially cutaway side view showing a robot hand and a belt conveyor immediately before gripping a lettuce;

FIG. 5 is a partially cutaway side view showing a robot hand and a belt conveyor holding a lettuce;

FIG. 6 is a side view showing the robot hand that has transported the lettuce to the lettuce packaging device side.

FIG. 7 is a side view showing the robot hand supplying lettuce to the lettuce packaging device;

FIG. 8 is a view showing lettuce after packaging by the lettuce packaging apparatus;

FIG. 9 is a partially cutaway front view of a belt conveyor showing various sensors.

FIG. 10 is a partially cutaway plan view of a belt conveyor showing various sensors.

FIG. 11 is a longitudinal side view of a belt conveyor showing a holding portion of a lettuce;

FIG. 12 is a sectional view showing a finger holding unit;

FIG. 13 (a) is a cross-sectional plan view showing a finger opening diameter changing adjustment mechanism in a state where the finger opening diameter is large. (B) A finger opening diameter change in a state where the finger opening diameter is small. Cross-sectional plan view showing the adjustment mechanism

FIG. 14 is a perspective view showing a lettuce supply device and a lettuce packaging device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveying mechanism 2 Processing device 13 Support part 14 Oscillating arm 15 Article take-out part support member 16 Article take-out part 17 Attitude holding mechanism 18 Auxiliary swing arm A 1st position B 2nd position L Virtual line R Arc path X 1st swing Moving shaft center Y 2nd swing shaft center

Claims (3)

[Claims] 1. An article feeding device for picking up an article at a first position by an article pick-up section which is reciprocally movable between a first position and a second position and feeding the article to the second position side, comprising: The swing arm is swingably supported around the first swing axis, and the article take-out section is provided on the swing end side of the swing arm, and the attitude holding section holds the attitude of the article take-out section. A mechanism is provided so that the article take-out section reciprocates between the first position and the second position while drawing a circular arc trajectory in a predetermined posture in accordance with swinging the swing arm. Device for feeding goods. 2. A swinging end of the swinging arm and a swinging end of an auxiliary swinging arm supported along the swinging arm so as to be swingable around a second swinging axis by the support portion. A state in which the one end side and the other end side of the article take-out section support member are parallel to an imaginary line connecting the first swing axis and the second swing axis. The article take-out portion support member is pivotally connected to the first position and the second position in the posture parallel to the virtual line with the swing of the swing arm.
2. The article feeding device according to claim 1, wherein said attitude holding mechanism is constituted by a parallel quadruple link mechanism configured to reciprocate between positions. 3. The crop is a crop, the first position is a crop take-out position in a transport mechanism for feeding the crop horizontally, and the second position is a crop receiving position in a crop processing device. Item 3. An article feeding device according to Item 1 or 2.