JP2005231710A - Boxing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a boxing machine which boxes farm products without injuring the surface of the products even if the products are carried in an inclined position. <P>SOLUTION: In operating the boxing machine, an image of a fruit is created from an image of a strawberry, and the center of gravity G (Xa and Ya) of the image of the fruit is calculated using the image of the fruit. A control section of the boxing machine determines an axis T which is the straight line that penetrates the center of gravity G (Xa and Ya) and gives a minimum moment of inertia, and calculates a direction of gripping the farm product, that is, a turn angle (θ) of a chuck on the basis of the direction of the calculated axis T, and calculates a position of gripping the farm product, that is, a travel distance of the chuck in the Y axial direction on the basis of the center of gravity G (Xa and Ya) of the image of the fruit. The control section also calculates a travel distance of the chuck in the Z axial direction on the basis of a preset level difference size. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a boxing machine for packing a plurality of agricultural products such as strawberries or cherry tomatoes in a box.

  FIG. 14 is a schematic external perspective view showing a boxing machine disclosed in Patent Document 1 to be described later. In the figure, reference numeral 71 denotes a harvest tray in which a plurality of harvested strawberries as, as. Is a storage pack for storing strawberries as, as,... The harvesting tray 71 and the storage pack 80 are arranged at a distance around one axis, and the harvesting tray 71 and the storage pack 80 are respectively placed on a mounting table (not shown) that can move up and down, front and rear, and right and left. It is placed.

  On the upper surface of the harvest tray 71, a plurality of inverted conical recesses are provided at appropriate intervals in the vertical and horizontal directions, and strawberries as, as,... is there. On the other hand, a plurality of semi-elliptical recesses are provided on the upper surface of the storage pack 80 at appropriate intervals in the vertical and horizontal directions, and the strawberries as, as,... It has come to be. Between the harvesting tray 71 and the storage pack 80, a rotary table 75 provided in the main body 72 is disposed so as to be rotatable in one direction. A plurality of holding machines 73, 73,... Capable of sucking and holding are supported so as to be swingable at appropriate intervals in the circumferential direction.

  The holding machine 73 is provided with a bellows-like suction pad 73c at the tip of a tube 73b that is slidably supported in an axial direction by a cylinder 73a whose pressure is reduced, and the cylinder 73a is a rotary table 75. The support arm 74 standing upright can be tilted outward from the rotary table 75. Then, with the support arm, the cylinder 73a is tilted outward from the rotary table 75 and the tube 73b is tilted vertically, and the harvest tray 71 is aligned in the front-rear and left-right directions, and the harvest tray 71 is further raised. The strawberry as is brought into contact with the suction pad 73c of the holder 73, and then the inside of the cylinder 73a and the tube 73b is depressurized to cause the holder 73 to suck and hold the strawberry as.

  Next, the harvest tray 71 is lowered, and the rotary table 75 is rotated until the holder 73 reaches the position of the storage pack 80 while the cylindrical body 73a is turned sideways by the support arm. A camera 76 for detecting the size of the strawberry as is disposed at a midway position between the position of the harvest tray 71 and the storage pack 80. On the other hand, a plurality of storage packs 80, 80,... Are mounted on the mounting table described above according to the size of the strawberry, and the mounting table is rotatable. This mounting table rotates so that the storage pack 80 that stores the size of the strawberry as obtained by the camera 76 is opposed to the rotary table 75 at the timing when the holder 73 reaches the position of the storage pack 80. It is supposed to be.

The cylindrical body 73a of the holder 73 is inclined with respect to the vertical direction by the support arm 74 while the rotary table 75 is rotating, and in this state, the storage pack 80 is aligned in the front, rear, left, and right directions and lifted. When the strawberry as is stored in the recess of the storage pack 80, the decompression of the cylinder 73a and the tube 73b is released, and the strawberry as is boxed in the storage pack 80.
JP 2002-52487 A

  However, in such a conventional boxing machine, when holding strawberries as by decompression suction of the holding machine 73, each strawberries as, as,... Therefore, a plurality of dedicated harvesting trays 71, 71,... Must be prepared, and the preparation of the harvesting trays 71, 71,. In order to eliminate the burden of such costs, it is required that the supplied agricultural products can be boxed without using the harvest tray 71. However, when such a harvest tray 71 is not used, the strawberry as Is inclined, the suction pad 73c of the holder 73 cannot be brought into contact with the strawberry ass of such a posture. On the other hand, when the suction pad 73c is brought into contact with the fruit part of the strawberry as and the strawberry as is held by vacuum suction, even if the ripening degree of the strawberry as is relatively low, wrinkles occur on the surface of the fruit part. was there.

