JP2020058300A - Scallop supply device - Google Patents

Abstract

To provide a scallop supply device which turns all scallops that are randomly put thereinto such that their left shells or right shells as preset are positioned facing upward, and rotates the scallops in a circumferential direction suitable for processing and supplies them to other processing apparatus.SOLUTION: A scallop supply device comprises: a shell supply unit 2 for arranging a plurality of scallops S that have been put thereinto in a horizontally placed manner in one row; a shell turning unit 19 for turning the respective scallops so that their left shells or right shells as preset are positioned facing upward; and an other apparatus transfer unit 41 for transferring the scallops to other processing apparatus by rotating the scallops in a preset direction.SELECTED DRAWING: Figure 1

Description

  According to the present invention, a scallop consisting of two shells, a left shell and a right shell having a larger circumference and a larger bulge than the left shell, is provided by arranging a specific shell of either the left shell or the right shell on the upper side. The present invention relates to a scallop supply device that supplies scallops to other processing devices.

  Traditionally, a scallop feeding device that feeds scallops to a processing device such as a piercing device for attaching a culture rope to a shell for aquaculture of scallops and a separating device for separating shells from scallops and internal organs has been used. (For example, see Patent Document 1).

JP 2005-192547 A

  However, in such a conventional scallop feeding device, when the scallops are put into the scallop feeding device, the worker preliminarily ensures that each scallop is fed to the processing device in an orientation suitable for processing. It was necessary to check the shells, put them in the same direction, and then put them in, which was time-consuming and reduced the work efficiency.

  Therefore, the present invention supplies all of the scallops that have been randomly and sequentially fed to another processing device in a flat state in which a specific shell of either the left shell or the right shell is placed on the upper side. The purpose is to provide a supply device.

  In order to achieve the above-mentioned object, the feature of the scallop supply device of the present invention according to claim 1 is that a plurality of scallops that have been input are aligned in a row in a flat state, and an interval between the scallops is increased. A shell feeding unit for supplying, a first transport unit for placing and transporting each scallop supplied from the shell feeding unit in a flat state, and an upper side of each scallop transported in the flat state is a left shell or a right shell. It is determined whether the shell is a shell, and a shell turning part that turns so that a preset left shell or right shell is placed on the upper side, and a preset left shell or right shell that is turned by the shell turning part A second transport unit for placing and transporting each scallop that is aligned so as to be arranged on the upper side in a flat state, and measuring the circumferential direction of each scallop transported by the second transport unit. And turn each scallop in a preset direction. Is not located in the point that a different device transfer unit for transferring to other processing equipment.

  By adopting such a configuration, all of the plurality of scallops randomly placed in the shell supply unit are arranged on the upper side of the preset shell of the left shell or the right shell, and are preset. Since it can be rotated in the circumferential direction and transferred to another processing device, the scallop with cracks in the shell is removed manually by the worker, which is conventionally done, and the direction of the scallop is aligned. The work can be omitted and the scallop can be efficiently supplied to other processing devices.

  Further, the feature of the scallop supply device of the present invention according to claim 2 is that in the scallop supply device according to claim 1, the shell supply part is opened at the upper side and the peripheral surface is expanded upward. In addition to being formed into a curved spherical surface, a ring-shaped flange portion that horizontally extends outward is formed at the upper edge, and a rotating bowl that is rotationally driven by a motor about a virtual vertical axis and an outer peripheral edge are A rotary disc that is inclined so as to be close to the inner peripheral surface and the upper edge of the rotary bowl, and is rotated by a motor in the same direction as the rotary bowl at a lower speed than the rotary bowl, and on a flange portion of the rotary bowl. Of the scallops, which is the most downstream position of the shellfish transport path, is suspended from above and the scallops that are transported in a flat state with the flange portion partially inserted into the scallops. Are formed at intervals in the circumferential direction of the outer peripheral edge, and are intermittently rotatable in the circumferential direction by a motor, and each scallop transported on the flange portion is fitted into each fitting portion and rotated. And a carry-out plate for guiding the scallop fitted in the fitting part so as to carry it out to the outside, and the plurality of scallops put in the rotary bowl are provided in the rotary bowl and the rotary disk. By respectively rotating the rotating disc and the flange portion of the rotating bowl so as to be aligned in one row in a flat state, and due to the difference in rotational speed of the rotating disc and the rotating bowl, The point is that when the scallops are transferred onto the flange of the rotating bowl, the intervals between the scallops are expanded and the scallops are carried out.

  By adopting such a configuration, when multiple scallops randomly placed on the rotating disk move from the rotating disk to the flange of the rotating bowl due to the rotation of the rotating bowl and the rotating disk at different speeds. It is possible to carry out the scallops with a space provided between them by a carry-out plate arranged in a row in a flat state with a space provided therebetween and arranged at the most downstream position of the flange portion as a shell carrying path.

  Further, the feature of the scallop feeding device of the present invention according to claim 3 is that in the scallop feeding device according to claim 1, a rotary disk in which the shell feeding part is rotationally driven in a horizontal state, and the first rotary disk. An annular body that is arranged so as to be connected to the outer peripheral edge of the rotary disk and is concentrically rotated at a speed higher than that of the first rotary disk, and is suspended from above with respect to the upper surface of the rotary disk. A guide plate that abuts and conveys the scallop to guide it to be transferred to the annular body, and from the top to the carry-out position to the outside of the scallop, which is the most downstream position of the shell carrier path on the annular body. A belt conveyor for carrying out the scallops that are hung and transported on the annular body is guided to the outside, and a transport path that becomes narrower toward the downstream side in the shell transport direction, and is input from the upstream side of this transport path. Multiple scallops And a vibration feeder for sequentially advancing S while arranging them in one row by vibration and sequentially feeding them onto the rotary disc, wherein a plurality of scallops fed from the vibration feeder onto the rotary disc are provided on the rotary disc and By rotating the annular body, the scallops are moved apart from each other when the scallops are transferred from the rotary disc to the annular body due to the difference in the rotational speeds of the rotary disc and the annular body. It is in.

  By adopting such a configuration, a plurality of scallops arranged in a row on the rotating disc through the vibrating feeder are thrown into the rotating disc and the annular body from the rotating disc by rotating the rotating disc and the annular body at different speeds. When moving upward, they are aligned with a space provided therebetween, and further, by adjusting the transfer speed of the carry-out belt conveyor arranged at the most downstream position as the shell transfer path of the annular body, an appropriate amount can be obtained between the scallops. It can be carried out at intervals.

  Further, the feature of the scallop feeding device of the present invention according to claim 4 is that in the scallop feeding device according to any one of claims 1 to 3, the scallop feeding device is another processing device that feeds the scallop for each shell of the scallop. The point is that it is equipped with a shell selection unit that determines the presence or absence of defects that may interfere with processing and eliminates scallops that are determined to have defects in the shell.

  By adopting such a configuration, it is possible to save time and effort for eliminating defective scallops that may interfere with the processing in other processing devices that supply scallops such as cracks or sticking of protrusions to the shells manually by the operator. Therefore, the scallop can be efficiently supplied to other processing devices.

  Further, a feature of the scallop feeding device of the present invention according to claim 5 is that in the scallop feeding device according to any one of claims 1 to 4, the scallops are conveyed in a state in which the scallops are placed flat. Based on the identification means for identifying whether the shell placed on the upper side of the shell is the left shell or the right shell and the orientation of the scallop identified by the identifying means, the preset shell of the left shell or the right shell is the upper side. It is composed of a shell return device that inverts a scallop that needs to be turned so as to be arranged in the.

  By adopting such a configuration, each scallop can be efficiently turned so that all the scallops have a preset shell of the left shell or the right shell placed on the upper side.

