JP2003081223A - Article weighing and transfer apparatus - Google Patents
Article weighing and transfer apparatusInfo
- Publication number
- JP2003081223A JP2003081223A JP2001281046A JP2001281046A JP2003081223A JP 2003081223 A JP2003081223 A JP 2003081223A JP 2001281046 A JP2001281046 A JP 2001281046A JP 2001281046 A JP2001281046 A JP 2001281046A JP 2003081223 A JP2003081223 A JP 2003081223A
- Authority
- JP
- Japan
- Prior art keywords
- article
- transfer
- measuring
- tray
- conveyor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Relays Between Conveyors (AREA)
- Specific Conveyance Elements (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Packaging Of Special Articles (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】この発明は、例えばミカンや
リンゴ、トマト、柿、梨、メロン、胡瓜、茄子、人参な
どの農作物(農作物を含む)、或いは、魚介類や食品、
球技用ボール、部品等の物品の所定項目を計測する作業
に用いられる物品計測移載装置に関する。TECHNICAL FIELD The present invention relates to agricultural products (including agricultural products) such as mandarin oranges, apples, tomatoes, persimmons, pears, melons, cucumbers, eggplants, carrots, seafood and foods,
The present invention relates to an article measuring and transferring device used for a work of measuring a predetermined item of an article such as a ball for a ball game or a part.
【0002】[0002]
【従来の技術】従来、上述例の農作物を計測する装置と
しては、例えば複数の農作物を、移載装置により上流側
コンベア装置により搬送されるトレイから下流側コンベ
ア装置により搬送されるトレイに移載する途中で、その
農作物の下面側を、上流側コンベア装置と下流側コンベ
ア装置との間に配設した計測装置により下方から計測す
ると共に、上流側コンベア装置及び移載途中で得られた
農作物に関する計測情報を、下流側コンベア装置に転送
する装置(特開平2000−140770号公報)があ
る。2. Description of the Related Art Conventionally, as a device for measuring agricultural products in the above-mentioned example, for example, a plurality of agricultural products are transferred from a tray conveyed by an upstream conveyor device by a transfer device to a tray conveyed by a downstream conveyor device. In the middle of doing, the lower surface side of the agricultural product is measured from below by a measuring device arranged between the upstream conveyor device and the downstream conveyor device, and the upstream conveyor device and the agricultural product obtained during transfer There is a device (Japanese Patent Laid-Open No. 2000-140770) that transfers measurement information to a downstream conveyor device.
【0003】[0003]
【発明が解決しようとする課題】しかし、上述の装置
は、農作物を、上流側コンベア装置により搬送されるト
レイ上の農作物を保持するタイミングと、下流側コンベ
ア装置により搬送されるトレイに農作物を移載するタイ
ミングとを同期させることが難しく、農作物の移載ミス
及び計測情報の受け渡しミスが起きやすい。且つ、農作
物を、上流側コンベア装置のトレイと、下流側コンベア
装置のトレイとに移載するので、移載時に、例えば窪み
や擦り傷等が農作物の表皮に付きやすく、農作物の商品
価値が損なわれやすいという問題点を有している。However, in the above-mentioned apparatus, the timing for holding the agricultural products on the tray conveyed by the upstream side conveyor device, and the transfer of the agricultural products to the tray conveyed by the downstream side conveyor device. It is difficult to synchronize the timing of placement, and it is easy to make mistakes in transferring crops and passing measurement information. Moreover, since the agricultural products are transferred to the tray of the upstream side conveyor device and the tray of the downstream side conveyor device, during transfer, for example, pits or scratches are easily attached to the skin of the agricultural products, and the commercial value of the agricultural products is impaired. It has a problem that it is easy.
【0004】また、全農作物の移載作業が完了するま
で、上流側コンベア装置及び移載途中で得られた農作物
の計測情報を下流側コンベア装置に転送することができ
ず、生産者別に荷受け処理する場合、先に荷受けされた
農作物の移載作業が完了するまで、次の荷受け作業に移
行することができないという問題点も有している。Further, until the transfer work of all the agricultural products is completed, the measurement information of the agricultural products obtained in the upstream conveyor device and the downstream conveyor device cannot be transferred to the downstream conveyor device. In that case, there is also a problem that it is not possible to move to the next load receiving work until the transfer work of the crop that has been received first is completed.
【0005】この発明は上記問題に鑑み、供給手段によ
り供給される物品を、移動手段により移動される載置部
に移載する移動途中で、該物品の所定項目を物品計測手
段により計測するので、物品の商品価値を損なうことな
く、所定項目を正確且つ確実に計測することができ、物
品に関する計測情報の取り扱いが簡単且つ容易に行える
物品計測移載装置の提供を目的とする。In view of the above problems, the present invention measures the predetermined item of the article by the article measuring means during the movement of transferring the article supplied by the supplying means to the placing section moved by the moving means. An object of the present invention is to provide an article measuring and transferring apparatus capable of accurately and reliably measuring a predetermined item without deteriorating the commercial value of the article and easily and easily handling measurement information regarding the article.
【0006】[0006]
【課題を解決するための手段】この発明は、物品を供給
する供給手段と、該物品が載置される載置部を特定方向
に移動する移動手段との間に、上記供給手段により供給
される物品を、上記移動手段により移動される載置部に
対して移載する物品移載手段と、上記物品移載手段によ
り移載される物品の所定項目を、上記載置部に移載する
移動途中で計測する物品計測手段とを設けた物品計測移
載装置であることを特徴とする。According to the present invention, the supply means is provided between the supply means for supplying the article and the moving means for moving the placing portion on which the article is placed in a specific direction. An article transfer means for transferring an article to be transferred to the placement section moved by the moving section, and a predetermined item of the article transferred by the article transfer section, to the placement section. It is an article measuring and transferring device provided with an article measuring means for measuring during movement.
【0007】上述の物品は、例えばミカンやリンゴ、ト
マト、柿、梨、メロン、胡瓜、茄子、人参等の農作物、
或いは、魚介類や球技用ボール、食品、部品等で構成す
ることができる。また、整列手段及び移動手段は、例え
ばベルトコンベア、チェーンコンベア、バケットコンベ
ア等で構成することができる。また、物品移載手段は、
例えば吸着子やアームで保持して移載する機械的手段又
は作業者の手で保持して移載する人為的手段等で構成す
ることができる。また、物品計測手段は、例えば撮像カ
メラ(CCD)やビデオカメラ、ディジタルカメラ等の
光学的計測装置で構成することができる。つまり、供給
手段により供給される物品を、移動手段により移動され
る載置部に対して物品移載手段により移載するとき、物
品移載手段により移載する移動途中に於いて、その物品
の所定項目(例えば下面及び側面)を物品計測手段によ
り個々に又は一括して計測する。The above-mentioned articles are, for example, agricultural products such as oranges, apples, tomatoes, persimmons, pears, melons, cucumbers, eggplants, carrots,
Alternatively, it can be composed of seafood, balls for ball games, foods, parts and the like. Further, the aligning means and the moving means can be constituted by, for example, a belt conveyor, a chain conveyor, a bucket conveyor, or the like. Also, the article transfer means,
For example, it can be constituted by a mechanical means for holding and transferring by an adsorbent or an arm, or an artificial means for holding and transferring by an operator's hand. Further, the article measuring means can be configured by an optical measuring device such as an imaging camera (CCD), a video camera, a digital camera, or the like. In other words, when the article transfer means transfers the article supplied by the supply means to the placement section moved by the movement means, the article transfer means transfers the article in the middle of the transfer. Predetermined items (for example, lower surface and side surface) are individually or collectively measured by the article measuring means.
