JP2012096160A - Fruit sorting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fruit sorting system capable of easily packing vegetables and fruits having a soft surface in a box.SOLUTION: A fruit sorting system includes a main conveying means for conveying a placing table 5 on which vegetables and fruits 6 are placed from an upstream side to a downstream side. The main conveying means includes a placing step of placing the vegetables and fruits 6 on the placing table 5 from the upstream side, a quality measurement step of measuring the quality of the vegetables and fruits 6, and a packing step of sorting the vegetables and fruits 6 for each class or rank and packing the vegetables and fruits on the basis of the measurement results of the quality measurement step. In the fruit sorting system, the packing step is provided with a plurality of sorting lines 30 for a performing the branching and conveyance for each class or rank at a downstream part of the main conveying means. A packing robot 33 for sucking a calyx side of the vegetables and fruits 6 placed on the placing table 5 to convey the vegetables and fruits to a pack 48, aligning the vegetables and fruits, and releasing the sucking to pack the vegetables and fruits in the pack 48 is provided at a side part of each sorting line 30.

Description

  The present invention relates to a fruit selection system for selecting and packing fruits and vegetables, in particular, fruits and vegetables having sepals (commonly called sputum) such as strawberries, tomatoes, and strawberries.

2. Description of the Related Art Conventionally, a fruit selection system that sorts fruits by grade and packs them (packed) is known (see Patent Document 1).
The selection system in Patent Document 1 is classified into grades according to quality by visual discrimination, transferred to a transfer path, and the outer shape is detected by a camera in the middle of conveyance and sorted into classes according to size. The boxing work was done manually.
Since the above-described fruit selection system is boxed by hand, the time required for the boxing operation is longer than the time required for the supply of fruits and vegetables and the selection by the camera, and it has been desired to shorten the work time.

Moreover, the technique which mechanizes the boxing of fruits is also well-known (refer patent document 2).
The boxing device in Patent Document 2 adsorbs fruits with relatively hard surfaces such as apples and pears and boxes them, and if fruits and vegetables with soft surfaces such as strawberries are boxed with the same device, the surface is damaged, The box was manually packed to reduce the value of the product.

JP-A-10-113633 JP-A-6-191507

  The present invention has been made in view of the situation as described above, and provides a fruit selection system that can easily box even fruits and vegetables having a soft surface.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, according to the first aspect of the present invention, a main transport unit that transports the mounting table on which the fruits and vegetables are mounted from the upstream side to the downstream side is provided, and the fruits and vegetables are placed on the mounting table from the upstream side. In a fruit selection system provided with a placement process, a quality measurement process for measuring the quality of the fruits and vegetables, and a packing process for sorting and packing the fruits and vegetables according to grades and classes from the measurement results of the quality measurement process The packing step is provided with a plurality of sorting lines that are branched and transported according to grades and classes in the downstream portion of the main transport means, and are placed on the mounting table at the side of each sorting line. In addition, the robot has a packing robot that sucks one side of the fruits and vegetables, conveys it to the pack, arranges it, releases the suction, and packs it in the pack.

  According to a second aspect of the present invention, fine adjustment means for directing the direction of the mounting table in the setting direction is provided near the packing robot in the sorting line.

  According to a third aspect of the present invention, the conveyor belt of the sorting line is disposed so as to be inclined so that one side of the sepal is higher.

  As effects of the present invention, the following effects can be obtained.

  In claim 1, even if the surface of the fruit and vegetables is soft, it can be packed by a packing robot, so that it can be packed efficiently by hand, shortening the packing time, and Labor can be reduced.

  According to the second aspect, the direction of the mounting table with respect to the packing robot can be aligned with the set direction, and the fruits and vegetables can be reliably adsorbed and transported for packing.

  According to the third aspect, the width of the sorting line can be narrowed, and the space of the entire system can be saved.

The top view which shows the whole structure of the fruit selection system which concerns on embodiment of this invention. (A) is a perspective view of a mounting base, (b) is a top view of the state which mounted fruit and vegetables on the mounting base. (A) is a top view of a mounting base, (b) is the XX sectional view taken on the line in (a), (c) is the YY sectional view taken on the line in (a). FIG. 3 is a plan view of the alignment device in the direction of the appropriate mounting table. The QQ sectional view taken on the line in FIG. The top view of the alignment apparatus in the state from which the direction of a mounting base differs. ZZ sectional drawing in FIG. The top view of the alignment apparatus which shows the state in the middle of the mounting table rotating and aligning. The perspective view of a packing process. (A) A plan view showing a state where the mounting table is received by the fine adjustment means, (b) is a plan view showing a state where fine adjustment is performed by the fine adjustment means, and (c) shows a state when fine adjustment is completed. Plan view. The perspective view of the mounting base which stuck the ferromagnetic material for fine adjustment. (A) The top view which shows the state which performs fine adjustment with a magnet, (b) The top view at the time of completion of fine adjustment with a magnet. The suction pad is provided with a detachment prevention ring, (a) a diagram showing a state before adsorbing fruits and vegetables, (b) a diagram showing a state in which the suction pads are in contact with fruits and vegetables, and (c) a sepal portion of fruits and vegetables adsorbed The figure which shows a state, (d) The figure which shows the state which canceled adsorption | suction and removed fruit and vegetables. The perspective view which provided the separation prevention ring in the suction pad. (A) The figure which shows the state before arrange | positioning several suction pads in parallel and picks up, (b) The figure which shows the state attracted | sucked similarly. The figure which shows the state which has arrange | positioned several suction pads in parallel and narrowed the space | interval of a suction pad. The perspective view which shows the state which arranged the some mounting base on the sorting line, aligning the direction. The figure which shows the state which inclined the conveyor belt of the selection line. (A) The perspective view which shows the Example which provided the two notch parts in the diameter direction in the mounting base, (b) Similarly top view.

  Below, the whole structure of the selection system 1 which is one Embodiment of the selection system of this invention is demonstrated using FIG. In the following description, the F direction represented by the arrow in FIG. 1 is the front, the L direction is the left, the R direction is the right, and the fruits and vegetables 6 are downstream from the upstream side, which is the rear side of the main conveying means 2. Shall be transported to the side.