  Further, the scallop feeding device of the present invention according to claim 6 is characterized in that, in the scallop feeding device according to claim 5, the scallop returning devices are erected so as to be opposed to each other with a spacing wider than the thickness of the scallop. It has a pair of side walls, and the scallops conveyed in a flat state are dropped between these side walls, and the standing sloping leans against one of the side walls with the thickness direction oriented in the direction orthogonal to the conveyance direction. In the state, the standing transport means for mounting and transporting the scallop, and the pair of abutting members projecting from the outside to the inside of the side walls through the openings formed in the side walls of the standing transport means, respectively. A pair of pushing means for reciprocating so as to advance and retreat in the horizontal direction, and leans on either one of the side walls of the standing conveying means based on the orientation of both shells of each scallop identified by the identifying means. Tilted Attitude control means for driving one of the above-mentioned pushing means so as to push the lower end portion of the scallop so that the preset left shell or right shell of the scallop is set on the upper side. For detecting each scallop carried by the upright carrying means, and for driving one of the pushing means at the timing when each scallop approaches each pushing means of the attitude control means. The sensor and the upright conveying means are disposed on the downstream side, and are arranged so as to spread toward both sides toward the downstream side and gradually increase in width and to be inclined toward the lower side toward the downstream side. Between the respective side walls of the upright conveying means, the shells placed on the upper side of the scallop in a substantially upright state leaning against any one of the side walls are tumbled so that they are placed on the upper side as they are, and the left shell or In that it is composed of a spreading ramp for downhill downstream in flat state in which the preset shells are always arranged on the upper side of the right shell.

  By adopting such a configuration, each scallop can be efficiently turned so that all the scallops have a preset shell of the left shell or the right shell placed on the upper side.

  The scallop feeding device of the present invention according to claim 7 is characterized in that, in the scallop feeding device according to claim 5, the shellfish returning device has a substantially cylindrical shape in which a downhill passage communicating from an upper surface to a lower surface is formed. Yes, the scallops conveyed in the flat state are arranged so as to be slanted downward in the slideway, and are rotatably supported in the circumferential direction, and the rotator is rotated in the circumferential direction. The position of each scallop that has passed through the motor and the identification means is detected, and the motor is driven at the timing when the scallop determined to be turned by the identification means slides down the slideway of the rotating body. It is composed of a sensor that rotates the rotator in the circumferential direction to rotate the scallop and a slide plate that slides the scallop that has passed through the downhill path of the rotator further down the downstream side.

  By adopting such a configuration, each scallop can be efficiently turned so that all the scallops have a preset shell of the left shell or the right shell placed on the upper side.

  The scallop feeding device of the present invention according to claim 8 is characterized in that, in the scallop feeding device according to any one of claims 4 to 7, the scallop selecting unit flatly lays the first conveying unit on top. The three-dimensional shape is measured by imaging the shells placed on the upper side of each scallop transported in the state, and the scallops such as cracks and sticking of protrusions on the shells placed on the upper side of each scallop on the first transport section are measured. First malfunction determining means for determining the presence or absence of a malfunction that may hinder processing in another processing device that supplies the scallop, and the scallop that is determined to be defective in the shell by the first malfunction determining means is placed on the first transport section. First removing means for removing the scallops, which is disposed below the first transporting portion so as to be orthogonal to the first transporting portion, and discharges the scallop removed from the first transporting portion by the first removing means. A first discharge path, A three-dimensional shape is measured by imaging the shell placed on the upper side of each scallop that is rolled by the shell-turning unit and transported in a flat state on the second transport unit, and each three-dimensional shape is measured on the second transport unit. The second defect determining means and the second defect determining means for determining the presence or absence of a defect such as a crack of a shell placed on the upper side of the scallop or a sticking of a protrusion that may hinder processing in another processing device for supplying the scallop. Second excluding means for excluding the scallop determined to be defective in the shell from above the second transport unit, and the second excluding unit disposed below the second transport unit so as to be orthogonal to the second transport unit. And a second discharge path for discharging the scallops removed from the second transport section by the removing means.

  By adopting such a configuration, it is possible to save time and effort for eliminating defective scallops that may interfere with the processing in other processing devices that supply scallops such as cracks or sticking of protrusions to the shells manually by the operator. Therefore, the scallop can be efficiently supplied to other processing devices.

  Further, a feature of the scallop supply device according to the present invention according to claim 9 is that in the scallop supply device according to any one of claims 4 to 7, the shell selection part flattens the top of the first transport part. A three-dimensional shape is measured by imaging the shells placed on the upper side of each scallop that is transported in a standing state, and cracks and sticking of protrusions on the shells placed on the upper side of each scallop on the first transport unit. First defect determining means for determining the presence or absence of a defect that may hinder processing in another processing device that supplies scallops, and the scallop that has been determined to be defective by the first defect determining means for the first transport part. A first excluding means for excluding from above and a scallop which is arranged below the first conveying section so as to be orthogonal to the first conveying section, and which discharges the scallops excluded from above the first conveying section by the first excluding means. First discharge path A shell selection section belt conveyor arranged below the downstream end of the first transfer section in the shell transfer direction, and the shell selection section belt conveyor arranged orthogonal to the first transfer section; and a downstream end of the first transfer section in the shell transfer direction. The scallops are arranged between the shellfish sorting section belt conveyor and have an inclined surface curved in an arc shape, and each scallop transported by the first transporting section is moved from the downstream end of the first transporting section to the tip end side. A shooter that is dropped downward and slides down the inclined surface so that each scallop is flipped over and placed on the shell selection section belt conveyor in a flat state, and the shell selection section that is rotated by the shooter Three-dimensional shape is measured by imaging the shells arranged above each scallop that is conveyed flat on the belt conveyor, and the shells are arranged above the scallops on the belt selecting section belt conveyor. Second defect determining means for determining the presence or absence of a defect that may hinder processing in another processing device that supplies scallops, such as cracks and sticking of protrusions, and the second defect determining means determines that the shell is defective. Second excluding means for excluding scallops from above the shell selecting section belt conveyor, and below the shell selecting section belt conveyor so as to be orthogonal to the shell selecting section belt conveyor, and by the second excluding means, the shell It is composed of a second discharge path for discharging the scallops removed from the sorting section belt conveyor.

  By adopting such a configuration, it is possible to save time and effort for eliminating defective scallops that may interfere with the processing in other processing devices that supply scallops such as cracks or sticking of protrusions to the shells manually by the operator. Therefore, the scallop can be efficiently supplied to other processing devices.

  Further, the scallop feeding device of the present invention according to claim 10 is characterized in that, in the scallop feeding device according to any one of claims 1 to 9, the first transporting portion has a predetermined interval in the shellfish transport direction. Two belt conveyors that are continuously provided at a distance from each other and one of the belt conveyors between the belt conveyors are provided with a gap such that the scallop can be transferred without dropping. Servo control belt conveyor, and measuring the interval of each scallop carried on the upstream belt conveyor arranged upstream of the belt conveyor in the shell transfer direction, the servo control belt according to this interval Adjusting the convey speed of the conveyer, from the servo control belt conveyer to the downstream belt conveyer arranged on the downstream side in the shell convey direction of each of the belt conveyers. Ri in that it is composed of a sensor for adjusting a preset distance apart of each scallop issued.

  By adopting such a configuration, it is possible to convey each scallop at an interval suitable for sequentially rotating the scallops in the shell-turning part, and reliably rotate the scallops in the shell-turning part so that each scallop is left shell or The preset shells of the right shell can be aligned in the direction in which they are placed on the upper side.

  The scallop feeding device of the present invention according to claim 11 is characterized in that, in the scallop feeding device according to any one of claims 4 to 7, the scallops drop in the shell feeding direction in the first transport section. Each of the scallops is composed of two belt conveyors that are continuously arranged with a gap to the extent that they can be transferred without any movement, and the shell selection unit passes through the gap between the belt conveyors of the first transfer unit. A defect determining means for measuring the three-dimensional shape of each shell by measuring the three-dimensional shape and determining whether or not there is a defect such as a crack in each shell of each scallop or the attachment of protrusions that may interfere with the processing in another processing device that supplies the scallop. Excluding means for excluding the scallop from which the shell is judged to be defective by the defect determining means from above the first transport section, and arranged below the first transport section so as to be orthogonal to the first transport section. , In that it is composed of a discharge passage for discharging the scallops that are excluded from the first conveyor onto the said removing means.