【0008】実施の形態として、供給手段により供給さ
れる物品を、移動手段により移動される載置部に移載す
るとき、物品計測手段により計測された物品の計測情報
と、物品が載置される載置部の識別情報とを対応させて
記憶すると共に、物品の計測情報と予め記憶された物品
の基準情報とを比較して、該物品の所定項目を判定する
項目判定手段(例えばパーソナル・コンピュータやCP
U、ROM、RAMを内蔵した制御装置、そのパソコン
や制御装置に内蔵されたCPU、CPUに格納されたプ
ログラム等)を備えることができる。As an embodiment, when the article supplied by the supply means is transferred to the placing section moved by the moving means, the measurement information of the article measured by the article measuring means and the article are placed. The item determination means (for example, a personal computer) that stores the corresponding identification information of the mounting portion in association with each other and compares the measurement information of the article with the reference information of the article stored in advance to determine a predetermined item of the article. Computer and CP
U, ROM, a control device having a built-in RAM, a CPU incorporated in the personal computer or the control device, a program stored in the CPU, etc.) can be provided.
【0009】また、供給手段を、複数の物品が整列して
収容された容器を供給する容器供給手段で構成し、移動
手段を、物品が個々に載置される凹状の載置部を搬送す
る搬送手段で構成することができる。また、物品移載手
段を、供給手段により供給される複数の物品を、移動手
段により移動される複数の載置部に対して一括して移載
する一括移載手段で構成することができる。また、載置
部を、物品を個々に載置して搬送するフリーのトレイで
構成することができる。Further, the supply means is constituted by a container supply means for supplying a container in which a plurality of articles are arranged and accommodated, and the moving means conveys a concave mounting portion on which the articles are individually mounted. It can be configured by a transport means. Further, the article transfer means can be configured by a batch transfer means for collectively transferring the plurality of articles supplied by the supply means to the plurality of mounting portions moved by the moving means. Further, the placing portion can be configured by a free tray that places and conveys the articles individually.
【0010】[0010]
【作用及び効果】この発明によれば、供給手段により供
給される物品を、移動手段により移動される載置部に対
して移載する移動途中で、その物品の所定項目を物品計
測手段により個々に又は一括して計測するので、移載後
に於いて、載置部に載置された物品を持ち上げたり、表
裏反転したりする手間及び作業が省け、計測作業の簡素
化及び能率アップを図ることができる。且つ、物品の移
載回数及び移動回数が少ないため、物品の商品価値を損
なうことなく、所定項目を正確且つ確実に計測すること
ができる。According to the present invention, the predetermined items of the article are individually transferred by the article measuring means during the movement of transferring the article supplied by the supplying means to the placing section moved by the moving means. Since the measurement is performed in parallel or collectively, it is possible to save the labor and work of lifting the article placed on the placing section and reversing the front and back after transfer, and simplify the measurement work and improve the efficiency. You can Moreover, since the number of transfers and the number of transfers of the article are small, it is possible to accurately and surely measure the predetermined item without impairing the commercial value of the article.
【0011】しかも、供給手段により供給される物品
を、移動手段により移動される載置部に移載するとき、
物品計測手段により計測した物品の計測情報と、その物
品が載置される載置部の識別情報とを対応させて項目判
定手段に記憶するので、移載完了後に計測情報を転送す
る必要がなく、物品に関する計測情報の取り扱いが簡単
且つ容易に行える。且つ、先に荷受けした物品の移載作
業が完了すると同時に、次に荷受けされた物品の移載作
業を即行うことができ、作業が能率的に行える。Moreover, when the article supplied by the supply means is transferred to the mounting section moved by the moving means,
Since the item determining means stores the measurement information of the article measured by the article measuring means and the identification information of the placing portion on which the article is placed in correspondence with each other, it is not necessary to transfer the measurement information after the transfer is completed. It is possible to easily and easily handle the measurement information about the article. Moreover, at the same time that the transfer operation of the article that has been received first is completed, the transfer operation of the article that has been received next can be performed immediately, and the operation can be performed efficiently.
【0012】[0012]
【実施例】この発明の一実施例を以下図面に基づいて詳
述する。図面は物品の一例である農作物全体の所定項目
を計測するときに用いられる物品計測移載装置を示し、
図1及び図2に於いて、この物品計測移載装置10は、
荷受け側の供給コンベア20上に設定した整列部aと、
計測側の搬送コンベア30上に設定した移載部bとの間
に、整列部aに整列された農作物Aを、移載部bに搬送
されたフリーのトレイCに移載する農作物移載装置40
と、その整列部aから移載部bに移動する途中で農作物
A下面を計測する項目計測装置50とを設けると共に、
トレイCに載置された農作物A上面を計測する項目計測
装置60と、項目計測装置50,60の計測情報に基づ
いて、農作物Aの所定項目を個々に判定する項目判定装
置55とを備えている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. The drawing shows an article measurement transfer device used when measuring predetermined items of the entire agricultural product, which is an example of an article,
1 and 2, the article measuring and transferring apparatus 10 is
An alignment section a set on the supply conveyor 20 on the receiving side,
A crop transfer device for transferring the crop A aligned in the alignment part a between the transfer part b set on the transfer conveyor 30 on the measurement side and the free tray C transferred to the transfer part b. 40
And an item measuring device 50 for measuring the lower surface of the crop A on the way from the aligning part a to the transferring part b,
An item measuring device 60 for measuring the upper surface of the agricultural product A placed on the tray C, and an item determining device 55 for individually judging a predetermined item of the agricultural product A based on the measurement information of the item measuring devices 50, 60 are provided. There is.
【0013】上述の供給コンベア20は、複数個の農作
物Aが整列(後述する移載ユニット42により保持可能
な状態)して収容された例えばコンテナや段ボール箱等
の荷受け用容器Bを整列部aに搬送する。容器Bに収容
された全農作物Aが後述するトレイC…に載置されたと
き、その全農作物Aが取り除かれた容器Bを整列部a側
部に配設した回収コンベア21に放出し、次の容器Bを
整列部aに搬送する。一方、回収コンベア21は、全農
作物Aが取り除かれた容器Bを、例えば農作物Aを収容
する収容工程、農作物Aが収容された容器Bを荷受けす
る荷受け工程等に搬送する。The supply conveyor 20 described above arranges a cargo receiving container B, such as a container or a cardboard box, in which a plurality of agricultural products A are arranged and stored (in a state in which they can be held by a transfer unit 42, which will be described later). Transport to. When all the agricultural products A contained in the container B are placed on the tray C which will be described later, the container B from which all the agricultural products A have been removed is discharged to the recovery conveyor 21 arranged on the side of the alignment section a, and next. The container B of 1 is conveyed to the alignment section a. On the other hand, the collection conveyor 21 conveys the container B from which all the agricultural products A have been removed to, for example, a storage process for storing the agricultural product A, a receiving process for receiving the container B containing the agricultural product A, and the like.
【0014】また、農作物A…を、例えばベルトコンベ
アやローラコンベア等の搬送手段により直接搬送しても
よく、後述する移載ユニット42により保持可能な向き
に揃えて整列部aに搬送する。Further, the agricultural products A may be directly carried by a carrying means such as a belt conveyer or a roller conveyer or the like, and they are carried to the arranging part a in such a manner that they can be held by the transfer unit 42 described later.