  This invention is made | formed in view of such a situation, Comprising: Even if the agricultural products carried in are diagonally oriented, the boxing machine which can box the agricultural products without generating wrinkles on the surface is provided.

  The present invention according to claim 1 is a gripping part formed by a plurality of finger parts that can grip the agricultural product that is carried in such a manner that it can be expanded and contracted, and a central axis that penetrates a surface that inscribes the gripping part to each of the finger parts. A rotating means for rotating the gripping part, a moving means for moving the gripping part up and down and vertically and horizontally, and a control part for controlling the rotating operation of the gripping part by the rotating part and the moving part of the gripping part by the moving means. , A boxing machine that moves the gripping part that grips the produce with each finger part to the box by moving means, and packs the produce that has been moved together with the gripping part into the box, and the control part includes the produce And the control unit uses the supplied image data to calculate a rotation amount calculation unit that calculates a rotation amount of the gripping unit by the rotation unit, and a gripping unit by the moving unit. Amount of movement to calculate the amount of movement of the part A rotation means for controlling the turning operation of the gripping part by the turning means so that the obtained turning amount is obtained, and the movement of the gripping part by the moving means so as to obtain the obtained moving amount. The operation is controlled.

  In the present invention according to claim 2, the rotation amount calculation means calculates a rotation angle of the gripping portion based on a means for determining a principal axis of an image of the agricultural product included in the image data and a direction of the determined principal axis. And a means for performing the above.

  According to a third aspect of the present invention, the moving amount calculating means includes means for calculating the position of the center of gravity of the image of the agricultural product included in the image data, and movement of the gripping portion based on the obtained position of the center of gravity. And means for obtaining the quantity.

  In the first aspect of the present invention, a gripping part that is provided with a plurality of finger parts that can grip the agricultural product that is carried in, and a center axis that passes through the surface that inscribes the gripping part to each of the finger parts. A rotating means for rotating the gripping part, a moving means for moving the gripping part up and down and vertically and horizontally, and a control part for controlling the rotating operation of the gripping part by the rotating means and the moving part movement operation by the moving means. The gripping part that grips the agricultural product with each finger part is moved to the box by the moving means, and the agricultural product moved together with the gripping part is packed in the box. For example, by providing an air bag on the part that comes into contact with the produce of each finger part, the produce can be brought into surface contact with elasticity, so even when gripping the fruit part of the produce, Does not cause wrinkles on the surface of agricultural products.

  Further, the control unit is provided with image data relating to the agricultural products, and the control unit uses the supplied image data to calculate a rotation amount of the gripping unit by the rotation unit. A movement amount calculating means, and a movement amount calculating means for calculating a movement amount of the gripping portion by the moving means, and controlling the turning operation of the gripping portion by the turning means so as to obtain the obtained turning amount; In addition, since the movement of the gripping part by the moving means is controlled so as to obtain the obtained movement amount, even if the agricultural product to be carried is in an oblique direction, the agricultural product can be packed in a box.

  According to a second aspect of the present invention, the rotation amount calculation means calculates a rotation angle of the gripping portion based on a means for determining a main axis of an image of the agricultural product included in the image data and a direction of the determined main axis. Therefore, even if the non-spherical agricultural product is carried in in any direction, the agricultural product can be reliably gripped by the gripping portion.

  In this invention of Claim 3, the said movement amount calculation means is a means to calculate the position of the gravity center of the image of the agricultural product contained in the said image data, and the movement of the said holding part based on the position of the obtained gravity center Therefore, even if the position of the agricultural product carried into the boxing machine fluctuates, the agricultural product can be reliably gripped by the gripping portion.