  By adopting such a configuration, it is possible to save time and effort for eliminating defective scallops that may interfere with the processing in other processing devices that supply scallops such as cracks or sticking of protrusions to the shells manually by the operator. Therefore, the scallop can be efficiently supplied to other processing devices.

  Further, the scallop feeding device of the present invention according to claim 12 is characterized in that, in the scallop feeding device according to any one of claims 4 to 7, the first transporting portion has a predetermined interval in a shell transporting direction. Two belt conveyors that are continuously provided at a distance from each other and one of the belt conveyors between the belt conveyors are provided with a gap such that the scallop can be transferred without dropping. Servo control belt conveyor, and measuring the interval of each scallop carried on the upstream belt conveyor arranged upstream of the belt conveyor in the shell transfer direction, the servo control belt according to this interval Adjusting the convey speed of the conveyer, from the servo control belt conveyer to the downstream belt conveyer arranged on the downstream side in the shell convey direction of each of the belt conveyers. It is composed of a sensor that adjusts the interval of each scallop to be ejected to a preset interval, and the shell selecting unit is one of the belt conveyors of the first conveyor unit and the belt conveyor. Processing in another processing device that supplies scallops such as cracks and sticking of protrusions on each shell of each scallop by imaging each shell of the scallop that passes through the gap between the servo control belt conveyors and measuring the three-dimensional shape of each shell Defect determining means for determining whether there is a defect that may hinder the operation of the scallop, the removing means for removing the scallop from which the shell is determined to be defective by the defect determining means from the first transport unit, and the first transport unit. It is arranged below the downstream side belt conveyor so as to be orthogonal to the first conveyor, and is removed from the downstream belt conveyor of the first conveyor by the excluding means. In that it is composed of a discharge passage for discharging the dividing been scallops.

  By adopting such a configuration, it is possible to save the labor of excluding the scallops having cracks in the shells manually by the operator in advance, and the scallops can be efficiently supplied to other processing devices.

  A scallop supply device according to a thirteenth aspect of the present invention is characterized in that, in the scallop supply device according to any one of the first to twelfth aspects, the other device transfer section is delivered from the shell turning section. In addition, a flat placing conveying means for conveying each scallop in a flat state and a three-dimensional detecting means for measuring the three-dimensional shape of each scallop conveyed by the flat placing conveying means and detecting the circumferential direction of each scallop And holding the scallop that has been transported to a predetermined position by the flat-position transporting means, and rotating the scallop in a preset direction based on the circumferential direction of the scallop detected by the three-dimensional detection means. It is equipped with a parallel link robot that is transferred to the device.

  By adopting such a configuration, it is possible to easily rotate each scallop by the parallel link robot, transfer each scallop to another processing device according to the preset circumferential direction, The efficiency of processing of scallops in other processing devices can be improved.

  The scallop feeding device of the present invention according to claim 14 is characterized in that, in the scallop feeding device according to claim 13, the flat placing transport means includes a plurality of transport lanes for transporting a plurality of scallops in parallel. Between the turning section and the other device transfer section, there is provided a shell distribution unit that sequentially transfers each scallop sent from the shell rotation section to each transportation lane of the flat placing transportation means. is there.

  By adopting such a configuration, it is possible to efficiently transfer the scallops corresponding to a processing device that arranges a plurality of scallops in parallel and performs processing.

  Further, the feature of the scallop supply device of the present invention according to claim 15 is that in the scallop supply device according to claim 14, the shell distribution part is a shell transfer direction of the flat placement transfer means of the other device transfer part. Shell shell carrier that is adjacent to the upstream side and transports each scallop sent from the shell turner in a direction perpendicular to the shell carrier direction of the flat carrier carrier of the other device transfer section, and the shell carrier Transferring means for transferring the respective scallops transported by the means to the respective transport lanes of the flat-laid transporting means of the other device transferring section, and detecting the respective scallops transported by the shell-row transporting means, And a detection means for controlling the drive of the transfer means based on the detected information.

  By adopting such a configuration, it is possible to calculate the timing at which each scallop transported by the shell-row transport means reaches each transfer mechanism from the position of each scallop on the shell-row transport means detected by the detection means. Drive each transfer mechanism to extend the cylinder rod of the cylinder downward, and move the slider mover horizontally from the shell-row transfer means side to the flat-position transfer means side of the other device transfer section. The scallops on the row transfer means can be transferred to the transfer lanes of the flat-position transfer means of the other device transfer section.

  A scallop feeding device of the present invention according to claim 16 is characterized in that, in the scallop feeding device according to claim 15, the transfer means is constituted by a plurality of transfer mechanisms, and each transfer mechanism is A slider which is arranged above the shell-row conveying means and reciprocates a moving arm in a horizontal direction orthogonal to the shell-conveying direction of the shell-row conveying means; and a slider which is arranged on the moving arm and is vertically arranged on the cylinder rod. And a cylinder for reciprocating the cylinder rod, the cylinder rod being arranged at the lower end of the cylinder rod, and the cylinder rod extending downward. A plurality of the transfer mechanisms, wherein the moving arm horizontally moves to the flat-placing transfer means side, and the pressing member pushes the scallops by laterally contacting the scallops on the shell-row transfer means. Is the above Corresponding to each conveying lane of the feeder transport means in that it is configured to be disposed in parallel with the clam conveying direction of the shellfish line transport means.

  By adopting such a configuration, in the plurality of transfer mechanisms, the cylinder rod extending below the pushing member can be moved by the moving arm to position the plurality of scallops at predetermined positions.

  Further, the feature of the scallop feeding device of the present invention according to claim 17 is that in the scallop feeding device according to claim 15, the transfer means is on the flat-laying conveying means based on the information detected by the detecting means. It is a parallel link robot that holds the scallop and transfers it to each transfer lane of the flat transfer means of the other device transfer section.

  By adopting such a configuration, based on the position of each scallop on the shell-row transport means detected by the detection means, each scallop transported by the shell-row transport means reaches the scallop holding position of the parallel link robot. By calculating the timing for driving the parallel link robot and driving the parallel link robot, the scallops on the shell-row transport means can be transferred to the respective transfer lanes of the flat transfer means of the other device transfer section.

  Further, the feature of the scallop supply device of the present invention according to claim 18 is that in the scallop supply device according to any one of claims 15 to 17, the shell transfer of the flat placing transfer means of the other device transfer section is carried out. Is arranged so as to be vertically movable in the upstream direction, and comes into contact with the side edge on the downstream side in the shell transport direction of each scallop transferred by the transfer means to each transfer lane of the flat transfer means of the other device transfer section. The point is that a stopper is provided for temporarily restricting the transport of each scallop against the drive of the flat-laying transport means of the other device transfer section.

  By adopting such a configuration, it is possible to temporarily restrict the transport of each scallop sequentially transferred from the shell-row transport means to each transport lane of the flatbed transport means of the other device transfer section by the stopper. Due to this, the scallops transferred to each transport lane are arranged in parallel on the upstream side of the stoppers of each transport lane, and the regulation by the stoppers is released at the timing when the scallops of each transport lane are aligned. Can be transported in a state of being aligned in parallel.

  According to the scallop supply device of the present invention, while rotating all of the scallops that are randomly placed in sequence, some scallops are turned so that a preset shell of the left shell or the right shell is placed on the upper side. Since it is possible to align in the circumferential direction suitable for processing in other processing equipment, the operator does not have to check each scallop and align the circumferential direction to supply scallops. Therefore, it is possible to improve the working efficiency of processing in another processing apparatus.