  The fruits and vegetables 6 handled by the fruit selection system 1 are fruits and vegetables having relatively soft surfaces such as strawberries, cherry tomatoes, and mizusuna, and have fruits and pieces (commonly called swords). In this embodiment, strawberry is described as fruit and vegetables 6.

  As shown in FIG. 1, the fruit selection system 1 includes a main transport unit 2 that serves as a unit for transporting a mounting table 5 on which fruits and vegetables 6 are mounted from the upstream side to the downstream side. From the side, a placing table orientation determining step 10 for directing the placing table 5 in a predetermined direction, a placing step 11 for manually placing the fruits and vegetables 6 on the placing table 5, and a quality measuring step for measuring the quality of the fruits and vegetables 6; It comprises a packing step 15 for packing the fruits and vegetables 6 by classifying them into grades and classes based on the measurement results of the quality measuring step. However, the quality measuring step is an image for determining which class the shape of the fruits and vegetables 6 corresponds to from the mass measuring step 12 for measuring the mass of the fruits and vegetables 6 or an image obtained by photographing the fruits and vegetables 6 with a camera. At least one step of the processing step 13 or the internal quality measurement step 14 for measuring the sugar content and acidity of the fruits and vegetables 6 using an optical sensor, or a combination of the two, or three steps can be provided. . In the present embodiment, as the quality measurement process, the mass measurement process 12, the image processing process 13, and the internal quality measurement process 14 are sequentially arranged from the upstream side.

  Further, in the fruit selection system 1, when the fruits and vegetables 6 are not accurately placed on the placing table 5, the uppermost stream of the main conveying means 2 is inserted between the image processing step 13 and the internal quality measuring step 14. A return line 16 for returning the mounting table 5 to the end is provided. In addition, the empty loading table 5 after the fruits and vegetables 6 are taken out is disposed between the upstream side of the return position of the return line 16 of the main conveying unit 2 and the end of the packing process 15 as the main conveying unit 2. Is provided with an empty mounting table return line 18 for returning to the starting end side.

First, the mounting table 5 on which the fruits and vegetables 6 are mounted will be described.
Since the mounting table 5 includes mounting tables 5A, 5B, and 5C having different shapes for the method of mounting the fruits and vegetables 6 and the positioning method, each of the mounting tables 5A, 5B, and 5C will be described.

  As shown in FIGS. 2 and 3, the mounting table 5A includes a mounting part 5a for mounting the fruits and vegetables 6 and a support base part 5b for supporting the mounting part 5a. The mounting portion 5a and the support base portion 5b are configured in a circular shape in plan view, and the mounting portion 5a is formed in a bowl shape that becomes lower toward the center in plan view. Specifically, the placing portion 5a is formed in a conical recess, and the size of the recess is larger than the fruits and vegetables 6 so that the entire fruits and vegetables 6 to be selected can be accommodated. Then, through holes 5c and 5d are opened in the vertical direction at the center in plan view of the mounting portion 5a and the support base portion 5b, that is, at the center portion, and light for measurement can be transmitted in the internal quality measurement step 14 described later. Has been.

  Moreover, the mounting part 5a is made of an elastic body such as rubber, and is provided with radial cuts or stretchable parts from the center to the outer peripheral side so that the fruits and vegetables 6 are not damaged when placed on the mounting part 5a. I have to. A part of the mounting portion 5a and the support base portion 5b is formed with a substantially fan-shaped cutout portion 5e extending from the center toward the outer periphery in a plan view. The size of the notch 5e is set to accommodate the sepal piece 6b of the fruits and vegetables 6.

  In this way, the edible portion (red fruit portion) 6a of the fruits and vegetables 6 is placed on the placement portion 5a, and the sepals (sheath portions) 6b of the fruits and vegetables 6 are placed in the notch portion 5e. By doing so, when the fruits and vegetables 6 are strawberries, they can be placed on the mounting table 5 in a substantially horizontal state. In this state, the edible portion 6a of the fruits and vegetables 6 is substantially in close contact with the periphery of the through hole 5c, and the measurement light does not leak.

  Further, in the packing step 15 to be described later, when the suction pad 47 of the packing robot 33 is inserted into the notch 5e and the side of the piece 6b is sucked, the side wall of the notch 5e serves as a guide, The center line is corrected so that the center line through which the stem 6c of the fruits and vegetables 6 passes substantially matches. That is, since the cutout portion 5e is formed in a fan shape in plan view, when the suction pad 47 is inserted from the outer peripheral side of the placement portion 5a toward the center, the direction of the cutout portion 5e with respect to the packing robot 33 is shifted. The left and right side walls of the cutout portion 5e are modified so that the opening direction of the cutout portion 5e faces the insertion direction of the suction pad 47, and the tip of the suction pad 47 is just on the side of the piece 6b of the fruits and vegetables 6 Thus, the suction pad 47 can reliably adsorb the sepals 6b side of the fruits and vegetables 6.

  A positioning guide recess 5f is provided on one outer peripheral side of the bottom of the support base 5b. The guide recess 5f is cut out in a “D” shape when viewed from the bottom, and is cut out to be smaller than a semicircle of the entire support base 5b. In the present embodiment, the guide recess 5f is provided in the same direction as the open side of the notch 5e. The guide recess 5f is configured such that the second transport belt 25 at a high position is positioned in the alignment device 19 in the mounting table direction determining step 10 described later. When two notches 5e are provided in the diameter direction, two guide recesses 5f can be provided in accordance with the positions. Further, positioning means (fine adjustment grooves 5g and 5g) for determining the position direction of the mounting table 5A by the fine adjustment means 32 described later are provided on the side surface of the support base portion 5b. Details will be described later.