  According to the present invention, a gripping portion in which a plurality of finger portions for gripping the carried agricultural products are provided so as to be able to be narrowed and the gripping portion is rotated around a central axis passing through a surface inscribed in each finger portion. A rotating means for moving, a moving means for moving the gripping part vertically and horizontally in a plane intersecting with the lifting and lowering direction, and a rotating operation of the gripping part by the rotating means and a moving operation of the gripping part by the moving means. A control unit, and a gripping unit that grips the agricultural product with each finger unit is moved to the box by the moving means, and the agricultural product moved together with the gripping unit is packed in the box. Note that each of the rotating means and the moving means includes a drive source such as a drive motor.

  The control unit described above is provided with image data relating to the agricultural product, for example, image data obtained by imaging the agricultural product transporter and the agricultural product, and the rotation amount calculation means of the control unit is provided. Using the image data, for example, the direction of the agricultural product in the transporting machine is obtained, and the amount of rotation of the gripper by the rotating means is calculated. Further, the movement amount calculating means of the control unit calculates the amount of movement of the gripping part by the moving means by using the given image data, for example, to determine the position of the agricultural product in the transporting machine. Then, the control unit controls the rotation operation of the grip portion by the rotation means so as to obtain the obtained rotation amount, and the movement operation of the grip portion by the movement means so as to obtain the obtained movement amount. To control.

  Specifically, the rotation amount calculation unit described above calculates the main axis of the image of the agricultural product included in the image data, and calculates the rotation angle of the grip portion based on the direction of the main axis thus determined.

  Further, the movement amount calculating means described above calculates the position of the center of gravity of the image of the agricultural product included in the image data, and obtains the amount of movement of the grip portion based on the obtained position of the center of gravity.

  Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a plan view showing a configuration of a boxing apparatus according to the present invention, in which 1 is a conveyor such as a belt conveyor. A plurality of carriers K, K,... Are placed on the carrier 1 at appropriate intervals, and the carriers K, K,. The carrier K has a round plate shape with a vertical through hole formed in the center, and each of the carriers K, K,... Holds one agricultural product a, a,. .

  On the transport area of the transporter 1, a plurality of (three in FIG. 1) boxing machines (main body) for packing the agricultural products a, a,... In the carriers K, K,. 2, 2 and 2 are arranged in tandem with a distance from each other from upstream to downstream in such a manner as to straddle the conveyor 1. Each of these boxing machines 2, 2, and 2 is provided in a number corresponding to the size of the agricultural products a, a,... (For example, LL, L, M), and boxes the agricultural products a, a,. I have to do it.

  On the entry side of the most upstream boxing machine 2 and above the transport machine 1, a projector and a color camera are provided, and an imager 3 that images the carrier K and the agricultural product a held by the carrier K is arranged. The image data obtained by the image pickup device 3 is supplied to the control units 20, 20, and 20 of the boxing machines 2, 2, and 2, respectively. Further, photoelectric sensors 4, 4 that detect the presence / absence of the carrier K are located in the vicinity of one side of the transport device 1 and in the vicinity of the upstream side of the image pickup device 3 and the boxing devices 2, 2, 2 described above. 4 and 4, respectively, and when the photoelectric sensors 4, 4, 4, 4 detect the carrier K transported by the transport machine 1, the corresponding image pickup device 3 or each boxing device 2, 2, 2 The detection results are given to the two control units 20, 20, and 20.

  On the other hand, on the other side of the transporting machine 1 described above, the packs (boxes) P, P, for storing a plurality of agricultural products a, a,. Are carried in parallel with the carrier 1, and the height of each of the packs 5, 5, and 5 is that of the carrier 1. A little higher than the height. And on the exit side of these pack carry-in machines 5, 5 and 5, the pack carry-out machines 6, 6 and 6 are respectively extended in the direction intersecting with the pack carry-in machines 5, 5 and 5 (direction orthogonal in FIG. 1). The packs P, P, P in which the agricultural products a, a,... Are packed are transported to the pack unloaders 6, 6, 6 and are transported out of the boxing device by the pack unloaders 6, 6, 6.

  2, 3 and 4 are a plan view, a front view and a side view showing the main part of the boxing apparatus shown in FIG. In addition, in each figure, the same number is attached | subjected to the part corresponding to the part shown in FIG. As shown in FIG. 2 to FIG. 4, the boxing machine 2 is provided with rails 23, 23 in parallel with the transport machine 1 on the outer upper side of the transport machine 1 and the pack carry-in machine 5. A plurality of frame members are supported by a base 21 connected in a rectangular parallelepiped shape. Accordingly, the transfer machine 1 penetrates through the base 21.