【0015】前述の搬送コンベア30は、農作物Aが載
置されるフリーのトレイC…を、搬送路上に設定した移
載部bから仕分け部cに向けて前後方向に対して近接又
は所定間隔に隔てて搬送すると共に、後述する農作物移
載装置40の移載動作と略同期して、2条併設した搬送
コンベア30上の移載部bに対して複数個(例えば4
個)ずつ間欠的に搬送する。また、トレイCを1個ずつ
間欠送りしてもよい。The above-mentioned transfer conveyor 30 is arranged in such a manner that the free trays C on which the agricultural products A are placed are moved toward the sorting part c from the transfer part b set on the transfer path in the front-rear direction or at predetermined intervals. A plurality of (for example, four, for example) transfer parts b on the two transfer conveyors 30 are provided in parallel with the transfer operation of the crop transfer device 40 described later while being conveyed separately.
Individually). Further, the trays C may be intermittently fed one by one.
【0016】且つ、箱詰め工程から回帰搬送される農作
物Aが取り除かれた空のトレイCを2列に整列して搬送
コンベア30上の移載部bに搬送し、農作物Aが載置さ
れたトレイCを1列に整列して、移載部bと仕分け部c
との間に配設した後述する項目計測装置50に対して供
給する。In addition, the empty trays C from which the crops A to be returned and conveyed from the boxing process have been removed are arranged in two rows and conveyed to the transfer section b on the conveyor 30, where the trays on which the crops A are placed are placed. C is aligned in one line, and transfer section b and sorting section c are arranged.
It is supplied to the item measuring device 50, which will be described later, disposed between the and.
【0017】一方、移載部b後段の仕分け部cに配設し
た振分けコンベア31…は、後述する項目判定装置55
による判定に基づいて、項目別に振分けられるトレイC
を1列又は複数列に整列して搬送する。振分けコンベア
31の終端側に配設した箱詰め装置32は、所定数のト
レイC…に載置された農作物A…を持ち上げて、例えば
段ボール箱やコンテナ等の容器(図示省略)に所定数収
容する。その収容済みの容器は、例えば出荷工程や保管
工程等の次工程に供給される。一方、農作物Aが取り除
かれたトレイC及び箱詰め装置32に供給されなかった
トレイCは、搬送コンベア30により移載部bに回帰搬
送される。On the other hand, the sorting conveyors 31 ... Arranged in the sorting section c at the rear stage of the transfer section b are the item judging devices 55 described later.
Tray C sorted by item based on the judgment by
Are aligned and conveyed in one or more rows. The boxing device 32 disposed on the terminal side of the distribution conveyor 31 lifts the crops A ... Mounted on a predetermined number of trays C ... and stores them in a predetermined number (for example, a cardboard box or a container) in a container (not shown). . The accommodated container is supplied to the next process such as a shipping process or a storage process. On the other hand, the tray C from which the farm produce A has been removed and the tray C that has not been supplied to the boxing device 32 are recurrently transported to the transfer section b by the transport conveyor 30.
【0018】上述の供給コンベア20と、搬送コンベア
30と、振分けコンベア31とは、例えばベルトコンベ
アやローラコンベア等の搬送手段で構成される。The above-mentioned supply conveyor 20, transfer conveyor 30, and distribution conveyor 31 are composed of transfer means such as a belt conveyor or roller conveyor.
【0019】前述の農作物移載装置40は、図3にも示
すように、可動枠41を、供給コンベア20上に設定し
た整列部a上方と、搬送コンベア30,30上に設定し
た移載部b上方とに水平移動可能に架設し、移載ユニッ
ト42を、可動枠41の下面側に対して上下動可能に垂
設している。As shown in FIG. 3, the crop transfer device 40 described above has the movable frame 41 above the alignment part a set on the supply conveyor 20 and the transfer part set on the transfer conveyors 30, 30. The transfer unit 42 is erected so as to be horizontally movable above and b, and the transfer unit 42 is vertically installed so as to be vertically movable with respect to the lower surface side of the movable frame 41.
【0020】且つ、可動枠41に連結したループ状の無
端帯43を、減速機付きモータ(図示省略)により正逆
回転して、移載ユニット42全体を、整列部a上方と移
載部b上方とに移動する。その可動枠41上部に立設し
た昇降シリンダ44は、移載ユニット42を、後述する
吸着子42aが整列部aに整列された農作物A上面に対
して押圧される高さと、吸着子42aで吸着した農作物
Aが移載部bに搬送されたトレイCに対して載置される
高さとに垂直降下する。また、トレイCの高さに略対応
して上下動される。Further, the loop-shaped endless belt 43 connected to the movable frame 41 is normally and reversely rotated by a motor with a speed reducer (not shown), so that the entire transfer unit 42 is placed above the alignment section a and the transfer section b. Move up and down. The elevating cylinder 44 erected on the upper part of the movable frame 41 has a height that the transfer unit 42 is pressed against the upper surface of the crop A in which the adsorbent 42a described later is aligned in the alignment part a and the adsorbent 42a adsorbs it. The crop A is vertically lowered to the height at which it is placed on the tray C transported to the transfer section b. Further, the tray C is moved up and down substantially corresponding to the height of the tray C.
【0021】且つ、整列部aと移載部bとに移動すると
き、整列部aに整列された農作物A及び容器Bと、移載
部bに搬送されたトレイC及びそのトレイCに載置され
た農作物Aとの当接が回避される上昇位置に上昇する。When moving to the aligning section a and the transfer section b, the agricultural products A and the containers B aligned in the aligning section a, the tray C conveyed to the transfer section b and the tray C placed on the tray C are transferred. The ascending position is raised so as to avoid contact with the crop A that has been cut.
【0022】上述の移載ユニット42には、図4、図
5、図6にも示すように、例えば吸気ブロワや真空ポン
プ等の負圧発生装置(図示省略)に接続された吸着子4
2aを、整列部a上の容器Bに収容された農作物Aと略
対向する間隔に隔てて複数垂設(例えば4個)してい
る。且つ、吸着子42aは、農作物A上面に密着したと
き、負圧発生装置により発生される負圧により農作物A
を吸着保持し、その農作物AをトレイCに載置したと
き、負圧発生装置による負圧が遮断又は停止され、吸着
子42aによる吸着保持を解除する。また、吸着子42
aに代わる他の保持手段として、例えばパッドやアーム
等で保持してもよい。As shown in FIGS. 4, 5 and 6, the transfer unit 42 is provided with an adsorber 4 connected to a negative pressure generator (not shown) such as an intake blower or a vacuum pump.
A plurality of 2a (for example, 4) are laid out at intervals substantially opposite to the agricultural products A housed in the container B on the alignment portion a. Moreover, when the adsorbent 42a is brought into close contact with the upper surface of the agricultural product A, the adsorbent 42a receives the negative pressure generated by the negative pressure generating device and thus the agricultural product A.
When the agricultural product A is placed on the tray C by suction holding, the negative pressure generated by the negative pressure generator is shut off or stopped, and the suction holding by the adsorber 42a is released. Also, the adsorber 42
As another holding means instead of a, for example, a pad or an arm may be used for holding.