  Moreover, as shown in FIG. 2, ID recognition means 7 is stuck on the side surface (or bottom surface) of the mounting table 5A. Specifically, the ID recognition means 7 is configured by a bar code, a two-dimensional code, a magnetic tape, an IC chip, or the like. The ID recognition means 7 is marked with an identification number (ID is written) and is recognized by the reading means (not shown) in the mass measurement step 12, the image processing step 13, the internal quality measurement step 14 and the packing step 15, respectively. Corresponding to the identification number, the mass measured in the mass measurement process 12, the size determined in the image processing process 13 and the class determined in the internal quality measurement process 14 are written in the storage means in the control device (not shown). In the filling step 15, the sorting line 30 is sorted according to the size and class (and / or grade). In the case of an IC chip, the mass measured in the mass measurement process 12, the size determined in the image processing process 13, and the class determined in the internal quality measurement process 14 are written in the IC chip. The size and class are recognized at the branching portion, and are branched and sorted at the branching portion of the sorting line 30 corresponding to each.

  The mounting table 5B shown in FIG. 11 does not have the fine adjustment groove 5g formed on the support table 5b (there is a guide recess 5f) unlike the mounting table 5A, and instead supports below the notch 5e. A ferromagnetic body 44 as a positioning means is attached to the side surface of the base portion 5b. The ferromagnetic body 44 will be described in detail later.

  The mounting table 5C shown in FIG. 19 is not provided with only one notch 5e in the mounting part 5a like the mounting table 5A, but is provided with a plurality of places (two places). However, it is also possible to provide three or more notches on the mounting portion 5a. The mounting table 5C is provided with the notch portion 5h in the diameter direction (position where the phase of the notch portion 5e is shifted by 180 degrees). With this configuration, the left and right sides of the main transport unit 2 are placed in the placing step 11. Thus, it is possible to place the fruits and vegetables 6 on the mounting table 5. As described above, since the workers are located on both the left and right sides of the main transport unit 2, a large number of workers can be arranged before and after the transport direction, and the work time of the placement work can be shortened. . In this case, the right and left fruits and vegetables 6 with the sepals 6b facing right and left are simultaneously transported to the main transport means 2, so that the right and left directions are determined in the image processing step 13, and the right direction is determined in the packing step 15. The sorting line 30 is disposed on the right side of the main transport unit 2 and the left-facing sorting line 30 is disposed on the left side of the main transport unit 2 so that the packing robot 33 can reliably pack the same from the same direction.

  As with the mounting table 5B, the mounting table 5C is provided with a ferromagnetic material 44 as a positioning means on the side surface of the support table 5b below the notch 5e. Also, the mounting tables 5B and 5C are provided with ID recognition means 7 in the same manner as the mounting table 5A.

  As described above, the mounting table 5 (5A, 5B, 5C) includes the mounting part 5a for mounting the fruits and vegetables 6 and the support base part 5b for supporting the mounting part 5a. The portion 5a is circular in a plan view and has a bowl shape that becomes lower toward the center. A vertical through hole 5c is opened in the center, and a substantially fan-shaped notch 5e that extends from the center toward the outer periphery in a plan view. Since at least one is formed, when the fruits and vegetables 6 having the sepals 6b (common name) are placed on the mounting table 5, the sepals 6b are positioned in the notches 5e, and the sugar content, acidity, etc. are detected by the optical sensor. In this case, there is no leakage of light in the vertical direction passing through the through hole 5c, and the suction pad 47 is inserted from the side toward the cutout portion 5e, and the fruits and vegetables 6 are taken out by sucking the sepal piece 6b side. It becomes possible.

  In addition, the mounting tables 5A and 5C are formed with guide recesses 5f for aligning the direction of the notch 5e with respect to the conveying means on the bottom outer peripheral portion of the support table 5b. 5 can be easily recognized, and the mounting table 5 can be easily aligned in the direction in accordance with the notch 5e while being conveyed by using an alignment device 19 described later.

Next, the apparatus arrange | positioned at each process is explained in full detail.
The main conveying means 2 is composed of a well-known belt conveyor, and the conveyor belt is driven to rotate by a drive motor at one end of the belt conveyor. The drive motor is connected to the control device and is driven and controlled. The mounting table 5 is mounted on the transport belt, and the fruits and vegetables 6 are mounted on the mounting table 5 and transported.

  The mounting table direction determination step 10 is provided upstream from the mounting step 11 and is continuously provided at the end of the empty mounting table return line 18 and the return line 16 described later. The mounting table direction determining step 10 includes an alignment device 19. The aligning device 19 is arranged in a previous process upstream of the main conveying means 2. As shown in FIGS. 4 to 8, the alignment device 19 includes a pair of left and right guides that guide both sides of the mounting table 5 in the transport direction, and a first transport belt 24 and a second transport belt 25 that rotate while transporting the mounting table 5 </ b> A. Conveyor guides 26 and 26. The first transport belt 24 and the second transport belt 25 are disposed on the extended upstream side of the main transport means 2, and the first transport belt 24 and the second transport belt 25 are disposed in parallel. In the present embodiment, the first conveyor belt 24 is on the right side and the second conveyor belt 25 is on the left side, but they may be arranged in the opposite direction.

  The first conveying belt 24 is a flat belt, and the conveying surface of the first conveying belt 24 is disposed at the same height as the conveying surface of the conveying belt of the main conveying means 2. The left-right width of the first conveyor belt 24 is a width that allows the mounting table 5 </ b> A to be placed and conveyed, and has the same left-right length as the radius of the mounting table 5. The left end (second transport belt 25 side end) of the first transport belt 24 is closer to the left side (second transport belt 25 side) than the left and right center (referred to as the transport center C1) of the main transport means 2. With this configuration, as shown in FIG. 5, when the direction is determined and the proper conveyance posture is obtained, the bottom surface of the guide recess 5f does not come into contact with the conveyance surface. 24 is stably placed, and the placing table 5A is transported in a stable state.

  The second conveyor belt 25 is disposed on the side of the first conveyor belt 24, the left-right width of the second conveyor belt 25 is shorter than the left-right width of the first conveyor belt 24, and the guide recess 5f of the mounting table 5A. The length is shorter than the length in the radial direction, for example, a V-belt. The height of the conveying surface of the second conveying belt 25 is arranged higher than the conveying surfaces of the first conveying belt 24 and the conveying belt of the main conveying means 2, and the height of the first conveying belt 24 and the second conveying belt 25 is the same. The difference is shorter than the height of the guide recess 5f. In other words, the mounting table 5 is disposed so as to be lower than the height of the guide recess 5f when the mounting table 5 is placed on the first transport belt 24. The transport speed with the first transport belt 24 and the transport speed with the second transport belt 25 are set to different speeds. In the present embodiment, the conveyance speed of the first conveyance belt 24 is set to be faster than the conveyance speed of the second conveyance belt 25.