  A pedestal 22 having a substantially I-shape in plan view is installed on both rails 23, 23, and the pedestal 22 is moved in the longitudinal direction by the rails 23, 23, that is, in the transport direction of the transport machine 1 and in the opposite direction. Slidably supported. The pedestal 22 is moved forward and backward on the rails 23 and 23 by an actuator 24 fixed to the base 21.

  As will be described later, an elevator 27 that lifts and lowers a chuck (gripping part) 30 that grips the produce a is supported on the base 22 so as to be slidable in a direction perpendicular to the rails 23, 23. The first drive motor (moving means) 25 attached to the rim 26 and the worm 26 connected to the output shaft of the first drive motor 25 are moved forward and backward between the rails (moving means) 23, 23. On the other hand, the chuck 30 is connected to the lower end of a rotating shaft arranged in the vertical direction, and the second drive motor (rotating means) 28 for rotating the rotating shaft is the elevator (moving means) 27 described above. It is supported so that it can be raised and lowered.

  Accordingly, the chuck 30 can be moved to any position in the transport direction (x-axis direction) of the transport machine 1, the direction orthogonal to the transport direction (y-axis direction), and the vertical direction (z-axis direction). It can be rotated around the z-axis by an arbitrary rotation angle (θ).

  By the way, the chuck 30 has two sets of tubular fingers (finger portions) 31, 31, 31, 31 opposed to each other in order to grip the agricultural product a, and the width between the corresponding fingers 31, 31, 31, 31 is increased. It hangs down variably. Thereby, the width between the fingers 31, 31, 31, 31 can be changed according to the size of the agricultural product a.

  Air bags 32, 32, 32, and 32 are provided at the lower ends of the fingers 31, 31, 31, and 31, respectively. The air bags 32, 32, 32, and 32 are provided with fingers 31 and 31, respectively. , 31 and 31 are connected to air passages 31a, 31a, 31a and 31a. Each air passage 31a, 31a, 31a, 31a incorporates a pressure sensor, a solenoid valve, and the like, and an electropneumatic regulator 29 (for example, ITV series) that adjusts and discharges high-pressure gas flowing from a compressor (not shown) to an appropriate pressure. The pressure-controlled gas is supplied via (manufactured by SMC)), whereby the airbags 32, 32, 32, 32 are inflated to a state having appropriate elasticity. Therefore, even if the airbag 32, 32, 32, 32 is a soft agricultural product a having a low surface strength, such as a strawberry, the agricultural product a can be gripped without giving any wrinkles to the surface. In the drawing, the air passage connecting the electropneumatic regulator 29 and the air passages 31a, 31a, 31a, 31a of the fingers 31, 31, 31, 31 is omitted.

  5 and 6 are a plan view and a side sectional view showing an example of a finger driving mechanism provided on the chuck, and the four fingers 31, 31, 31, 31 are radially expanded and driven. . In the figure, parts corresponding to those shown in FIGS. 2 to 4 are denoted by the same reference numerals. As shown in FIGS. 5 and 6, the chuck 30 includes a support plate 42 arranged in a direction perpendicular to the vertical direction, and the support plate 42 corresponds to the second drive motor 28 (see FIG. 3). It is connected to the lower end of the rotating shaft.

  A third drive motor 40 for driving the fingers 31, 31, 31, 31 to be narrowed and expanded is supported by a support member substantially at the center of the support plate 42, and an output shaft suspended from the third drive motor 40. A drive gear 34 is fitted on 33. Around the drive gear 34, four rotary shafts 35, 35, 35, 35 are arranged in parallel with the output shaft 33, and at one end side of each of the rotary shafts 35, 35, 35, 35, Passive gears 36, 36, 36, 36 meshed with the drive gear 34 are fitted and fixed. For example, egg-shaped cams 37, 37, 37, 37 are detachably screwed to the other end side of the rotary shafts 35, 35, 35, 35, and the side surfaces of the cams 37, 37, 37, 37 are respectively attached. Fingers 31, 31, 31, and 31 are in sliding contact with each other. The cams 37, 37, 37, 37 can change the mounting angle with respect to the rotary shafts 35, 35, 35, 35, and thereby the fingers 31, 31 with respect to the cams 37, 37, 37, 37 can be changed. , 31, 31 can be adjusted as appropriate.