【0023】且つ、移載ユニット42に取り付けた拡縮
シリンダ45は、吸着子42a…を、整列部aに搬送さ
れた容器B内部の農作物A…上面に対して押し付けられ
る近接状態と、移載部bに搬送されたトレイC…に対し
て農作物Aが載置される離間状態とに拡縮動作する。ま
た、昇降シリンダ44及び拡縮シリンダ45に代わる他
の移動手段として、例えばソレノイドやカム機構、リン
ク機構等を用いてもよい。Further, the expansion / contraction cylinder 45 attached to the transfer unit 42 has a state in which the adsorbents 42a ... Are pressed against the upper surface of the crop A ... Inside the container B conveyed to the alignment section a, and the transfer section. The expansion / contraction operation is performed such that the agricultural products A are placed on the trays C transported to b. Further, for example, a solenoid, a cam mechanism, a link mechanism or the like may be used as another moving means in place of the lifting cylinder 44 and the expansion / contraction cylinder 45.
【0024】また、吸着子42aの垂設数や配列数、搬
送コンベア30の条数を変更してもよく、例えば容器B
に収容された農作物Aを、搬送コンベア30により搬送
されるトレイCに対して1個ずつ載置したり、或いは、
容器Bに収容された複数列(例えば前後2列)の農作物
A…を、移載ユニット42に垂設した複数列(例えば前
後2列)の吸着子42a…により吸着保持して、複数条
(例えば2条)の搬送コンベア30により搬送されるト
レイC…に対して略同時に載置してもよい。Further, the number of adsorbents 42a vertically arranged or arranged, and the number of threads of the conveyer 30 may be changed.
The agricultural products A accommodated in the above are placed one by one on the tray C transported by the transport conveyor 30, or
Plural rows (for example, two rows before and after) of the agricultural products A accommodated in the container B are suction-held by plural rows (for example, two rows before and after) of the adsorbents 42 a installed vertically on the transfer unit 42, and plural rows ( For example, they may be placed on the trays C, ...
【0025】前述の項目計測装置50は、図2、図3、
図5にも示すように、所定の光量を有する光源51(例
えばハロゲンランプ)と、所定の感度を有する撮像カメ
ラ52(例えばCCDカメラ)とを、整列部aと移載部
bとの略中間下部に配設すると共に、上述の移載ユニッ
ト42により吸着保持された移載途中の農作物A下面と
対向して略斜め上向き又は略真上向きに個々に配設し、
その整列部a及び移載部bの周囲を、遮光機能を有する
遮光室53で囲繞している。The above-mentioned item measuring device 50 is shown in FIGS.
As shown in FIG. 5, a light source 51 (for example, a halogen lamp) having a predetermined amount of light and an image pickup camera 52 (for example, a CCD camera) having a predetermined sensitivity are provided approximately in the middle between the alignment section a and the transfer section b. It is arranged at the lower portion, and is arranged individually in a substantially diagonally upward direction or a substantially upward direction so as to face the lower surface of the agricultural product A that is being sucked and held by the above-mentioned transfer unit 42 while being transferred,
A light-shielding chamber 53 having a light-shielding function surrounds the alignment portion a and the transfer portion b.
【0026】一方、項目計測装置60は、図7にも示す
ように、上述の光源51及び撮像カメラ52と略同等の
機能を有する光源61と撮像カメラ62とを、搬送コン
ベア30により搬送されるトレイCに載置された農作物
A上面と対向して略真下向き又は略斜め下向きに配設
し、その周囲を遮光室63で囲繞している。On the other hand, in the item measuring device 60, as shown in FIG. 7, the light source 61 and the image pickup camera 62, which have substantially the same functions as the light source 51 and the image pickup camera 52, are conveyed by the conveyer 30. The agricultural products A placed on the tray C are arranged so as to face the upper surface of the agricultural products A substantially downward or obliquely downward, and the periphery thereof is surrounded by a light shielding chamber 63.
【0027】また、図10に示すように、吸着子42a
が押し付けられた上面部分を除いて、農作物Aの下面及
び側面を複数の撮像カメラ52により異なる方向から略
同時に撮像したり、吸着子42aにより吸着保持された
農作物Aの下面側を、撮像カメラ52により略真下又は
略真横から撮像してもよい。或いは、図11に示すよう
に、複数(例えば2個)の吸着子42aにより吸着保持
された農作物Aの下面側を、一つの撮像カメラ52によ
り一括して撮像した後、その撮像した画像情報に基づい
て、農作物A下面の所定項目を個々に判定することもで
きる。さらに、農作物Aを透過した透過光を計測し、そ
の計測情報に基づいて糖酸度を判定する透過光計測装置
(図示省略)も備えることができる。Further, as shown in FIG.
The bottom surface and side surface of the agricultural product A are imaged from different directions by the plurality of imaging cameras 52 at substantially the same time, except for the upper surface portion where is pressed, and the lower surface side of the agricultural product A adsorbed and held by the adsorbent 42a is captured by the imaging camera 52. Therefore, the image may be picked up from just below or almost from the side. Alternatively, as shown in FIG. 11, the lower surface side of the agricultural products A adsorbed and held by a plurality of (for example, two) adsorbents 42a are collectively imaged by one imaging camera 52, and then the image information thus captured is displayed. Based on this, the predetermined items on the bottom surface of the crop A can be individually judged. Further, a transmitted light measuring device (not shown) that measures transmitted light that has passed through the farm produce A and determines the sugar acidity based on the measurement information can be provided.
【0028】且つ、撮像カメラ52,62に接続した画
像処理装置54は、撮像カメラ52,62により撮像さ
れた農作物Aの画像情報を2値化処理して項目判定装置
55に出力する。一方、撮像カメラ52,62の撮像領
域側部に配設した情報読取り装置59(例えばバーコー
ドリーダ)は、トレイC側面に付設された情報記録部
(例えばバーコード)の識別情報(又は固有情報)を読
取り、項目判定装置55に出力する。The image processing device 54 connected to the image pickup cameras 52 and 62 binarizes the image information of the crop A imaged by the image pickup cameras 52 and 62 and outputs it to the item determination device 55. On the other hand, the information reading device 59 (for example, a bar code reader) arranged on the side of the imaging area of the imaging cameras 52, 62 has identification information (or unique information) of an information recording unit (for example, a bar code) attached to the side surface of the tray C. ) Is read and output to the item determination device 55.
【0029】また、光源51に代わる他の照光手段とし
て、例えばキセノンランプやタングステンランプ、紫外
線ランプ、赤外線ランプ、白熱電球、蛍光灯等を用いて
もよい。且つ、撮像カメラ52に代わる他の計測手段と
して、例えば画像素子(CCD)やビデオカメラ、ディ
ジタルカメラ等の光学的計測装置を用いてもよい。As another illuminating means instead of the light source 51, for example, a xenon lamp, a tungsten lamp, an ultraviolet lamp, an infrared lamp, an incandescent lamp, a fluorescent lamp or the like may be used. Further, as another measuring means instead of the image pickup camera 52, an optical measuring device such as an image sensor (CCD), a video camera, a digital camera or the like may be used.
【0030】図8は、項目計測装置50,60の制御回
路ブロック図を示し、項目判定装置55(例えばディス
クトップ型又はノート型のパーソナル・コンピュータ)
には、CPU56、ROM57、RAM58が内蔵さ
れ、CPU56は、ROM57(又はPROM)に格納
されたプログラムに沿って、供給コンベア20と、2条
の搬送コンベア30と、農作物移載装置40と、撮像カ
メラ52,62と、画像処理装置54と、情報読取り装
置59との駆動及び停止を制御する。また、パーソナル
・コンピュータに代えて、例えばCPU、ROM、RA
Mを備えた制御装置等で項目判定装置を構成することも
できる。FIG. 8 shows a block diagram of a control circuit of the item measuring devices 50 and 60, and an item judging device 55 (for example, a desktop type or notebook type personal computer).