The whole top view which shows 1st Embodiment of the scallop supply device which concerns on this invention. Front view of FIG. The top view of the shellfish supply part of this 1st Embodiment. 3 is a plan view of the shellfish supply section of FIG. It is a figure which shows operation | movement of the shellfish turning part which comprises the shellfish return device in the scallop supply device of this 1st Embodiment, (A) is explanatory drawing which shows the throwing state of the scallop S, (B) operates one pneumatic cylinder. Explanatory diagram showing a state in which (C) is operated, the explanatory diagram showing a state in which the other pneumatic cylinder is operated (A) is a front view showing a transfer mechanism of the scallop supply device of the present embodiment, (B) to (F) are front views showing the operation in order, and (B) is the same view as (A). The whole top view which shows 2nd Embodiment of the scallop supply device which concerns on this invention. The top view of the shellfish supply part of this 2nd Embodiment Side view of FIG. The side view of the 1st conveyance part of this 2nd Embodiment. FIG. 7 is a vertical sectional view of the shooter. Side view of the shell conveyor belt conveyor of the second embodiment Shell-back device of the second embodiment, (A) is a longitudinal sectional view, (B) is a front view

  Hereinafter, a scallop supply device according to the present invention will be described with reference to each embodiment shown in the drawings.

  As shown in FIGS. 1 and 2, the scallop supply device 1 of the first embodiment mainly includes a shell supply unit 2, a first transfer unit 10, a shell selection unit 12, a shell turning unit 19, and a second transfer unit. It has 31, shellfish distributing section 34, and other device transfer section 41.

The shellfish supply unit 2 of the first embodiment is a rotary type supply device, and as shown in FIGS. 3 and 4, a rotation bowl 4 that is rotationally driven in the circumferential direction by a motor M ₁ in a housing 3, and a rotation bowl 4. The bowl 4 is provided with a rotary disk 5 which is rotated by a motor M ₂ in an inclined state, and the rotary disk 5 is rotated at a lower speed than the rotary bowl 4.

  A circular opening 3a facing the upper opening of the rotating bowl 4 is formed on the upper surface of the casing 3, and a supporting mechanism (not shown) for supporting the rotating bowl 4 housed inside the opening 3a. It is rotatably supported in the circumferential direction.

  The lower part of the rotating bowl 4 is formed in a substantially cylindrical shape, and the rotary bowl 4 is curved in an arcuate vertical cross section in which the peripheral surface of the upper part from the intermediate part connected to the lower part expands outward. Further, on the upper edge of the rotary bowl 4, there is formed an annular flange portion 4a that horizontally extends and is used to carry the scallop S on the rotary bowl 4 by rotating the rotary bowl 4.

  Further, the rotating disk 5 is formed with an inclined portion 5a inclined downward on the upper surface of the outer peripheral edge thereof, and is arranged in the rotating bowl 4 in an inclined state as a whole. The outermost peripheral edge of the rotary disk 5 is arranged so as to substantially match the height of the flange portion 4a of the rotary bowl 4.

  Further, on the outer peripheral edge of the opening 3a of the housing 3, the rotary bowl 4 is rotated at the most downstream position of the flange portion 4a of the rotary bowl 4 as a shell carrier path, that is, at the carry-out position for carrying out the scallop S to the outside. A guide wall 6 is provided for carrying out the scallop S carried on the flange portion 4a to the outside, and an opening 7a for carrying out the scallop S to the outside is formed by the carry-out plate 6. 7 is erected, and a slant plate that slides down the scallop S carried out by the carry-out plate 6 onto the upstream belt conveyor 11A arranged upstream of the first conveyor 10 at the shell unloading position of the opening 7a. 8 are provided. The guide wall 7 near the carry-out plate 6 on the side that does not contribute to carry-out of the scallop S is provided with a slanted wall 7b that faces inward as it approaches the carry-out plate 6.

  In the carry-out plate 6 of the present embodiment, the concave fitting portion 6a into which the scallop S which is placed and conveyed in a flat state on the flange portion 4a by the rotation of the rotating bowl 4 is fitted is provided in the circumferential direction of the outer peripheral edge. A plurality of (four in the present embodiment) are formed at intervals, and are arranged on the flange portion 4a of the rotating bowl 4 by a support frame (not shown) extending from the side of the housing 3. , Is intermittently rotated by a motor (not shown). The rotation speed of the carry-out plate 6 can be adjusted according to the supply speed of the scallop S.

  Then, a plurality of scallops S randomly placed on the rotary disc 5 in the rotary bowl 4 are rotated by the rotary bowl 4 and the rotary disc 5 so that the inclined portion 5a of the rotary disc 5 and the flange portion 4a of the rotary bowl 4 are flattened. When the scallop S is transferred while being arranged in a row while being aligned in one row, and due to the difference in rotation speed between the rotary bowl 4 and the rotary disk 5, the scallop S is transferred from the rotary disk 5 to the flange portion 4a of the rotary bowl 4. The intervals between the scallops S are widened, and the scallops S transported on the flange portion 4a of the rotary bowl 4 are fitted into the fitting portion 6a of the carry-out plate 6 at the most downstream position on the flange portion 4a as the shell-carrying path, and carried out. When the plate 6 is rotated, it is carried out from the opening 7a of the guide wall 7, slid down on the inclined plate 8 and delivered onto the first transport unit 10.

  On the downstream side of the inclined plate 8 of the shell feeding unit 2, the upstream side of the first transport unit 10 that transports the scallop S in the horizontal direction orthogonal to the sliding direction of the scallop S on the inclined plate 8 of the shell feeding unit 2. The scallops S arranged in a row in the shell supply unit 2 in a flat state are sequentially supplied from the inclined plate 8 onto the first transfer unit 10.

  The 1st conveyance part 10 of this embodiment is comprised from the two belt conveyors 11A and 11B arrange | positioned with the predetermined gap | interval in the shellfish conveyance direction, and the upstream belt conveyor 11A arrange | positioned upstream and the downstream. The scallop S supplied on the upstream belt conveyor 11A in a flat state from the shell supply unit 2 is transferred to the downstream belt conveyor 11B without dropping onto the downstream belt conveyor 11B. It is considered as a degree.

  As shown in FIGS. 1, 2 and 5, the shellfish selecting unit 12 of the first embodiment determines whether or not there is a defect in the shell of the scallop S that is transported on the first transporting unit 10 in a flat state. The defect determining unit 13, the removing unit 15 that removes the scallop S that is determined to be defective by the defect determining unit 13 from the first transport unit 10, and the reject unit 15 that removes the scallop S from the first transport unit 10. The discharge belt conveyor 18 is provided as a discharge path for discharging the scallop S.

  The defect determining means 13 has two image pickup means 14A and 14B which are respectively arranged above and below so as to face the gap between the belt conveyors 11A and 11B of the first transport section 10, and each image pickup means 14A. , 14B respectively images the scallop S passing through the gap between the belt conveyors 11A, 11B from above and below, and a central processing unit (CPU) (not shown) measures the three-dimensional shape of the scallop S, and this measurement is performed. From the three-dimensional shape, it is determined whether or not there is a problem such as cracking, cracking, depression (hole opening) of the scallop S of the scallop S, or sticking of protrusions on the surface, which may hinder processing in other processing devices that supply the scallop S. Has become. The central processing unit controls all the above-mentioned or later-described devices of the scallop feeding device of this embodiment. Further, the drive of a plurality of motors (not shown) for driving various belts is controlled by the central processing unit.

  The excluding means 15 is disposed above the downstream belt conveyor 11B of the first conveyor 10 and has a rotation support shaft 16 which is intermittently driven by a motor (not shown) to convey the axis first. A plurality of pieces are arranged horizontally along the shell-carrying direction of the part 10, and on the peripheral surface of the rotary support shaft 16, each of which has an axial length of about the diameter of the scallop S and projects outward in the peripheral direction (this embodiment). In the embodiment, four selection blades 17 are arranged at equal intervals in the circumferential direction. The protruding length of each of the sorting blades 17 is such that a slight gap is provided between each of the sorting blades 17 and the downstream belt conveyor 11B when the rotation support shaft 16 is rotated.

  The discharge belt conveyor 18 is arranged below the downstream belt conveyor 11B corresponding to the removing means 15 so as to drive the belt in a direction orthogonal to the shell transport direction of the first transport unit 10.