  The conveyor guide 26 is a bowl-shaped member disposed on the left and right sides of the first transport belt 24 and the second transport belt 25 and has the same length as the length of the first transport belt 24 and the second transport belt 25 in the transport direction. I am trying. The conveyor guides 26 and 26 are spaced apart from the conveyance center C1 by the same distance, and the conveyor guides 26 and 26 are arranged to be slightly longer than the diameter of the mounting table 5.

  Thus, when the mounting table 5A is supplied and placed on the first conveying belt 24 and the second conveying belt 25 on the starting end side of the aligning device 19, the direction of the notch portion 5e of the mounting table 5A is the proper direction, In the embodiment, if it is not directed leftward, as shown in FIGS. 6 to 8, the bottom surface of the mounting table 5 is in contact (mounted) on the first conveying belt 24 and the second conveying belt 25. Yes. In this state, since there is a difference between the conveyance speed of the first conveyance belt 24 and the conveyance speed of the second conveyance belt 25, the mounting table 5 rotates while being conveyed. In this embodiment, it rotates counterclockwise in plan view. At this time, since the mounting table 5 is guided by the conveyor guides 26 and 26, it does not escape to the left. When the guide recess 5f is rotated until it is positioned on the second conveyor belt 25, the bottom surface of the mounting table 5 is placed on the upper surface of the first conveyor belt 24 as shown in FIGS. Since the bottom surface of the recess 5f is higher than the top surface of the second conveyor belt 25, it does not come into contact with the second conveyor belt 25, and the mounting table 5A is conveyed only by the first conveyor belt 24. Although the side surface of the guide recess 5f and the side surface of the second conveyor belt 25 are brought into contact with each other, there is a step between the bottom surface of the mounting table 5 and the conveying surface of the second conveyor belt 25, and therefore the mounting table 5A. Cannot ride on the second conveyor belt 25. At this time, since the opening direction of the notch 5e of the mounting table 5 is the same direction as the guide recess 5f, the direction of the mounting table 5 is directed in an appropriate direction, and the mounting table 5 is aligned. .

  However, instead of the first conveying belt 24, a plate material having a small frictional resistance, that is, having a slippery surface may be arranged. Alternatively, instead of the first transport belt 24, a plate material having a free roller on the surface may be used. In this case, if the mounting table 5 is not oriented in the proper direction, the right side surface of the mounting table 5 comes into contact with the conveyor guide 26, and the mounting table 5 rotates to the right in plan view by the transport action of the second transport belt 25. When the recess 5f is positioned on the second conveyor belt 25, the rotation stops and the direction is set appropriately. In the downstream transport, the subsequent mounting table 5 is transferred to the supply unit, so that the mounting table 5 in the proper direction is pushed out to the main transfer unit 2.

By configuring as described above, when the fruits and vegetables 6 are placed on the placement table 5 in the placement step 11, if the direction of the notch 5e is disjoint, the operator can adjust the direction of the placement table 5, Although it is necessary to place the fruits and vegetables 6 on the mounting table 5 and the posture may be unreasonable, the same posture is maintained because the direction of the mounting table 5 (the direction of the notch 5e) is transported in a fixed direction. This can reduce the burden on the operator. As a result, the processing efficiency of the entire system can be improved.
Further, the mounting table 5 is rotated when being transported by the first transport belt 24 and the second transport belt 25, and the direction is determined by fitting the guide recess 5f of the mounting table 5 to the higher transport belt, The direction of the mounting table 5 can be aligned while being conveyed. Since the configuration for aligning the direction of the mounting table 5 can be a simple configuration, the alignment device 19 can be configured at low cost.

  The placing step 11 includes a plurality of workers positioned on both sides or one side of the upstream side of the main transporting means 2 on the empty placing table 5 that has been transported by the main transporting means 2. This is a step of manually placing the fruits and vegetables 6 in accordance with the direction of the notch 5e formed in FIG. More specifically, the workers are arranged in order on the left and right sides on the upstream side of the main transport unit 2 or on the left and right sides in order toward the downstream side. A container or the like storing the harvested fruits and vegetables 6 is carried in the vicinity of the worker. Then, the mounting table 5 is placed on the conveying belt of the main conveying means 2 and conveyed. The worker places the sepal piece 6b of the fruits and vegetables 6 on the notched portion 5e of the empty placing table 5 being conveyed. Further, the mounting table 5 returned from the return line 16 is interrupted on the upstream side of the aligning device 19 and placed on the conveying belt of the main conveying means 2, and readjusted by the operator so that the position of the fruits and vegetables 6 faces the appropriate direction. Is done.

  The mass measurement step 12 measures the mass of the fruits and vegetables 6 being conveyed, and the mass meter 21 is arranged in the middle of the conveyance path of the main conveyance means 2. The mass meter 21 is connected to the control device, and the measured data is transmitted to the control device for each mounting table 5 and stored in the storage means of the control device. The mass meter 21 detects the total mass of the mounting table 5 and the fruits and vegetables 6 mounted on the mounting table 5 by a mass sensor.

  The image processing step 13 includes a photographing unit 22 such as a CCD camera, an image processing unit that performs image processing based on a signal from the photographing unit 22, and an illumination unit. 6 is a step of judging the size, deformation, etc. of No. 6 and transporting it to the downstream packing step 15 for sorting.