CPU56, ROM57, RAM58 is built into the CPU56, the CPU56, along with the program stored in the ROM57 (or PROM), the supply conveyor 20, the two-piece conveyor 30, the crop transfer device 40, the imaging device. Driving and stopping of the cameras 52 and 62, the image processing device 54, and the information reading device 59 are controlled. Further, instead of a personal computer, for example, a CPU, ROM, RA
The item determination device can also be configured by a control device or the like provided with M.
【0031】上述のRAM58には、画像処理装置54
から出力される撮像カメラ52,62の画像情報と、そ
の画像情報に基づいて判定された判定結果と、情報読取
り装置59で読取ったトレイCの識別情報とを対応させ
て記憶する。The RAM 58 described above includes an image processing device 54.
The image information of the imaging cameras 52 and 62 output from the device, the determination result determined based on the image information, and the identification information of the tray C read by the information reading device 59 are stored in association with each other.
【0032】前述のCPU56は、画像処理装置54か
ら出力される撮像カメラ52,62の画像情報(農作物
Aの計測情報)と、予め記憶領域に記憶された基準情報
(正常な農作物Aを撮像したときに出力される計測情
報)とを比較及び演算して、農作物Aの所定項目(例え
ば色、傷、腐り、外径、形状、高さ、幅、体積、偏平
度、糖酸度、成熟度、腐り具合、浮き皮具合、規格外等
の等階級)を個々に総合判定すると共に、その判定結果
と、農作物Aが載置されたトレイCの識別情報とを対応
させて記憶領域に記憶する。また、農作物Aの判定結果
を、トレイCに付設した記録媒体(例えばIDカードや
磁気カード等)に対して書込み可能及び読取り可能に記
憶してもよい。The CPU 56 described above outputs image information of the image pickup cameras 52 and 62 output from the image processing device 54 (measurement information of the crop A), and reference information stored in a storage area in advance (normal crop A is imaged). The output data is compared and calculated with the measurement information output at this time, and predetermined items (for example, color, scratch, rot, outer diameter, shape, height, width, volume, flatness, sugar acidity, maturity, The degree of decay, the degree of floating skin, the non-standard grade, etc.) are individually comprehensively determined, and the determination result and the identification information of the tray C on which the crop A is placed are stored in the storage area in association with each other. Further, the determination result of the agricultural product A may be writable and readable stored in a recording medium (for example, an ID card or a magnetic card) attached to the tray C.
【0033】一方、仕分け部cの搬送路側部に配設した
情報読取り装置59は、特定のトレイCが仕分け部c…
に搬送されたとき、トレイCに付設された情報記録部の
識別情報を読取り、項目判定装置55に出力する。CP
U56は、情報読取り装置59で読取った識別情報と、
計測情報記憶領域に記憶された識別情報とを比較して、
トレイCに載置された農作物Aと仕分け部cとが同一項
目であるか判定し、項目が同一であると判定された場
合、トレイCを、判定と対応する仕分け部cの振分けコ
ンベア31に対して供給する。項目が異なると判定され
た場合、トレイCを次の仕分け部cに搬送する。On the other hand, in the information reading device 59 disposed on the side of the conveying path of the sorting section c, the specific tray C is sorted by the sorting section c ...
When the sheet is conveyed to, the identification information of the information recording section attached to the tray C is read and output to the item determination device 55. CP
U56 is the identification information read by the information reading device 59,
Compared with the identification information stored in the measurement information storage area,
It is determined whether the crop A placed on the tray C and the sorting section c are the same item, and when it is determined that the items are the same, the tray C is placed on the sorting conveyor 31 of the sorting section c corresponding to the determination. To supply. When it is determined that the items are different, the tray C is conveyed to the next sorting unit c.
【0034】また、上述の情報記録部に代わる他の識別
方法として、例えばトレイCの番地情報又はタイムラグ
を記憶したり、トレイC自体又はトレイCと対応して付
設した記録媒体(例えばIDカードや磁気カード等)の
固有情報(番地やキャリア番号)を読取ったり、その他
の計測情報を記録媒体に記録する等してもよい。As another identification method in place of the above-mentioned information recording section, for example, the address information or time lag of the tray C is stored, or the tray C itself or a recording medium attached corresponding to the tray C (for example, an ID card or Specific information (address or carrier number) of a magnetic card or the like may be read, or other measurement information may be recorded on a recording medium.
【0035】図示実施例は上記の如く構成するものにし
て、以下、物品計測移載装置10により農作物A全体の
所定項目を計測する動作を説明する。The illustrated embodiment is configured as described above, and the operation of measuring a predetermined item of the entire crop A by the article measuring and transferring device 10 will be described below.
【0036】先ず、図1、図2に示すように、複数個の
農作物Aが整列して収容された荷受け用の容器Bを、供
給コンベア20上に設定した整列部aに搬送し、農作物
Aが取り除かれたトレイC…を、搬送コンベア30上に
設定した移載部bに複数個(例えば4個)ずつ間欠搬送
する。First, as shown in FIGS. 1 and 2, a container B for receiving cargo, in which a plurality of crops A are aligned and stored, is conveyed to an alignment section a set on a supply conveyor 20, and the crops A are The plurality of (for example, four) the trays C from which the trays have been removed are intermittently transported to the transfer section b set on the transport conveyor 30.
【0037】次に、図3、図4、図6に示すように、農
作物移載装置40を駆動して、容器Bに収容された1列
目(例えば4個)の農作物A…を、移載ユニット42に
垂設した吸着子42a…で吸着保持して、搬送コンベア
30上の移載部bに搬送されたトレイC…に対して一括
して載置する。同時に、農作物Aが載置されたトレイC
の識別情報を情報読取り装置59で読取り、項目判定装
置55に出力する。Next, as shown in FIG. 3, FIG. 4, and FIG. 6, the crop transfer device 40 is driven to transfer the first row (for example, four) crops A ... Adsorbed and held by the adsorbents 42a installed vertically on the mounting unit 42, and collectively mounted on the trays C transferred to the transfer section b on the transfer conveyor 30. At the same time, the tray C on which the crop A is placed
Is read by the information reading device 59 and output to the item judging device 55.
【0038】且つ、移載ユニット42の吸着子42a…
により吸着保持した農作物A…を、供給コンベア20上
の整列部aから搬送コンベア30上の移載部bに移載す
る移動途中に於いて、図5にも示すように、農作物Aの
下面側を、項目計測装置50の撮像カメラ52により略
斜め下方又は略真下から個々又は一括して撮像すると共
に、その撮像した画像情報を、画像処理装置54により
2値化処理して項目判定装置55に出力する。In addition, the adsorber 42a of the transfer unit 42 ...
As shown in FIG. 5, the lower surface side of the agricultural product A, which is adsorbed and held by the above, is transferred from the aligning part a on the supply conveyor 20 to the transfer part b on the transfer conveyor 30. Are imaged individually or collectively by the imaging camera 52 of the item measuring device 50 from substantially obliquely below or just below, and the imaged image information is binarized by the image processing device 54 to the item determination device 55. Output.