  Each finger 31, 31, 31, 31 is guided by a guide groove 38, 38, 38, 38 opened radially in the four directions around the output shaft 33, and is plate-shaped. The springs 39, 39, 39, 39 are urged toward the center of the support plate 42.

  Then, the passive gears 36, 36, 36, 363 and the rotating shafts 35, 35, 35, 35 that are meshed with the drive gear 34 by the third drive motor 40 rotating forward are rotated, and the cams 37, 37, 37, 37 are rotated. When the motor moves forward, the fingers 31, 31, 31, 31 that are in sliding contact with the cams 37, 37, 37, 37 are attached to the guide grooves 38, 38, 38, 38 with springs 39, 39, 39, 39. The third drive motor 40 reversely rotates and meshes with the drive gear 34 and the rotary shafts 35, 35, 35, retreating outward from the support plate 42 against the force. , 35 are rotated and the cams 37, 37, 37, 37 reversely move, the fingers 31, 31, 31, 31 that are in sliding contact with the cams 37, 37, 37, 37 are guided into the guide grooves 38, 38, 38, 38 is energized by springs 39, 39, 39, 39. It advances toward the center of the support plate 42.

  FIG. 7 is a plan view showing another driving mechanism of the fingers provided on the chuck, in which the three fingers 31, 31, 31 are advanced and retracted radially. In FIG. 7, parts corresponding to those shown in FIG.

  As shown in FIG. 7, the output shaft 33 of the third drive motor 40 of the chuck 30a is connected and fixed to a substantially equilateral triangular cam 37a instead of the drive gear 34 shown in FIG. The fingers 31, 31, 31 are slidably brought into contact with the three sides connecting the vertices of the cam 37a. Thus, as before, when the third drive motor 40 rotates forward and the cam 37a moves forward, the fingers 31, 31, 31 that are in sliding contact with the cam 37a are moved through the guide grooves 38, 38, 38 in the spring 39. When the third drive motor 40 reversely rotates and the cam 37a reversely moves against the biasing of the support plate 42 against the urging of the motors 39, 39, the fingers 31, which are in sliding contact with the cam 37a, 31 and 31 advance toward the center of the support plate 42 by the bias of the springs 39, 39 and 39 in the guide grooves 38, 38 and 38.

  Next, the procedure for boxing agricultural products a, a,... Into a pack P using such a boxing device will be described.

  FIG. 8 is a flowchart showing a boxing procedure by the boxing machine 2 shown in FIG. As described above, the image data from the image pickup device 3 and the detection result of the carrier K from the photoelectric sensor 4 disposed on the entrance side of the boxing machine 2 are respectively given to the control unit 20 of the boxing machine 2. ing. When the image data is given from the image pickup device 4, the control unit 20 stores the image data as follows (step S1).

  FIG. 9 is a flowchart showing a procedure for storing image data by the control unit 20. The control unit 20 waits until image data is provided from the image pickup device 3 (step S11). When the image data is provided, the control unit 20 stores the image data in a built-in memory in time series (step S12). The control unit 20 repeats such a storage operation until it is determined in step S13 that an end command has been given, whereby a plurality of carriers K, K,..., And agricultural products a, a,. Are stored in the memory in time series. And the control part 20 performs the control which packs the agricultural products a on the carrier K to the pack P based on the image data memorize | stored in memory as follows.

  10 and 11 are flowcharts showing a procedure of boxing control by the control unit 20. The control unit 20 waits until the detection result of the carrier K is given from the corresponding photoelectric sensor 4 (step S21), and when given, reads out the image data stored at the head of the time series from the memory, The read image data is deleted from the memory (steps S22 and S23). Accordingly, even when the carriers K, K,... Are mounted on the transport machine 1 at different intervals, the carrier 2 and the carrier K are held at the timing when the carrier K is carried into the boxing machine 2. Information related to the agricultural product a can be read out.