Specifically, the photographing means 22 and the illuminating means are arranged above the main transporting means 2 and illuminate the fruits and vegetables 6 on the mounting table 5 being transported for photographing. The photographing means 22 is a color photographing means, and one or plural photographing means are arranged. In addition, the imaging | photography means 22 can judge more accurately the shape of a fruit 6, a damage | wound, etc. by arrange | positioning from several positions and image | photographing from several angles.
A control device (not shown) transmits the photographed signal to the image processing means, and further determines whether or not the fruits and vegetables 6 are placed at an appropriate position on the placement table 5. This determination is made based on whether or not the sepals 6b of the fruits and vegetables 6 are located on the notch 5e of the mounting table 5. The sepal piece 6b may be determined by its shape, or may be determined by color (the sepal piece 6b is green and the edible portion 6a is red).
When the fruits and vegetables 6 are not placed at an appropriate position on the placing table 5, the fruits and vegetables 6 are returned by the return line 16 to the most upstream position of the main conveying means 2 and flow through the placing step 11. It is corrected so as to be placed at an appropriate position.

When the fruits and vegetables 6 are placed at appropriate positions on the placement table 5, it is determined by the control device whether or not there are any scratches or deformations. The control device determines whether or not the scratch is a color change (white or black) in the edible portion 6a by a predetermined amount or more. Further, the control device determines whether or not the deformation of the fruits and vegetables 6 is within a predetermined shape range. If there is a scratch or deformation, it is conveyed to a disposal line 17 (to be described later) in the packing process 15.
If the fruits and vegetables 6 are not damaged or deformed, the size is next determined. For example, classes of sizes such as large (L), medium (M), and small (S) are defined.

  The internal quality measurement step 14 includes a light projecting unit and a light receiving unit, and a signal from the light receiving unit is transmitted to the control device for calculation. That is, the internal quality such as sugar acidity (sugar content or acidity) of the fruits and vegetables 6 is measured using light, and the grade is determined based on the measurement result. For example, it is defined as excellent / excellent / good. However, it is also possible to measure the residual agricultural chemical concentration of the fruits and vegetables 6 using infrared rays.

  Specifically, the light projecting means is constituted by a lamp or an LED. The light receiving means receives the transmitted light that has been irradiated by the light projecting means and passed through the fruits and vegetables 6, and is connected to a control means (not shown). Specifically, the light receiving means includes a photodiode, a phototransistor, a CCD, or the like. The light emitted from the light projecting means passes through the through holes 5c and 5d drilled in the central portion of the mounting table 5, passes through the fruits and vegetables 6 placed on the mounting table 5, and passes to the light receiving means. Received light.

  When the residual pesticide concentration is measured, or when a pesticide above the reference value is detected, the pesticide is transported to a later-described disposal line 17 in the packing process 15.

The return line 16 is provided between the image processing step 13 and the internal quality measurement step 14 at the most upstream end of the main conveying means 2 when the fruits and vegetables 6 are not placed at appropriate positions on the placement table 5. Is to return. The return line 16 is constituted by a belt conveyor or the like.
A branching device 27 is disposed on the main conveying means 2 between the image processing step 13 and the internal quality measurement step 14 on the start end side of the belt conveyor.

  As described above, the image processing step 13 detects whether or not the position of the sepal piece 6b and the notch portion 5e of the mounting table 5 are in an appropriate position. And if it is judged that it is the mounting base 5 which is not mounting the fruit and vegetables 6 in the appropriate position, the branching device 27 will push out the mounting base 5 mounted in the main conveyance means 2 to the return line 16 side. Then, the mounting table 5 is transferred by the belt conveyor of the return line 16 and returned to the uppermost stream side of the main conveying means 2.

  By providing the return line 16 in this manner, only the fruits and vegetables 6 placed on the placing table 5 can be accurately classified and packed, and the sorting accuracy can be improved. In the packing robot 33, the packing piece 6b side can be surely adsorbed and packed, so that the pick-up failure can be eliminated and the operating rate can be increased. Can be improved.

  As shown in FIGS. 1 and 9, the packing process 15 includes a plurality of sorting lines 30, 30... Arranged on the left and right sides or both sides on the downstream side of the main transport unit 2 and the main transport unit 2. The traverse device 31 for transferring the mounting table 5 to the sorting line 30 corresponding to the grade and class, the disposal line 17 arranged on the most downstream side of the main transport means 2, and the packing robot 33 of each sorting line 30 The fine adjustment means 32 that finely adjusts the direction of the mounting table 5 in the proper direction, the pack robot 33 disposed on the side of the sorting line 30, and the pack on which the pack 48 for packing is mounted. A mounting table 34 and the like are provided.

  The sorting line 30 is branched from the main transport unit 2. The sorting line 30 of the present embodiment has a total of six lines that are a combination of the three classes of large (L), medium (M), and small (S), and the two classes of “excellent” and “excellent” in parallel on the left and right sides. It is arranged. However, the number of lines and the assignment of lines to grades / classes are not limited.

  The sorting line 30 is configured by a belt conveyor or the like, and is arranged so that the longitudinal direction thereof is perpendicular to the transport direction of the main transport unit 2. Only the fruits and vegetables 6 of the same grade and the same rank are conveyed to one sorting line 30. The mounting table 5 on which the fruits and vegetables 6 are placed stops when transported in front of the packing robot 33 arranged in the middle of the transport path. Furthermore, the mounting table 5 on which the fruits and vegetables 6 are placed is positioned so as to be in an appropriate position (direction) by the fine adjustment means 32 described later. When the fruits and vegetables 6 on the mounting table 5 are picked up by the packing robot 33, the belt conveyor of the sorting line 30 is driven again. The empty mounting table 5 after the fruits and vegetables 6 have been picked up is conveyed to the empty mounting table return line 18 at the end of the sorting line 30.

  Note that the sorting line 30 may be always driven and temporarily stopped only when the mounting table 5 is positioned in front of the packing robot 33. Moreover, it can also be set as the structure which carries out conveyance drive from the time the mounting base 5 is transferred by the traverse apparatus 31, and stops when the transfer to the empty mounting base return line 18 is completed.