【0039】以下同様にして、容器Bに収容された2列
目〜5列目の農作物A…を、移載ユニット42に垂設し
た吸着子42a…により順に吸着保持すると共に、左右
の搬送コンベア30を交互に間欠駆動して、搬送コンベ
ア30により搬送されるトレイC…に対して複数個の農
作物Aを交互に載置(図2参照)する。容器Bに収容さ
れた全農作物AをトレイC…に載置した後、その全農作
物Aが取り除かれた容器Bを回収コンベア21に放出
し、次の容器Bを整列部aに搬送する。In the same manner, the second to fifth rows of the agricultural products A stored in the container B are sequentially sucked and held by the adsorbents 42a installed vertically on the transfer unit 42, and the left and right transport conveyors are also held. 30 are alternately driven intermittently, and a plurality of agricultural products A are alternately placed on the trays C ... Which are transported by the transport conveyor 30 (see FIG. 2). After placing all the agricultural products A contained in the container B on the tray C ..., the container B from which all the agricultural products A have been removed is discharged to the recovery conveyor 21, and the next container B is conveyed to the alignment section a.
【0040】続いて、図7に示すように、トレイCに載
置された農作物Aの上面側を、項目計測装置60の撮像
カメラ62により略真上又は略斜め上方から個々に撮像
すると共に、その撮像した画像情報を、画像処理装置5
4により2値化処理して項目判定装置55に出力する。Subsequently, as shown in FIG. 7, the upper surface side of the agricultural products A placed on the tray C is individually photographed by the image pickup camera 62 of the item measuring device 60 from substantially right above or substantially diagonally above. The captured image information is used as the image processing device 5
Then, the binarization processing is performed according to 4, and the binarized processing is output to the item determination device 55.
【0041】且つ、項目判定装置55のCPU56は
は、画像処理装置54から出力される撮像カメラ52,
62の画像情報と、予め記憶領域に記憶された基準情報
とを比較及び演算して、農作物A全体の所定項目を個々
に総合判定すると共に、その判定結果と、農作物Aが載
置されたトレイCの識別情報とを対応させて記憶領域に
記憶する。Further, the CPU 56 of the item judging device 55 controls the image pickup camera 52 output from the image processing device 54,
The image information of 62 and the reference information stored in advance in the storage area are compared and calculated, and the predetermined items of the entire crop A are individually comprehensively determined, and the determination result and the tray on which the crop A is placed. It is stored in the storage area in association with the identification information of C.
【0042】次に、仕分け部c…に搬送されるトレイC
を、情報読取り装置59により読取ったトレイCの識別
情報に基づいて、仕分け部cの振分けコンベア31に対
して項目別に振分け供給する。所定数のトレイCが振分
けコンベア31の終端側に整列されたとき、箱詰め装置
32を駆動して、トレイCに載置された農作物Aを、特
定の容器(例えば段ボール箱)に所定数収容し、例えば
出荷工程や保管工程等の次工程に供給する。且つ、農作
物Aが取り除かれたトレイCを移載部bに回帰搬送す
る。Next, the tray C conveyed to the sorting section c ...
Based on the identification information of the tray C read by the information reading device 59, the items are sorted and supplied to the sorting conveyor 31 of the sorting section c by item. When a predetermined number of trays C are arranged on the end side of the sorting conveyor 31, the boxing device 32 is driven to store the predetermined number of the agricultural products A placed on the tray C in a specific container (for example, a cardboard box). For example, it is supplied to the next process such as a shipping process or a storage process. At the same time, the tray C from which the crop A has been removed is re-transported to the transfer section b.
【0043】以上のように、供給コンベア20上の整列
部aに搬送された容器B内の農作物Aを、搬送コンベア
30上の移載部bに搬送されたトレイCに移載する移動
途中で、農作物移載装置40を構成する移載ユニット4
2の吸着子42aにより吸着保持された農作物A下面を
撮像カメラ52により略斜め下方から撮像すると共に、
その撮像した画像情報に基づいて、農作物A下面の所定
項目を項目判定装置55により個々に判定するので、移
載後に於いて、トレイCに載置された農作物Aを持ち上
げたり、表裏反転したりする手間及び作業が省け、計測
作業の簡素化及び能率アップを図ることができる。且
つ、農作物Aの移載回数及び移動回数が少ないため、農
作物Aの商品価値を損なうことなく、所定項目を正確且
つ確実に計測することができる。As described above, the agricultural products A in the container B transported to the alignment portion a on the supply conveyor 20 are transferred to the tray C transported to the transfer portion b on the transportation conveyor 30 during the movement. , A transfer unit 4 constituting the crop transfer device 40
The lower surface of the agricultural product A adsorbed and held by the second adsorber 42a is imaged from an obliquely downward direction by the imaging camera 52, and
Based on the imaged image information, the item determination device 55 individually determines the predetermined items on the lower surface of the crop A. Therefore, after the transfer, the crop A placed on the tray C is lifted, or the front and back are inverted. It is possible to save the labor and work of performing, and to simplify the measurement work and improve the efficiency. Moreover, since the number of transfers and the number of transfers of the crop A are small, it is possible to accurately and surely measure the predetermined item without deteriorating the commercial value of the crop A.
【0044】しかも、供給コンベア20上の整列部aに
搬送された容器B内の農作物Aを、搬送コンベア30上
の移載部bに搬送されるトレイCに移載するとき、撮像
カメラ52で撮像した農作物Aの計測情報と、その農作
物Aが載置されるトレイCの識別情報とを対応させて項
目判定装置55に記憶するので、移載完了後に計測情報
を転送する必要がなく、農作物Aに関する計測情報の取
り扱いが簡単且つ容易に行える。且つ、先に荷受けした
農作物Aの移載作業が完了すると同時に、次に荷受けさ
れた農作物Aの移載作業を即行うことができ、作業が能
率的に行える。Moreover, when the agricultural products A in the container B transported to the alignment section a on the supply conveyor 20 are transferred to the tray C transported to the transfer section b on the transfer conveyor 30, the image pickup camera 52 is used. Since the measurement information of the imaged agricultural product A and the identification information of the tray C on which the agricultural product A is placed are stored in the item determination device 55, there is no need to transfer the measurement information after the transfer is completed, and the agricultural product is not necessary. The measurement information regarding A can be handled easily and easily. At the same time that the transfer work of the crop A that has been received first is completed, the transfer work of the crop A that has been received next can be performed immediately, and the work can be performed efficiently.
【0045】さらに、移載ユニット42の吸着子42a
により吸着保持された農作物Aの下面側を、項目計測装
置50の撮像カメラ52により略斜め下方から撮像する
ので、例えば農作物の表皮や内液、水滴、ゴミ等の異物
が撮像カメラ52のレンズ面に付着するのを低減又は防
止することができ、撮像能力及び計測精度が損なわれ
ず、計測作業が安定して行える。また、所定の透過率を
有する透明板(図示省略)を、吸着子42aで吸着保持
した農作物Aと撮像カメラ52との間に配設して、上述
のような異物が撮像カメラ52のレンズ面に付着するの
を防止することもできる。Further, the adsorber 42a of the transfer unit 42
The lower surface side of the agricultural product A adsorbed and held by the image capturing device 52 of the item measuring device 50 is imaged from a substantially oblique lower side, so that foreign matter such as skins, internal liquids, water drops, and dust of the agricultural product is captured by the lens surface of the imaging camera 52. It is possible to reduce or prevent the adherence to the object, the imaging ability and the measurement accuracy are not impaired, and the measurement work can be performed stably. Further, a transparent plate (not shown) having a predetermined transmittance is arranged between the crop A adsorbed and held by the adsorbent 42a and the image pickup camera 52 so that the foreign matter as described above is attached to the lens surface of the image pickup camera 52. It can also be prevented from adhering to.