  Then, in the shellfish selecting unit 12 having the above-described configuration, first, the scallop S supplied in a flat state is transported from the shellfish feeding unit 2 onto the upstream belt conveyor 11A of the first transporting unit 10, and the upstream belt is fed. When being transferred from the conveyor 11A onto the downstream belt conveyor 11B, the scallop S passing through the gap between the belt conveyors 11A and 11B is imaged by the image pickup means 14A and 14B of the defect determination means 13 and the scallop S is taken. The three-dimensional shape of the scallop S is measured, and it is determined from the measured three-dimensional shape whether or not there is a defect such as cracking of the shell of the scallop S or sticking of protrusions that may interfere with the processing in another processing device that supplies the scallop S.

  Next, of the scallops S conveyed on the downstream side belt conveyor 11B, when the scallop S, which has been determined by the defect determining means 13 to have a defect in the shell, reaches the removing means 15, the rotation spindle 16 of the removing means 15 is provided. The scallop S, which has been driven for a very short time and has been determined by the selection blade 17 to have a problem with the shell, is scraped off from the downstream belt conveyor 11B onto the discharge belt conveyor 18, and the discharge belt conveyor 18 collects the recovery container ( It is transported to and collected by a worker (not shown), or is transported to a hand peeling work table (not shown) by an operator.

  In addition, in the present embodiment, the discharging belt conveyor 18 is provided as a discharging path for discharging the scallop S that has been discharged from the first conveying unit 10 by the removing means 15, but the discharging path is not limited to the belt conveyor. Instead of being a thing, it may be a slope or the like that slides down the scallop S removed from the first transfer unit 10 to a recovery container or a hand-pulling work table and transfers it.

  As shown in FIGS. 1, 2 and 5, the shellfish inversion unit 19 of the first embodiment eliminates the scallop S having a defective shell from the shell selection unit 12, and the downstream belt of the first transport unit 10 is removed. Imaging means 20 as an identification means for identifying the arrangement of the left shell and the right shell of each scallop S conveyed in a flat state on the conveyor 11B, and the left shell of the scallop S imaged and identified by the imaging means 20. And a shell return device 21 that turns a part of the scallop S so that one of the shells set in advance based on the arrangement of the right shell is arranged on the upper side.

  The image pickup means 20 is disposed in the vicinity of the downstream side of the downstream belt conveyor 11B of the first conveyor 10 and images the scallop S conveyed to the most downstream end of the downstream belt conveyor 11B. A central processing unit (not shown) measures a three-dimensional shape, and from the measured three-dimensional shape (the bulge size of each shell), the front and back of the scallop S, that is, either the left shell or the right shell is placed on the upper side. Whether or not the left shell and the right shell of the scallop S transferred from the downstream belt conveyor 11B to the upright conveying means 22 of the shell return device 21 described later are arranged is identified.

  The shellfish returning device 21 of the first embodiment receives one of the pair of side walls 26A, 26B by receiving the scallop S conveyed in a flat state on the downstream side belt conveyor 11B of the first conveyor 10. It is preset based on the standing conveyance means 22 that leans back and conveys in a substantially upright state, and the arrangement of the left and right shells of the scallop S on the standing conveyance means 22 imaged and identified by the imaging means 20. The shells are placed on the upper side and lean on either of the side walls 26A, 26B to make them tilted to a substantially upright position. The attitude control means 23, and the scallop S tilted by the attitude control means 23 are placed above and below the shells. It is provided as it is by laying it down horizontally and placing it flat, and an expanding slope 24 for sliding down to the downstream side.

  The standing conveying means 22 has a height difference at the downstream end of the downstream belt conveyor 11B of the first conveying section 10 so as to receive the scallop S dropped from the downstream end of the downstream belt conveyor 11B of the first conveying section 10. And a belt conveyor 25 that runs the belt in a horizontal direction orthogonal to the shellfish transport direction of the first transport unit 10, and a space on the belt conveyor 25 in a direction orthogonal to the shellfish transport direction of the belt conveyor 25. It is provided with a pair of side walls 26A and 26B which are erected separately.

  The both side walls 26A and 26B are provided with an interval enough to raise the scallop S dropped from the downstream belt conveyor 11B of the first conveyor 10 and transferred onto the belt conveyor 25 in a slightly inclined state. A shell carrier path 25a is provided for transporting the scallop S received between the both side walls 26A, 26B in a substantially upright state by leaning against one of the side walls 26A, 26B (FIG. 5). (A)). It is preferable that at least one of the side walls 26A and 26B can be moved in a direction in which at least one of the side walls 26A and 26B is brought into contact with and separated from the other so that the distance can be adjusted according to the size of the scallop S.

  The attitude control means 23 of the standing conveyance means 22 extends from the outside to the inside of the shell conveyance path 25a through the openings 26a and 26b provided to face the side walls 26A and 26B of the standing conveyance means 22, respectively. The lower end of the scallop S in the shellfish transport path 25a is arranged so as to be capable of advancing and retreating in the horizontal direction orthogonal to the shellfish transport direction so as to face each other, and the preset left shell or right shell is placed on the upper side. Of a pair of pushing means 27A and 27B for pushing the scallops and a scallop S which is arranged on the upstream side of the pushing means 27A and 27B and is carried in the shellfish carrying path 25a through the openings 26a and 26b. When the sensor 27C detects the scallop S, the central processing unit is preset based on the arrangement of the left shell and the right shell of the scallop S identified by the image pickup means 20. Side of the shell is adapted to push the lower end of the drives either of the pressing means 27A or pressing means 27B each scallop S so as to be disposed on the upper side.

  Each of the pushing means 27A, 27B has a cylinder rod 29A, 29B protruding by the driving of the pneumatic cylinders 28A, 28B. At the tip of each cylinder rod 29A, 29B, the opening 26a of each side wall 26A, 26B is formed. , 26b to push the lower end of the scallop S located in the shellfish transport path 25a, and position the scallop S so that a predetermined shell (left shell or right shell) of the scallop S is placed on the upper side. Controlling push rods 30A and 30B are provided in a protruding manner.

  The pneumatic cylinders 28A and 28B are set in advance by identifying whether the left shell or the right shell of the scallop S on the downstream side belt conveyor 11B of the first conveyor 10 is arranged on the upper side by the image pickup means 20. One of the pneumatic cylinders 28A (28B) is driven to push the pushing rod 30A (30B) to push the lower end of each scallop S, The posture of the scallop S is controlled so that a predetermined left shell or right shell leans against either of the side walls 26A and 26B so that the scallop S is in a substantially upright state. FIG. 5B shows a state in which the pneumatic cylinder 28A is driven and the push rod 30A is advanced through the extension of the cylinder rod 29A. In this state, the lower end of the scallop S hits the side wall 26B. The upper end of the scallop S is brought into contact with the side wall 26A so as to come into contact with the side wall 26A. On the other hand, FIG. 5C shows a state in which the pneumatic cylinder 28B is driven and the pushing rod 30B is advanced through the extension of the cylinder rod 29B. In this state, the lower end of the scallop S is located on the side wall 26A. Therefore, the upper end of the scallop S also comes into contact with the side wall 26B. In addition, in this embodiment, the scallop S shall be turned so that the left shell with small curvature may be arrange | positioned at the upper side.

  The expansion slope 24 is arranged so as to expand toward both sides toward the downstream side and gradually increase in width and to be inclined toward the lower side toward the downstream side, and each side wall of the upright conveying means 22 is controlled by the attitude control means 23. The shell (the left shell in this embodiment) arranged on the upper side of the scallop S in a substantially upright state leaning against one of the side walls 26A (26B) between 26A and 26B is arranged on the upper side as it is. It is designed to tip over and slide down to the downstream side. Both side walls 26A and 26B of the upright conveying means 22 are also continuously provided on both side edges of the expansion slope 24, and are expanded to both sides along the expansion of the expansion slope 24. .

  The downstream side of the expansion slope 24 is connected to the upstream side of a belt conveyor 31 as a second conveyor for conveying the scallop S in a horizontal direction orthogonal to the shell conveying direction of the upright conveying means 22. The scallop S in a flat state whose posture is controlled so that one of the preset shells is placed on the upper side in the shell-turning section 19 is sequentially supplied from the expansion slope 24. There is.