  The control unit 20 binarizes the read image data (step S24), extracts the contour of the image of the farm product a from the binarized image, and the size to which the farm product a belongs (for example, the contour of the image of the farm product a) , LL, L, M, etc.) is determined (step S25). In the control unit 20, the size of the produce a to be boxed by the boxing machine 2 is preset, and the control unit 20 determines whether or not the determined size is the same as the preset size ( If it is determined in step S26) that the two are the same, grip control data for the produce a is generated as described later (step S27). On the other hand, when the control unit 20 determines that the two are not the same, the agricultural product a is not a target for boxing, so the boxing control is stopped and the agricultural product a is allowed to pass.

  FIG. 12 is a flowchart illustrating a procedure for generating grip control data by the control unit 20. FIG. 13 is an explanatory diagram for explaining a method of generating grip control data by the control unit 20.

  The control part 20 produces | generates the fruit image of a strawberry by extracting a red part from a strawberry image (step S50), and calculates the gravity center G (Xa, Ya) of a fruit image using the produced | generated fruit image (step). S51). Moreover, the control part 20 produces | generates the image of a strawberry dip by extracting a green part from a strawberry image (step S52), and the gravity center g (Xb, Yb) of the rip-off image using the produced dip image Is calculated (step S53).

  Using the fruit image, the control unit 20 obtains a main axis T that is a straight line that passes through the center of gravity G (Xa, Ya) and has a minimum moment of inertia (step S54). This moment of inertia is obtained by multiplying the square of the distance from the point (X, Y) to the straight line by the weight (in this case, 1). Then, the moment of inertia is calculated over the entire region of the fruit image, and a straight line passing through the center of gravity G (Xa, Ya) when the result is minimized is set as the main axis T.

  The control unit 20 calculates the gripping direction of the produce a, that is, the rotation angle (θ) of the chuck 30 based on the orientation of the main axis T thus obtained, and the center of gravity G (Xa, Ya) of the fruit image. Based on this, the gripping position of the agricultural product a, that is, the movement distance of the chuck 30 in the y-axis direction is calculated (steps S55 and S56). On the other hand, in the control unit 20, a step size between the transporter 1 that transports the agricultural product a and the pack carry-in device 5 (see FIG. 3) is set in advance, and the control unit 20 sets the step size that is set. Based on the above, the moving distance of the chuck 30 in the z-axis direction is calculated (step S57).

  The control unit 20 is preliminarily given the conveyance speed of the conveyance machine 1, and the control unit 20 has a predetermined timing after the detection signal is given, that is, the center of gravity of the produce a held in the carrier K. It is determined whether or not the timing of substantially reaching the center of the chuck 30 has been reached (step S28), and if it is determined that the timing has been reached, the actuator 24 is activated, and the pedestal 22 on the rails 23 and 23 is moved. It is moved forward at the same speed as the transport speed (step S29).

  Further, the control unit 20 activates the first drive motor 25 simultaneously with the activation of the actuator 24 so that the center of the chuck 30 is positioned on the gravity center G of the produce a in the carrier K, and the second drive motor 28. , The chuck 30 is rotated by a rotation angle (θ), the fingers 31, 31, 31 that make a pair are in a posture facing each other about the main axis of the produce a, and the third drive motor 40 is operated. Then, the distance between the paired fingers 31, 31, 31, 31 is adjusted to a size corresponding to the size of the agricultural product a (steps S30, S31, S32).

  The controller 20 operates the elevator 27 in synchronism with the chuck 30 reaching the required position and the fingers 31, 31, 31, 31 having the required posture and the required gap dimensions, so that the fingers 31, 31 are operated. , 31, 31 until the height of the airbag 32, 32, 32, 32 that surrounds the side of the agricultural product a is lowered (steps S 33, S 34), the electropneumatic regulator 29 The open / close solenoid valve is opened to inflate the airbags 32, 32, 32, 32, and the produce a is gripped by the airbags 32, 32, 32, 32 (step S35).

  When the agricultural product a is gripped in this way, the control unit 20 raises the chuck 30 by the elevator 27 to a position where the gripped agricultural product a is slightly higher than the pack P on the pack carry-in machine 5 and the second drive motor 28 is raised. The chuck 30 is rotated so that the main axis of the agricultural product a is in a predetermined direction with respect to the pack P (steps S36 and S37). Thereby, the agricultural products a can be packed in the pack P in a certain direction. In parallel with these controls, the control unit 20 operates the actuator 24 and the first drive motor 25 so that the produce a is in the required position on the pack P, that is, the position next to the previous boxed position. (Step S38). The controller 20 operates the elevator 27 to lower the chuck 30 until the produce a is located in the pack P (steps S38, S39, S40), and then opens the electromagnetic exhaust valve of the electropneumatic regulator 29 ( Step S41) By contracting the air bags 32, 32, 32, 32, the agricultural product a is released and placed at a required position in the pack P.