  Further, the hand-packed line 35 can be arranged in parallel with the sorting line 30. The hand-packing line 35 is composed of a belt conveyor or the like, and is packed by hand instead of the pack-packing robot 33. Conditions for transporting the mounting table 5 with the fruits and vegetables 6 to the hand-packing line 35 are when there are too many mounting tables 5 to be returned to the return line 16 or when any of the packing robots 33 cannot be used due to a failure or the like. Etc., the mounting table 5 is conveyed. In this way, if the malfunction in the return line 16 or the packing robot 33 becomes unusable, it can be handled by the hand-packing line 35, and the packing operation can be continued without stopping the entire selection system 1. Work efficiency is not reduced. However, the position of the hand-packing line 35 is not limited as long as it is within the packing process 15. In addition, if it is the operation | work which returns the mounting base 5 to the mounting process 11 without performing packing by hand, the operation | work can be performed more efficiently if it arrange | positions in the most upstream side of the packing process 15. FIG.

  The traverse device 31 is arranged at the start end side of the sorting line 30, that is, at the branching portion between the main transport unit 2 and the sorting line 30. The traverse device 31 includes means for detecting the mounting table 5, transfer means for transferring the mounting table 5 from the main transport means 2 to the sorting line 30, and guidance means. The transfer means is constituted by a valve body or a piston. The guiding means is formed on the upstream side wall of each sorting line 30 so as to protrude toward the conveying surface of the sorting line 30. In this way, when the mounting table 5 reaches the branching section and the mounting table detection means detects the mounting table 5 and reads the information of the ID recognition means 7, the grade and class of the fruits and vegetables 6 placed on the mounting table 5 are selected by the sorting line 30. It is judged by the control device whether or not it matches the grade / class.

  If the grade / class of the fruits and vegetables 6 does not match the grade / class of the sorting line 30, it is conveyed downstream by the main conveying means 2 as it is. When the grade and class of the fruits and vegetables 6 coincide with the class and class of the sorting line 30, the placing table 5 is transferred to the sorting line 30 by the transfer means of the traverse device 31, and the direction of the placing table 5 is guided by the guiding means. It is rotated approximately 90 degrees. That is, the direction is changed so that the direction of the notch 5e of the mounting table 5 is directed toward the packing robot 33 side.

  The fine adjustment means 32 directs the direction of the mounting table 5 in the setting direction. Specifically, this is means for adjusting the direction so that the notch 5e of the mounting table 5 faces the pack robot 33 side (rear). The fine adjustment means 32 is arranged opposite to the packing robot 33 with the sorting line 30 interposed therebetween or in front of the packing robot 33.

  The fine adjustment means 32 differs depending on the configuration of the positioning means provided on the mounting table 5. The fine adjustment means 32 A when the positioning means is a fine adjustment groove 5 g provided on the side surface of the mounting table 5 and the positioning means are the mounting table. 5 and fine adjustment means 32B in the case of a ferromagnetic body 44 such as iron or nickel pasted on the side surface, and each fine adjustment means 32A and 32B will be described.

  First, the fine adjustment means 32A when the positioning means is the fine adjustment groove 5g provided on the side surface of the mounting table 5 will be described. As shown in FIGS. 2 and 3 (c), the fine adjustment groove 5g is formed in a horizontal concave shape in the horizontal direction on the left and right side surfaces of the support base 5b, and the fine adjustment grooves 5g and 5g are formed in the horizontal direction. Has been. The longitudinal direction of the fine adjustment groove 5g is arranged in a direction orthogonal to the longitudinal direction of the guide recess 5f. However, the fine adjustment groove 5g may be provided only on the left and right sides.

  As shown in FIGS. 9 and 10, the fine adjustment means 32A includes a stopper arm 40, an adjustment arm 41, an actuator 40a that rotates the stopper arm 40, and an actuator 41a that rotates the adjustment arm 41. 40 and the adjustment arm 41 are disposed at positions facing the packing robot 33 with the sorting line 30 in between. The stopper arm 40 and the adjustment arm 41 are arranged so as to protrude in parallel to the sorting line 30 from the machine base 42, and are supported by actuators 40a and 41a so as to be horizontally turnable in the horizontal direction. The adjustment arm 41 is configured to have a size that can be fitted into the fine adjustment groove 5g.

  When positioning the mounting table 5A in such a configuration, that is, when performing fine adjustment in the direction of the mounting table 5A, the fine adjustment means 32A projects the stopper arm 40 in a direction perpendicular to the conveying direction of the sorting line 30. The adjusting arm 41 is arranged in parallel with the conveying direction of the sorting line 30. When the mounting table 5A is transported on the sorting line 30 and transported to a position facing the packing robot 33, the mounting table 5A comes into contact with the stopper arm 40 and is stopped, and the transport of the sorting line 30 is also stopped. The Next, the actuator 41 a is driven, and the adjustment arm 41 is rotated 90 degrees so as to be in a direction perpendicular to the conveying direction of the sorting line 30. At this time, as shown in FIG. 10C, when the adjustment arm 41 is fitted in the fine adjustment groove 5g and the direction of the mounting table 5A is deviated, the extending direction of the fine adjustment groove 5g is the sorting line. 30 is not perpendicular to the conveying direction, that is, as shown in FIG. 10B, the extending direction of the fine adjustment groove 5g is inclined in plan view. By the pressing force, the extending direction of the fine adjustment groove 5g of the mounting table 5A is rotated so as to be a direction perpendicular to the conveying direction. In other words, it is rotated until the side surface of the adjustment arm 41 comes into close contact with the side surface of the fine adjustment groove 5g. In this way, the notch 5e is finely adjusted to an appropriate position facing the packing robot 33 side. When the fruits and vegetables 6 are taken out from the mounting table 5A, the stopper arm 40 is rotated 90 degrees downstream of the sorting line 30, the belt conveyor is driven, and when the mounting table 5A passes, the stopper arm 40 is returned to its original position. The adjustment arm 41 is rotated upstream of the sorting line 30 and returned to its original position.

  Next, the fine adjustment means 32B when the positioning means is a ferromagnetic body 44 such as iron or nickel pasted on the side surface of the mounting table 5 (5B, 5C) will be described. In this case, the ferromagnetic body 44 serving as a positioning means is attached to the side surface of the support base 5b below the notch 5e of the mounting base 5 (5B, 5C) shown in FIGS. .