  At the downstream end of the belt conveyor 31, there is provided a supply belt conveyor 32 as a shell string conveying means for sequentially receiving the plurality of scallops S which are conveyed in the belt conveyor 31 in a flat state at substantially equal intervals. The supply belt conveyor 32 faces the downstream end of the belt conveyor 31 with its upstream end in order to convey the scallops S at substantially equal intervals in the horizontal direction orthogonal to the belt conveyor 31. As described above, the belt conveyor 31 is disposed slightly below. The supply belt conveyor 32 is servo-controlled by a motor (not shown) so that the speed can be varied. Further, a sensor 33 for detecting the scallop S passing on the supply belt conveyor 32 is provided in the vicinity of a shell distribution unit 34 described later.

  The supply belt conveyor 32 forms a part of the shell distribution unit 34 for aligning the scallop S when supplying the scallops S to the other device transfer unit 41. The shell distribution unit 34 in the present embodiment. , A plurality of (8 as an example) scallops S are arranged at equal intervals. Then, the supply belt conveyor 32 temporarily stops by servo control in a state in which the eight scallops S are arranged at equal intervals, and the respective scallops S are transferred from the supply belt conveyor 32 to the flat placing and conveying means 42 described later. It is supposed to be posted.

  As shown in FIGS. 1, 2 and 6 (A), the shellfish distribution unit 34 transfers a plurality of scallops S arranged on the supply belt conveyor 32 at equal intervals to the other device transfer unit 41. There is a transfer mechanism 35 as a transfer means for the transfer mechanism 35. The transfer mechanism 35 corresponds to each of the scallops S aligned at equal intervals on the supply belt conveyor 32 (in this embodiment, a plurality of transfer mechanisms). 8) are provided.

  Each transfer mechanism 35 has a guide rod 36a supported by a holding frame 36 so that one end thereof faces above the supply belt conveyor 32, and the arm 36 hangs down from this guide rod 36a. The slider 37 is arranged so as to be able to reciprocate along the guide rod 36a by a motor (not shown).

  A pneumatic cylinder 39 is vertically provided on the moving arm 38, and a pushing member 40 is attached to the pneumatic cylinder 39 via a cylinder rod 39a that can move in the vertical direction. The pushing member 40 pushes the scallop S on the supply belt conveyor 32 to move it to the flat-position conveying means 42. When moving from the supply belt conveyor 32 to the flat-position conveying means 42, While the cylinder rod 39a is extended and lowered to push the scallop S, the cylinder rod 39a is contracted and raised to return to the supply belt conveyor 32 from the flat conveying means 42. It is designed to pass above S.

  The flat-position transfer means 42 is configured by arranging a plurality of (8 rows in the present embodiment) belt conveyors 42a, which are parallel to each other, in which the scallops S are placed in a flat state and transferred one by one as transfer lanes. ing. Each of the belt conveyors 42a is intermittently driven by a motor (not shown). For example, the intermittent driving is stopped for 4 seconds and traveled for 1 second. It should be noted that it is conceivable to drive each of the belt conveyors 42a by the tracking method instead of the intermittent driving, but this tracking method has more risks than the intermittent driving.

  As shown in FIGS. 2 and 6 (A), the scallop S transferred from the supply belt conveyor 32 to each belt conveyor 42a of the flat placing and conveying means 42 is provided above the flat placing and conveying means 42. A stopper 43 for temporarily stopping each is provided, and a pneumatic cylinder 44 having a cylinder rod 44a that can move in the vertical direction is held by a holding frame 36, and a shutter is provided at the lower end of the cylinder rod 44a. A plate 45 is attached and configured. In the shutter plate 45, the scallop S supplied onto each belt conveyor 42a comes into contact with the shutter plate 45 and stops when the cylinder rod 44a of the pneumatic cylinder 44 is extended and lowered. Further, when the cylinder rod 44a of the pneumatic cylinder 44 is contracted and raised, the scallop S supplied onto the belt conveyors 42a does not contact the shutter plate 45, and the belt conveyors 42a travel forward to the right. It is supposed to do. The stopper 43 may be configured to stop the scallop S placed on each belt conveyor 42a by the shutter plate 45 for each belt conveyor 42a serving as the transportation lane of the flat conveying means 42, or all of them. The shutter plates 45 extending over the belt conveyor 42a may collectively stop all the scallops S placed on all the belt conveyors 42a.

  As shown in FIGS. 1 and 2, a three-dimensional detecting means 46 for detecting the circumferential direction of each scallop S placed on each belt conveyor 42a is arranged above the flat conveying means 42. It is set up. This three-dimensional detection means 46 has two image pickup means 47, 47 in the present embodiment, and these two image pickup means 47, 47 pick up images of the scallop S on the four belt conveyors 42a, respectively. The arithmetic processing unit measures the three-dimensional shape of each scallop S and detects the circumferential direction of each scallop S from the measured three-dimensional shape. Further, these image pickup means 47 are adapted to detect the scallop S which is not suitable for automatic shelling from the three-dimensional shape of each scallop S, and there is a problem such as cracking of the shell in the shell selecting unit 12 and thereafter. The scallop S that is unsuitable for automatic shelling is detected.

  Further, above the most downstream side of the three-dimensional detection means 46 in the flat-bed transport means 42, the circumferential direction of each scallop S transported to the most downstream position of each belt conveyor 42a is processed by another processing device. In the present embodiment, as an example, the scallop S is rotated so as to be suitable for shelling by the automatic shelling machine 48, and the scallop S whose orientation is corrected is supplied to the automatic shelling machine 48. Two well-known parallel link robots 50, 50 are arranged. Each of the parallel link robots 50 holds and controls the scallop S on each of the four belt conveyors 42a by the three arms 51, 51 ... Which perform controlled movements and the respective tip portions of these arms 51. It is adapted to be held and rotated by the hook 52 that moves and transferred to the automatic shelling machine 48.

  The scallop S, which is detected by the three-dimensional detecting means 46 as not suitable for automatic shelling, is discharged from the most downstream position of each belt conveyor 42a toward a hand peeling worktable (not shown) such as a discharge belt conveyor or a slope. It is adapted to be transferred onto the path 53 and discharged.

  The transfer mechanism 35 of the shell transfer unit 34 may be a parallel link robot.

  Next, the operation of the above-described first embodiment of the present invention will be described.

  First, when a plurality of scallops S for shelling are put on the rotary disc 5 in the rotary bowl 4 of the shell feeding unit 2, the plurality of scallops S put in are rotated by the rotation of the rotary bowl 4 and the rotary disc 5. The inclined portion 5a of the disk 5 and the flange portion 4a of the rotary bowl 4 are conveyed while being aligned in a line in a flat state.

  Then, when the scallop S transported on the flange portion 4a of the rotary bowl 4 is transported to the most downstream position as a shell transport path on the flange portion 4a, the fitting portion 6a of the carry-out plate 6 which is intermittently rotationally driven. The scallop S fitted into the fitting part 6a is carried out to the outside from the opening 3 of the guide wall 3 by the rotation of the carry-out plate 6, slid down on the inclined plate 8 and the upstream belt of the first carrying part 10. It is sequentially sent out on the conveyor 11A.

  In this way, each scallop S sent from the shellfish supply unit 2 to the upstream belt conveyor 11A of the first conveyor 10 moves from the upstream belt conveyor 11A of the first conveyor 10 to the downstream belt conveyor 11B. At the time of transfer, the images are picked up by the image pickup means 14A, 14B of the defect judging means 13 of the shell selecting section 12 in the gap between the belt conveyors 11A, 11B, and the three-dimensional shape is measured by the central processing unit, Based on this measured three-dimensional shape, it is possible to determine whether or not there is a problem such as cracking, cracking, depression (drilling), sticking of protrusions on the surface of the shell of the scallop S, which may hinder processing in other processing devices that supply the scallop S. When the scallop S, which is determined to be defective in the shell, is conveyed by the downstream belt conveyor 132B and reaches the removing means 15, the rotation spindle 6 is intermittently rotatively driven to be removed from the downstream belt conveyor 11B by the sorting blade 17 facing the downstream belt conveyor 11B, and is conveyed to the collection container or the hand peeling work table by the discharge belt conveyor 18. .