  Thereafter, the control unit 20 operates the elevator 27 to return the chuck 30 to the initial height, and operates the actuator 24 and the first drive motor 25 to return the chuck 30 and the base 22 to the initial position (step). S42).

  In the control unit 20, the maximum number of agricultural products a, a,... To be packed in the pack P is preset, and the control unit 20 determines whether the number of boxed agricultural products a, a,. (Step S43), and the operations from step S21 to step S43 are repeated until it is determined that the number of boxes has reached the maximum number. When the control unit 20 determines that the number of boxes reaches the maximum number, the control unit 20 operates the pack carry-in machine 5 and the pack carry-out machine 6 to carry out the pack P and carry in a new pack P ( Step S44).

  And the control part 20 repeats such operation (step S2, step S21-step S57) until it determines with the image data memorize | stored in memory not existing in step S5.

It is a top view which shows the structure of the boxing apparatus which concerns on this invention. It is a top view which shows the principal part of the boxing apparatus shown in FIG. It is a front view which shows the principal part of the boxing apparatus shown in FIG. It is a side view which shows the principal part of the boxing apparatus shown in FIG. It is a top view which shows an example of the drive mechanism of the finger provided in the chuck | zipper. It is a sectional side view which shows an example of the drive mechanism of the finger provided in the chuck | zipper. It is a top view which shows the other drive mechanism of the finger provided in the chuck | zipper. It is a flowchart which shows the boxing procedure by the boxing machine shown in FIG. It is a flowchart which shows the memory | storage procedure of the image data by a control part. It is a flowchart which shows the procedure of the boxing control by a control part. It is a flowchart which shows the procedure of the boxing control by a control part. It is a flowchart which shows the production | generation procedure of the grip control data by a control part. It is explanatory drawing explaining the production | generation method of the grip control data by a control part. It is a typical external appearance perspective view which shows the boxing machine disclosed by patent document 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Conveyance machine 2 Box packing machine 3 Image pick-up device 4 Photoelectric sensor 5 Pack carry-in machine 6 Pack carry-out machine 22 Base 23 Rail 24 Actuator 25 1st drive motor 27 Lifting machine 28 2nd drive motor 29 Electropneumatic regulator 30 Chuck 31 Finger 32 Air bag 40 Third drive motor 20 Control unit 31a Air passage 35 Rotating shaft 37 Cam K Carrier P Pack a Agricultural product

Claims (3)

A gripping part that is provided with a plurality of finger parts for gripping the carried agricultural products so as to be able to be narrowed, and a rotating means for rotating the gripping part around a central axis passing through a surface inscribed in each finger part; A gripping unit is gripped by each of the finger units, and includes a moving unit that moves the gripping unit up and down and vertically and horizontally, and a control unit that controls a rotating operation of the gripping unit by the rotating unit and a moving unit moving operation by the moving unit. A boxing machine that moves the gripped part to the box by moving means, and packs the agricultural products moved with the gripping part into the box,
The control unit is provided with image data related to the agricultural product,
The control unit includes a rotation amount calculation unit that calculates a rotation amount of the gripping unit by the rotation unit, and a movement amount calculation unit that calculates a movement amount of the gripping unit by the movement unit, using the given image data. And the pivoting movement of the gripping part by the pivoting means is controlled so as to obtain the obtained pivoting amount, and the movement operation of the gripping part by the moving means is controlled so as to obtain the obtained moving amount. A boxing machine characterized by that. The rotation amount calculating means includes means for obtaining a main axis of an image of an agricultural product included in the image data, and means for calculating a rotation angle of the grip portion based on the direction of the obtained main axis. The boxing machine described. The movement amount calculating means includes means for calculating the position of the center of gravity of the image of the agricultural product included in the image data, and means for determining the amount of movement of the gripping part based on the obtained position of the center of gravity. Item 1 or 2 boxing machine.

Images