On the other hand, the fine adjustment means 32B shown in FIG. The magnet 45 is disposed on the side of the sorting line 30 on the packing robot 33 side.
In such a configuration, when the mounting table 5 is transported on the sorting line 30 and transported to a position facing the packing robot 33, the transport is stopped. At this time, as shown in FIG. 12 (a), even if the direction of the mounting table 5 is deviated during conveyance, the magnet 45 is arranged on the side of the sorting line 30 at the stop position. 12 (b), the ferromagnetic body 44 is attracted by the magnetic force of the magnet 45, and the notch 5e is finely adjusted to an appropriate position facing the packing robot 33 side. In this state, the fruits and vegetables 6 are adsorbed and packed by the packing robot 33.

  The magnet 45 can be composed of an electromagnet. In this case, only when the mounting table 5 stops at a position facing the packing robot 33, the magnetic force is applied by applying current. By doing so, in the case of the magnet 45, the mounting table 5 may be attracted by the magnet 45 when the mounting table 5 is transported in the sorting line 30, but by using an electromagnet, it is not attracted during transport. The direction can be finely adjusted only when it is located at a position facing the packing robot 33, and stable conveyance is possible.

  As described above, since the positioning means (the fine adjustment groove 5g and the ferromagnetic body 44) for positioning in the setting direction with respect to the packing robot 33 is provided on the side surface of the support base portion 5b, this positioning means. On the other hand, the fine adjustment means 32 acts, and the mounting table 5 (5A, 5B, 5C) can be directed in the setting direction with respect to the packing robot 33 serving as the packing means. This setting direction is a direction in which the cutout portion 5e of the mounting table 5 faces the packing robot 33 side. In this direction, the packing robot 33 in which the sepals 6b of the fruits and vegetables 6 placed on the mounting table 5 serve as packing means. Therefore, the suction pad 47 can be reliably sucked and taken out.

  The packing robot 33 is arranged on the side of the conveying path of the sorting line 30, picks up the picked piece 6 b side of the fruits and vegetables 6 on the mounting table 5 that has been conveyed, and arranges it in the vicinity of the packing robot 33. It is transported to the pack mounting table 34 and aligned and packed in the pack 48 mounted on the pack mounting table 34. As shown in FIG. 9, the packing robot 33 is configured by a known articulated robot, and a suction pad 47 is disposed at the tip of an arm 33a on the tip side of the hand, and rotation and suction are controlled by a control device. . However, the packing robot 33 may be an orthogonal robot or the like, and is not limited.

  The suction pad 47 is connected to suction means such as a pump through a pipe 47a, and a valve is arranged in the middle of the pipe 47a. The valve is connected to a control device, and valve switching control is performed ( (See FIG. 13). That is, when the mounting table 5 on which the fruits and vegetables 6 are placed is transported by the sorting line 30 and transported to an appropriate position opposite to the packing robot 33 and stopped, the packing robot 33 is operated and the suction pad 47 is moved. The side 6b of the fruits and vegetables 6 on the mounting table 5 is adsorbed (the valve is switched to make negative pressure). At this time, the suction pad 47 is inserted in the horizontal direction from the side of the cutout portion 5e of the mounting table 5 into the cutout portion 5e in a direction perpendicular to the conveying direction of the sorting line 30, and horizontally moved in the vicinity of the sepals 6b of the fruits and vegetables 6. Stop and start aspiration. By this suction, the sepals 6b side of the fruits and vegetables 6 is adsorbed, and in this state, the fruits and vegetables 6 are lifted and transferred to above the pack mounting table 34. Thereafter, the suction pad 47 is inclined so that the tip side is lowered, and the fruits and vegetables 6 are put into the pack 48, and the valve is switched to stop the suction. Note that there are cases where the fruits and vegetables 6 cannot be released from the suction pads 47 only by stopping the suction, so that the valves are switched to apply positive pressure to the suction pads 47 and air is blown to forcibly release the fruits and vegetables 6. It can also be configured.

  Further, instead of applying a positive pressure to the suction pad 47, as shown in FIGS. 13 and 14, a detachment ring 49 slightly larger than the outer periphery of the suction pad 47 can be provided so that the fruits and vegetables 6 can be reliably detached. . That is, the detachment ring 49 is supported by a cylindrical support 49a, and the support 49a is disposed concentrically with the axis of the suction pad 47, and is configured to be slidable in the axial direction by operation of the actuator. .

  Thus, when the fruits and vegetables 6 are sucked by the suction pads 47, the release ring 49 is in a retracted position that does not protrude from the suction pads 47 to the fruits and vegetables 6 side as shown in FIGS. The suction pad 47 sucks the fruits and vegetables 6 and conveys them to the position of the pack 48 (see FIG. 9), and stores the fruits and vegetables 6 in the pack 48. Thereafter, when the suction pad 47 is detached from the fruits and vegetables 6, as shown in FIGS. 13C and 13D, the suction to the fruits and vegetables 6 by the suction pads 47 is stopped, and at the same time, the actuator is operated to remove the separation ring 49. Project to fruit and vegetables 6 side. Thereafter, the suction pad 47 is lifted to move the suction pad 47 away from the fruits and vegetables 6. Accordingly, the fruits and vegetables 6 are surely arranged at appropriate positions of the pack 48.

  Further, a plurality of suction pads 47 may be arranged in parallel with respect to one pack-packing robot 33, and a plurality of fruits and vegetables 6 may be sucked and conveyed at a time and stored in packs 48 one by one. . For example, a case where four fruits and vegetables 6 · 6... Are adsorbed at a time and packed in a pack 48 will be described. As shown in FIG. Are provided in parallel on the bracket 52 so as to be slidable in the width direction (left-right direction). As shown in FIG. 15, the interval between the adjacent suction pads 47 and the suction pad 47 is the same as the width L1 of the mounting table 5 and the length L2 of the fruits and vegetables 6 shown in FIG. Can be placed in an open state. That is, the suction pad 47 is slidable in the left-right direction on the bracket 52 via the pipe 47a.