  On the other hand, the scallop S, which has been conveyed on the downstream belt conveyor 11B without any defect being detected, has the front and back sides thereof detected by the image pickup means 20 of the shell rolling section 19 in the vicinity of the most downstream end on the downstream belt conveyor 11B. . The front and back of the scallop S are the left shell of the scallop S and one of the right shell having a larger peripheral diameter and larger bulge than the left shell, and the other is the back. However, in the present embodiment, for convenience, as described above. Represents the left shell.

  The scallop S having its front and back detected in this way is dropped from the downstream belt conveyor 11B of the first conveyor 10 and transferred onto the belt conveyor 25 of the upright conveyor 22 of the shell-turning portion 19, and the belt conveyor 25 In the shellfish transport path 25a formed by the side walls 26A and 26B, the slanted lean is leaned against one of the side walls 26A and 26B and is transported in a substantially upright state. When the scallop S is dropped from the downstream belt conveyor 11B of the first transport unit 10 onto the belt conveyor 25 of the shell turning unit 25, the side walls 26A and 26B on which the respective scallops S are leaned differ depending on the amount of fall.

  In this way, while the scallop S is conveyed on the belt conveyor 25 in a substantially standing state in which it leans against one of the side walls 26A and 26B of the shell conveyance path 25a, the image capturing means of the shell turning portion 19 is carried out. Based on the arrangement of the left shell and the right shell of the scallop S imaged and identified by 20, any one of the pushing means 27A, 27B of the attitude control means 23 for arranging the front side of the scallop S on the shell transport path 25a. A control signal for driving the or is given to the driven pushing means 27A or 27B.

  The driven pushing means 27A or the pushing means 27B is driven by the pneumatic cylinder 28A or the pneumatic cylinder 28B when the corresponding scallop S is detected by the sensor 27C and faces the opening 26a of the side wall 26A and the opening 26b of the side wall 26B. Air is introduced into the cylinder, and the pushing rod 30A or the pushing rod 30B is extended via the cylinder rod 29A or the cylinder rod 29B. As a result, the tip of the pushing rod 30A or pushing rod 30B facing the shell transport path 25a through the opening 26a of the sidewall 26A or the opening 26b of the sidewall 26B causes the tip of the pushing rod 30A or the pushing rod 30B to face the lower end of the scallop S on the opposite side wall 26B or 26A. Push it to touch.

  Then, as shown in FIGS. 5 (B) and 5 (C), the scallop S pushed by the pushing rod 30A or the pushing rod 30B so that the lower end portion thereof contacts one of the side walls 26A or 26B has an outer periphery. Since it is curved and cannot stand upright by itself, by pulling the pushing rod 30A or the pushing rod 30B, it swings around the lower portion in contact with the belt conveyor 25, and the side wall on the side where the lower end does not touch. 26B or the side wall 26A is brought into contact with the upper end portion and is turned to a substantially upright state in which it is inclined. At this time, in this embodiment, the left shell of the scallop S is arranged on the upper side.

  Even if the left shell is placed on the upper side and leans on the side wall 26A or the side wall 26B when it falls on the belt conveyor 25, the air is introduced into the one pneumatic cylinder 28A or the pneumatic cylinder 28B, and the cylinder rod The push rod 30A or push rod 30B is extended via 29A or the cylinder rod 29B, pushes the lower end of the scallop S so as to contact the opposite side wall 26B or side wall 26A, and the left shell is placed on the upper side. Will be maintained. As described above, this depends on which side wall 26A or side wall 26B the scallop S leans against when falling on the belt conveyor 25, depending on the individual state of each scallop S, the orientation on the first transport unit 10, and the like. This is because they are different.

  In this way, the scallop S conveyed on the belt conveyor 25 while leaning against one of the side walls 26A or the side wall 26B and maintaining a substantially upright state in which the sloping shell is standing is expanded to the downstream end of the belt conveyor 25. When the open sloping road 24 is reached, each scallop S has one of the scallops S due to the expanding sloping road 24 whose width gradually increases toward the downstream side and both side walls 26A and 26B expanding along the expanding sloping road 24. By leaning against the side wall 26A or the side wall 26B, the tilt angle is gradually increased from the almost standing state, and the posture is changed to a flat state and the vehicle is slid down. Therefore, each scallop S leans against one of the side walls 26A or 26B by the attitude control means 23 and slides down while the left shell is placed flat while the left shell is arranged on the upper side.

  After that, the respective scallops S are sequentially supplied onto the belt conveyor 31 connected to the downstream side of the expansion slope 24, and conveyed in the horizontal direction orthogonal to the shell conveyance direction of the upright conveying means 22.

  Then, when all the scallops S are controlled by the shell-turning unit 19 so that the left shell is arranged on the upper side, and each scallop S conveyed in a flat state on the belt conveyor 31 reaches the downstream end of the belt conveyor 31. , The scallops S transported in a flat state with the left shell on the upper side of the belt conveyor 31 are sequentially transferred to the supply belt conveyor 32 of the shell distribution unit 34 with the left shell on the upper side. Listed. When the scallop S is transferred onto the supply belt conveyor 32, each scallop S is detected by the sensor 33, and the speed of the supply belt conveyor 32 is servo-controlled in synchronization with the signal detected by the sensor 33 of the scallop S. , The scallops S are arranged on the supply belt conveyor 32 at equal intervals.

  As shown in FIG. 6 (B), the respective scallops S arranged at equal intervals on the supply belt conveyor 32 are respectively transferred as transfer means to the flat placement transfer means 42 of the other device transfer section 41. When reaching the mechanism 35, the slider 37 of each transfer mechanism 35 moves along the guide rod 36b while the cylinder rod 39a of the pneumatic cylinder 39 is extended and the pushing member 40 is lowered. ), The pushing member 40 pushes the corresponding scallop S until it abuts on the shutter plate 45 of the stopper 43, and sequentially moves it from the supply belt conveyor 32 to each belt conveyor 42a of the flat placing conveying means 42. .

  When the scallops S are transferred from the supply belt conveyor 32 onto the belt conveyors 42a of the flat-bed conveying means 42, and the scallops S are brought into contact with the shutter plates 45 of the stoppers 43 on the belt conveyors 42a, respectively, As shown in FIG. 6D, the pushing member 40 of each transfer mechanism 35 is lifted by contraction of the cylinder rod 39a of the pneumatic cylinder 39, and as shown in FIG. It passes above the upper scallop S without contacting the scallop S, and moves so as to return to the position where the scallop S on the supply belt conveyor 32 can be pushed.

  Then, when the pushing member 40 returns to a position where the scallop S on the supply belt conveyor 32 can be pushed, as shown in FIG. 6 (F), the cylinder rod 44a of the pneumatic cylinder 44 is extended again to push the pushing member 40. And the pneumatic cylinder 44 of the stopper 43 is driven to contract the cylinder rod 44a to raise the shutter plate 45 so as not to hinder the movement of the scallop S, and each belt conveyor 42a is driven to drive each scallop. S is synchronously moved on the belt conveyor 42a from left to right in the figure.

  In each belt conveyor 42a, the scallop S is transferred from the supply belt conveyor 32 onto each belt conveyor 42a by each transfer mechanism 35, and each scallop S comes into contact with the shutter plate 45 of the stopper 43 to form eight rows of belts. The scallops S are arranged in parallel on the conveyor 42a and stopped while the shutter plate 45 of the stopper 43 is raised. When the shutter plate 45 of the stopper 43 is raised and does not hinder the movement of the scallop S, the scallop S is shuttered. It is intermittently driven so as to move to the downstream side to the extent that it exceeds the plate 45.