【0046】さらにまた、移載ユニット42の吸着子4
2a…で吸着保持した農作物A…を、搬送コンベア30
上の移載部bに搬送されたトレイC…に対して一括して
載置するので、1個ずつ移載する手間及び作業が省け、
作業の省力化及び能率アップを図ることができる。Furthermore, the adsorber 4 of the transfer unit 42
The agricultural products A ... Adsorbed and held by 2a ...
Since the trays C transported to the upper transfer section b are collectively placed, it is possible to save the labor and work of transferring one by one,
It is possible to save labor and improve efficiency.
【0047】図8は、供給コンベア20上の整列部aに
搬送される農作物Aを、移載ユニット42の吸着子42
aにより順に保持してトレイCに移載する農作物移載装
置40の他の移載方法を示し、供給コンベア20上の整
列部aに整列して搬送される1個又は複数個の農作物A
を、搬送コンベア30上の移載部bに搬送されるトレイ
Cに対して移載する移動途中に於いて、吸着子42aに
より吸着保持した農作物Aの下面及び側面を撮像カメラ
52により順に撮像するので、上述の実施例と略同等の
作用及び効果を奏することができる。In FIG. 8, the adsorbent 42 of the transfer unit 42 transfers the agricultural product A conveyed to the alignment section a on the supply conveyor 20.
Another transfer method of the crop transfer device 40 that sequentially holds and transfers to the tray C by a is shown, and one or a plurality of crops A that are aligned and conveyed in the alignment section a on the supply conveyor 20 are shown.
Is sequentially transferred to the tray C transported to the transfer section b on the transport conveyor 30, and the lower surface and the side surface of the crop A adsorbed and held by the adsorbent 42a are sequentially imaged by the imaging camera 52 during the movement. Therefore, it is possible to obtain substantially the same actions and effects as those of the above-described embodiment.
【0048】この発明の構成と、上述の実施例との対応
において、この発明の物品は、実施例のミカンやリン
ゴ、トマト、柿、梨、メロン、胡瓜、茄子、人参、長芋
などの農作物A(果菜物を含む)、或いは、魚介類や球
技用ボール、食品、部品等に対応し、以下同様に、載置
部は、トレイCや凹状の載置部等に対応し、物品移載手
段及び一括移載手段は、農作物移載装置40及び吸着子
42aやアーム等の機械的手段と、作業者の手で保持し
て移載する人為的手段等に対応し、供給手段及び容器供
給手段は、供給コンベア20に対応し、移動手段及び搬
送手段は、搬送コンベア30に対応し、物品計測手段
は、撮像カメラ52(CCD)やビデオカメラ、ディジ
タルカメラ等の光学的計測装置に対応し、項目判定手段
は、項目判定装置55やパーソナル・コンピュータ、C
PU、ROM、RAMを内蔵した制御装置、そのパソコ
ンや制御装置に内蔵されたCPU、CPUに格納された
プログラム等に対応するも、この発明は、上述の実施例
の構成のみに限定されるものではない。In the correspondence between the constitution of the present invention and the above-mentioned embodiments, the articles of the present invention are agricultural products A such as mandarin orange, apple, tomato, persimmon, pear, melon, cucumber, eggplant, carrot, and yam. (Including fruits and vegetables), or seafood, balls for ball games, foods, parts and the like. Similarly, the placing section corresponds to the tray C or the concave placing section, and the article transferring means. The collective transfer means corresponds to mechanical means such as the agricultural crop transfer device 40 and the adsorbent 42a and the arm, and an artificial means for transferring and holding by the operator's hand. The supplying means and the container supplying means. Corresponds to the supply conveyor 20, the moving means and the conveying means correspond to the conveying conveyor 30, the article measuring means corresponds to an optical measuring device such as an imaging camera 52 (CCD), a video camera, a digital camera, The item determining means is the item determining device 55. Personal computer, C
The present invention is limited to the configuration of the above-described embodiment, although it corresponds to a control device having a PU, ROM, RAM built therein, a CPU incorporated in the personal computer or the control device, a program stored in the CPU, etc. is not.
【0049】例えば整列部aに整列された複数の農作物
Aを、搬送コンベア30の載置面に直接載置したり、そ
の載置面に形成又は固定された載置部に載置してもよ
い。また、例えば1条又は2条以上の搬送コンベア30
により搬送されるトレイCに載置することもできる。For example, a plurality of agricultural products A aligned in the alignment section a may be directly placed on the placing surface of the conveyor 30 or placed on the placing portion formed or fixed on the placing surface. Good. Further, for example, a conveyor 30 having one or two or more articles
It can also be placed on the tray C transported by.
【図1】 農作物計測移載装置の全体構成を示す平面
図。FIG. 1 is a plan view showing the overall configuration of a crop measurement transfer device.
【図2】 農作物を整列部から移載部に移載する部分を
示す平面図。FIG. 2 is a plan view showing a portion where the agricultural products are transferred from the alignment section to the transfer section.
【図3】 農作物移載装置による農作物の移載動作を示
す側面図。FIG. 3 is a side view showing a transfer operation of agricultural products by the agricultural product transfer device.
【図4】 移載ユニットによる農作物の吸着保持直後を
示す正面図。FIG. 4 is a front view showing a state immediately after adsorption and holding of agricultural products by the transfer unit.
【図5】 項目計測装置による農作物下面の計測状態を
示す正面図。FIG. 5 is a front view showing a measurement state of the lower surface of the agricultural product by the item measuring device.
【図6】 移載ユニットによる農作物の載置直前を示す
正面図。FIG. 6 is a front view showing a state immediately before the placement of agricultural products by the transfer unit.
【図7】 項目計測装置による農作物上面の計測状態を
示す正面図。FIG. 7 is a front view showing a measurement state of the top surface of the agricultural product by the item measuring device.
【図8】 農作物移載装置による農作物の他の移載方法
を示す側面図。FIG. 8 is a side view showing another method for transferring agricultural products by the agricultural product transfer device.
【図9】 項目計測装置の制御回路ブロック図。FIG. 9 is a control circuit block diagram of the item measuring device.
【図10】 項目計測装置による農作物の他の計測方法
を示す正面図。FIG. 10 is a front view showing another method for measuring an agricultural product by the item measuring device.
【図11】 項目計測装置による農作物のその他の計測
方法を示す正面図。FIG. 11 is a front view showing another method of measuring an agricultural product by the item measuring device.