  On the other hand, on the belt conveyor of the sorting line 30, as shown in FIG. 17, guide rails 50 and 50 are arranged in parallel with the width of the mounting table 5 in parallel with the conveying direction. At the downstream end of the guide rails 50, 50, a stopper 51 is arranged in a direction perpendicular to the conveying direction. The stopper 51 is arranged so that it can be turned up and down or moved back and forth by an actuator. .. Are arranged on the guide rail 50 so that the direction of the mounting table 5 can be finely adjusted as described above.

  The stopper 51 is configured to be movable between an operation position parallel to the conveying surface of the belt conveyor and orthogonal to the conveying surface of the belt conveyor, and a retracted position away from the conveying surface. In a state where the stopper 51 is disposed at the operating position, the mounting table 5 conveyed by the belt conveyor is stopped one after another by the stopper 51. Then, when four mounting tables 5 are arranged, the conveyance by the belt conveyor is stopped, and the suction pads 47 shown in FIG. 15 are extended from the side of the mounting table 5 to suck the fruits and vegetables 6 four times at a time. To do. And while conveying, the space | interval of adjoining suction pad 47 ... is narrowed (space | interval of L2), and it packs in the pack 48 in the state where four are located in a line. After that, the suction pads 47... Release the suction to the fruits 6..., Move to the side of the sorting line 30 while expanding the width (interval L 1), and retract.

  On the other hand, when four fruits and vegetables 6 are picked up on the belt conveyor, the stopper 51 is raised and rotated (or retracted), and the conveyance by the belt conveyor is resumed. When the four empty mounting tables 5, 5... Pass through the stopper 51, the stopper 51 returns to the original position (operation position), stops the conveyance of the new mounting table 5, and repeats the above operation.

  Moreover, in order to save space by narrowing the space | interval of the front-back direction of the said some selection line 30 * 30 ... in the packing process 15, it can also be set as the structure which makes the selection line 30 incline in side view. That is, as shown in FIG. 18, the belt conveyor of the sorting line 30 is disposed at an angle α so that the cutout portion 5 e side (the sepal piece 6 b side) of the mounting table 5 is raised. When the sorting line 30 is not inclined as described above, the length is L4. However, when the sorting line 30 is inclined by a predetermined angle α with respect to the horizontal plane, the length is L3 = L4 cos α. Therefore, the sorting line 30 is inclined to reduce its front-rear width (L4> L3), and the length of the selection system 1 in the front-rear direction can be shortened.

  Further, when picking up fruits and vegetables 6 one by one by the packing robot 33 and packing them into the pack 48, the packing robot 33 moves the suction pad 47 to a predetermined packing position with respect to the pack 48 at a fixed position. (The fruits and vegetables 6 are shifted one by one), a method of packing in order, and a position where the fruits and vegetables 6 are released when the suction pad 47 of the packing robot 33 is positioned above the pack 48 of the pack mounting table 34 Is fixed, there is a method of moving the pack mounting table 34 one by one in the order of fruits and vegetables 6 in the front, rear, left and right when packing. In addition, when packing one by one (for example, four) at a time, the packing robot 33 retreats the packing robot 33 one line at a time to release the fruits and vegetables 6 from the one row of suction pads 47, 47. There is a method in which the mounting table 34 is moved forward by one row and packed, but the method for packing these is not limited.

  The empty table return line 18 is located between the upstream side of the main conveying means 2 and the end of the packing process 15, that is, the end of each of the sorting lines 30, 30. And the most upstream end of the main conveying means 2. The empty mounting table return line 18 is constituted by a belt conveyor or the like, and is used for returning the empty mounting table 5 after the fruits and vegetables 6 are taken out by the packing robot 33 to the upstream side of the main conveying means 2. Further, a cleaning device 36 is disposed in the middle of the empty mounting table return line 18 or on the terminal end side, the empty mounting table 5 is cleaned, and dust, residual agricultural chemicals, etc. are cleaned again by the main conveying means 2. It can be used. That is, the mounting table 5 is configured to circulate between the main transfer means 2 and the empty mounting table return line 18.

  The disposal line 17 is arranged on the most downstream side of the main conveying means 2, and the fruits and vegetables 6 are deformed outside the standard, too large or too small outside the standard, scratched, and there is no sepal piece 6b. It is transported when it has deteriorated or residual pesticide remains above the specified value.

  The control device is the main transport means 2, the alignment device 19, the mass meter 21, the photographing means 22, the illumination light projecting means, the light receiving means, the sorting line 30, the traverse device 31, the fine adjustment means 32, the packing robot 33, the pack. The platform 34 and the like are controlled, and a program for controlling these operations is stored. The ID of the platform 5 is obtained, and the fruits and vegetables 6 and 6. Sort by class and grade.

DESCRIPTION OF SYMBOLS 1 Fruit selection system 2 Main conveyance means 5 Mounting stand 6 Fruits and vegetables 6b Separation piece 11 Mounting process 12 Mass measurement process (quality measurement process)
13 Image processing process (quality measurement process)
14 Internal quality measurement process (quality measurement process)
15 Packing process 30 Sorting line 32 Fine adjustment means 33 Packing robot 48 Pack

Claims (3)

The main transport means for transporting the mounting table on which the fruits and vegetables are placed from the upstream side to the downstream side is provided, and the main transport means includes a placing step for placing the fruits and vegetables on the placing table from the upstream side, In a selection system provided with a quality measurement step for measuring quality, and a packing step for selecting and packing the fruits and vegetables by grade and class from the measurement result of the quality measurement step,
The packing step is provided with a plurality of sorting lines that are branched and transported according to grades and classes in the downstream portion of the main transport means, and placed on the mounting table at the side of each sorting line. A fruit selection system comprising: a packing robot that adsorbs one side of the fruits and vegetables, conveys it to the pack, aligns the released fruits, releases the adsorption, and packs the pack in the pack.   2. The fruit selection system according to claim 1, wherein fine adjustment means for directing the direction of the mounting table in a setting direction is provided in the vicinity of the packing robot in the selection line.   The selection system according to claim 1 or 2, wherein the conveyor belt of the sorting line is disposed so as to be inclined so that one side of the sepal is higher.

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