A…農作物 B…容器 C…トレイ a…整列部 b…移載部 10…物品計測移載装置 20…供給コンベア 30…搬送コンベア 40…農作物移載装置 42…移載ユニット 42a…吸着子 50…項目計測装置 52…撮像カメラ 54…画像処理装置 55…項目判定装置 A ... Agricultural products B ... container C ... tray a ... Alignment section b ... Transfer section 10 ... Article measuring and transferring device 20 ... Supply conveyor 30 ... conveyor 40 ... Crop transfer device 42 ... Transfer unit 42a ... adsorber 50 ... Item measuring device 52 ... Imaging camera 54 ... Image processing device 55 ... Item determination device
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 FI テーマコート゛(参考) B65G 47/91 B65G 47/91 47/92 47/92 A // G01N 21/85 G01N 21/85 A Fターム(参考) 2G051 AA05 AB02 BA01 CA04 CA07 DA01 DA06 DA13 EA12 3E028 AA01 BA01 BA06 CA03 GA02 GA08 HA02 3E054 AA10 BA07 DC02 DC13 DC16 DC20 EA03 FA02 FA05 FA06 FE03 GA01 GA06 GB03 GB10 GC01 GC07 JA02 3F016 AA01 BA07 CD05 CE01 CG07 CG08 3F072 AA11 GA05 GB03 GB07 GB10 GC01 GD03 GE03 GE07 GF01 KA01 KA25 KD03 KD12 KD27 KE04 KE05 ─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. 7 Identification code FI theme code (reference) B65G 47/91 B65G 47/91 47/92 47/92 A // G01N 21/85 G01N 21/85 AF Term (reference) 2G051 AA05 AB02 BA01 CA04 CA07 DA01 DA06 DA13 EA12 3E028 AA01 BA01 BA06 CA03 GA02 GA08 HA02 3E054 AA10 BA07 DC02 DC13 DC16 DC20 EA03 FA02 FA05 FA06 FE03 GA01 GA06 GB03 GB10 GC01 GC07 JA02 307F05 A08 01A07 BA07 CA07 BA07 CA07 CA07 BA07 CA07 CA07 BA07 CA07 CA07 BA07 CA07 CA07 BA07 BA07 GA05 GB03 GB07 GB10 GC01 GD03 GE03 GE07 GF01 KA01 KA25 KD03 KD12 KD27 KE04 KE05
Claims (5)
される載置部を特定方向に移動する移動手段との間に、
上記供給手段により供給される物品を、上記移動手段に
より移動される載置部に対して移載する物品移載手段
と、上記物品移載手段により移載される物品の所定項目
を、上記載置部に移載する移動途中で計測する物品計測
手段とを設けた物品計測移載装置。1. A supply means for supplying an article and a moving means for moving a placing section on which the article is placed in a specific direction,
The article transfer means for transferring the articles supplied by the supply means to the placement section moved by the movement means, and the predetermined items of the articles transferred by the article transfer means are described above. An article measuring and transferring apparatus provided with an article measuring means for measuring a moving part on a placing section.
記移動手段により移動される載置部に移載するとき、上
記物品計測手段により計測された物品の計測情報と、該
物品が載置される載置部の識別情報とを対応させて記憶
すると共に、上記物品の計測情報と予め記憶した物品の
基準情報とを比較して、該物品の所定項目を判定する項
目判定手段を備えた請求項1記載の物品計測移載装置。2. When the article supplied by the supply means is transferred to the placing section moved by the moving means, the measurement information of the article measured by the article measuring means and the placement of the article. In addition to storing the identification information of the mounting portion to be associated with each other, the measurement information of the article is compared with the reference information of the article stored in advance, and the item determination means for determining a predetermined item of the article is provided. The article measuring and transferring apparatus according to claim 1.
て収容された容器を供給する容器供給手段で構成し、上
記移動手段を、上記物品が個々に載置される凹状の載置
部を搬送する搬送手段で構成した請求項1記載の物品計
測移載装置。3. The supply means comprises container supply means for supplying a container in which the plurality of articles are aligned and housed, and the moving means is a concave mounting means for mounting the articles individually. The article measuring and transferring apparatus according to claim 1, wherein the article measuring and transferring apparatus is configured by a conveying unit that conveys a unit.
供給される複数の物品を、上記移動手段により移動され
る複数の載置部に対して一括して移載する一括移載手段
で構成した請求項1記載の物品計測移載装置。4. The batch transfer means for collectively transferring the plurality of articles supplied by the supply means to the plurality of placement sections moved by the moving means. The article measuring and transferring apparatus according to claim 1, which is configured.
フリーのトレイで構成した請求項1,2又は3記載の物
品計測移載装置。5. The article measuring and transferring apparatus according to claim 1, wherein the placing section is composed of a free tray on which the articles are individually placed.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001281046A JP2003081223A (en) | 2001-09-17 | 2001-09-17 | Article weighing and transfer apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001281046A JP2003081223A (en) | 2001-09-17 | 2001-09-17 | Article weighing and transfer apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2003081223A true JP2003081223A (en) | 2003-03-19 |
Family
ID=19104941
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2001281046A Pending JP2003081223A (en) | 2001-09-17 | 2001-09-17 | Article weighing and transfer apparatus |
Country Status (1)
Country | Link |
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JP (1) | JP2003081223A (en) |
Cited By (10)
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JP2007308239A (en) * | 2006-05-17 | 2007-11-29 | Fuji Seisakusho:Kk | Workpiece feed device |
JP2009537422A (en) * | 2006-05-16 | 2009-10-29 | スタールカット インターナショナル ベスローテン フェンノートシャップ | Egg crack detection |
US7661249B2 (en) * | 2007-03-14 | 2010-02-16 | Marchesini Group, S.P.A. | Device for picking up articles from a supply station and depositing the articles in corresponding blisters of a blister strip |
US7735302B2 (en) * | 2007-03-14 | 2010-06-15 | Marchesini Group S.P.A. | Device for picking up articles from a supply station and for inserting the articles into a container |
JP2012228662A (en) * | 2011-04-26 | 2012-11-22 | Yanmar Co Ltd | Fruit sorting system |
CN103786920A (en) * | 2014-01-21 | 2014-05-14 | 山东明佳包装检测科技有限公司 | Suction cup mechanism for sucking chocolate and releasing chocolate |
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JP2009537422A (en) * | 2006-05-16 | 2009-10-29 | スタールカット インターナショナル ベスローテン フェンノートシャップ | Egg crack detection |
US8334970B2 (en) | 2006-05-16 | 2012-12-18 | Staalkat International B.V. | Detection of open cracks in eggs |
JP2007308239A (en) * | 2006-05-17 | 2007-11-29 | Fuji Seisakusho:Kk | Workpiece feed device |
US7661249B2 (en) * | 2007-03-14 | 2010-02-16 | Marchesini Group, S.P.A. | Device for picking up articles from a supply station and depositing the articles in corresponding blisters of a blister strip |
US7735302B2 (en) * | 2007-03-14 | 2010-06-15 | Marchesini Group S.P.A. | Device for picking up articles from a supply station and for inserting the articles into a container |
JP2012228662A (en) * | 2011-04-26 | 2012-11-22 | Yanmar Co Ltd | Fruit sorting system |
CN103786920A (en) * | 2014-01-21 | 2014-05-14 | 山东明佳包装检测科技有限公司 | Suction cup mechanism for sucking chocolate and releasing chocolate |
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JP2020508937A (en) * | 2017-02-01 | 2020-03-26 | ウエストロック・パッケージング・システムズ・エルエルシー | Apparatus, system, and method for orienting an article |
JP7345393B2 (en) | 2017-02-01 | 2023-09-15 | ウエストロック・パッケージング・システムズ・エルエルシー | Apparatus, system and method for orienting articles |
CN106829082A (en) * | 2017-03-10 | 2017-06-13 | 胡珂 | A kind of apple automatic boxing machine that can detect apple integrity degree |
CN108393911A (en) * | 2018-04-02 | 2018-08-14 | 深圳市联赢激光股份有限公司 | A kind of 18650 battery loading fixtures |
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