  Then, when each scallop S reaches below the three-dimensional detection means 46 of the flat-laid transport means 42, the imaging means 47, 47 of the three-dimensional detection means 46 respectively image the scallop S on the four belt conveyors 42a. The central processing unit measures the three-dimensional shape of each scallop S and detects the circumferential direction of each scallop S from the measured three-dimensional shape. Further, from the measured three-dimensional shape of each scallop S, a scallop S that is not suitable for automatic shelling with a defect such as a crack in the shell is detected, and the scallop S that is detected not suitable for this automatic shelling is The parallel link robots 50, 50 are mounted on a discharge path 53 toward a hand peeling workbench (not shown) and discharged.

  On the other hand, each scallop S determined to be suitable for automatic shelling by the imaging means 47, 47 of the three-dimensional detection means 46 has its circumferential direction changed by the parallel link robots 50, 50 as necessary. Then, it is transferred to the automatic shelling machine 48.

  As described above, according to the scallop feeding device 1 of the first embodiment, the plurality of scallops S randomly placed in the scallop feeding unit 2 causes the scallop to be broken or the protrusions attached to the scallops in the scallop selecting unit 12. The presence or absence of a defect that may hinder the removal of shells in the automatic shelling machine 48 that supplies S is detected, and the scallop S having a defective shell is eliminated, and all the scallops S are removed from the left shell or the right shell in the shell turning section 19. One of the shells, which is set in advance and suitable for stripping in the automatic shelling machine 48, can be turned so as to be arranged on the upper side, and further, the other device transfer section 41 allows the scallop S to move in the circumferential direction. Can be supplied in the direction suitable for the shell removal in the automatic shell remover 48, so that the shell of the scallop S can be removed efficiently.

  Next, a second embodiment of the scallop supply device according to the present invention will be described. In addition, the same reference numerals are given to the portions having the same configurations as those of the first embodiment, and detailed description thereof will be omitted. 7 to 13 showing the configuration of the second embodiment, the description of the scallop S is omitted in FIGS. 7 to 10, 12 and 13.

  As shown in FIG. 7, the scallop supply device 101 of the second embodiment mainly includes a shell supply part 102, a first transfer part 131, a shell selection part 141, a shell turning part 161, a second transfer part 31, and shells. The distribution unit 34 and the other device transfer unit 41 are included.

  As shown in FIGS. 7, 8 and 9, the shellfish supply section 102 of the second embodiment includes a rotary disk 103 that is rotationally driven in a horizontal state by a first motor (not shown), and the rotary disk 103. An annular body 104 arranged so as to be connected to the outer peripheral edge of the rotary disk 103 and driven to rotate concentrically with the rotary disk 103 in a horizontal state by a second motor (not shown), and a vibration for throwing the scallop S on the rotary disk 103. It is provided with a feeder 115, and the annular body 104 is rotated at a higher speed than the rotating disk 103.

  A guide plate 105 that defines the inner circumference of the shell transport path on the rotary disk 103 is erected on the rotary disk 103, and shell transport on the rotary disk 103 into which the scallop S is fed from the vibration feeder 115 is provided. At the most upstream position of the path, the scallop S fed from the vibration feeder 115 is placed on the shell transport path of the rotary disk 103 by restricting the outer peripheral edge side so that the scallop S is not separated from the rotary disk 103. A guide plate 106 for guiding the transfer from the rotary disk 103 to the annular body 104 is provided at the most downstream position of the shellfish transport path. The guide plate 106 is suspended from the outside of the annular body 104 on the rotating disc 103 and the annular body 104 by a support frame 107 bridged so as not to interfere with the rotation of the rotating disc 103. A small gap is provided between them.

  On the outside of the annular body 104 at the transfer position where the scallop S is transferred from the rotating disc 103 to the annular body 104 by the guide plate 106, the scallop S transferred from the rotating disc 103 to the annular body 104 is placed. A guide plate 108 is mounted along the outer peripheral edge of the annular body 104 so that the guide plate 108 is placed on the annular body 104 while being regulated so as not to be separated from the annular body 104. Note that guide plates may be provided on the entire outer circumference of the rotary disk 103 except the transfer position to the annular body 104, and on the entire outer circumference of the annular body 104 except the carry-out position to the outside.

  Further, at the most downstream position of the shell transport path on the annular body 104, that is, at the carry-out position for carrying out the scallop S to the outside, a guide belt for carrying out the scallop S carried by the rotation of the annular body 104 to the outside. A conveyor 109 is provided.

  The guide belt conveyor 109 is provided with a support base 110 so as to face from the outside of the annular body 104 to above the carry-out position of the scallop S on the annular body 104, and the motor mounted on the support base 110. An annular belt 114 is wound around a rotating shaft 112 that is hung from 111 and a pulley 113 that is rotatably supported by a support base 110 and is hung.

  The belt 114 is arranged so as to run from the inner side of the upstream side to the outer side of the downstream side at the unloading position of the annular body 104, and the side edge of the scallop S transported to the unloading position by the rotation of the annular body 104. The scallop S is brought out to the outside by abutting against. The traveling speed of the belt 114 is arbitrarily set, and the interval between the scallops S carried out from the annular body 104 onto the first conveyor 131 described below can be adjusted by the set traveling speed.

  The vibrating feeder 115 includes a trough 116 in which a transport path 117 for transporting a plurality of scallops S placed in a flat state is arranged in a row and a trough 116 is vibrated to upstream side of the transport path 117. And a vibrator 121 for advancing the scallop S thrown in from above to the downstream side and throwing it on the rotating disk 103.

  The transport path 117 of the trough 116 is a wide portion 117a formed so that a plurality of scallops S can be placed in parallel on the upstream side into which the scallops S are placed, from the wide portion 117a. The width is gradually reduced toward the downstream side, and the narrow width portion 117b is arranged to advance the scallops S placed in parallel from the wide width portion 117a on the upstream side in a row so as to be aligned.

  In addition, a plurality of bent portions 117c that are bent in the left-right direction with respect to the shellfish transport direction are formed in the narrow width portion 117b of the transport path 117, and a larger number of scallops S are aligned and rotated. It is designed to be sequentially loaded on the disk 103.

  Further, at the downstream end of the trough 116, a lower guide plate 118 for sliding down the scallop S transported through the transport path 117 to guide it onto the rotating disk 103 of the shell feeding unit 102 is provided on an extension of the transport path 117. , An upper guide plate 119 arranged facing the upper side of the lower guide plate 118 so as to contact the upper surface of the scallop S that slides down on the lower guide plate 118 and guide the scallop S onto the rotating disk 103. And are provided.

  The trough 116 is arranged such that the guide plates 118 and 119 face the most upstream position of the shell feeding path of the rotary disk 103, and extends from the outside of the shell feeding section 102 to above the shell feeding section 102. It is supported by the support frame 120 and arranged above the shellfish supply unit 102.

  Then, according to the shell feeding unit 102 of the second embodiment having the above-described configuration, first, when a plurality of scallops S are placed in a flat state from the upstream side of the transport path 117 of the trough 116, the respective scallops S are placed. Are advanced toward the downstream side of the conveyance path 117 of the trough 116 oscillated by the drive of the vibrator 121, are aligned in one row by the width gradually reduced from the wide width portion 117a to the narrow width portion 117b, and are located downstream of the trough 117. Guided from the end by the lower guide plate 118 and the upper guide plate 119, they are sequentially placed at the most upstream position of the shellfish transport path on the rotating disk 103.

  Next, when the scallop S put in the most upstream position of the shell transport path on the rotary disk 103 of the shell feeder 102 is transported to the most downstream position in the shell transport path of the rotary disk 103 by the rotation of the rotary disk 103. , And is transferred onto the annular body 104 while being guided by the guide plate 106. At that time, the space between the scallops S is further expanded by being transferred onto the annular body 104 which is rotated at a speed faster than that of the rotating disk 103.

  Then, when the scallop S transferred on the annular body 104 is conveyed by the rotation of the annular body 104 and is conveyed to the carry-out position which is the most downstream position of the shellfish conveying path on the annular body 104, the side edge thereof is guided. The scallop S is brought into contact with the belt 114 of the belt conveyor 109 and guided by the traveling of the belt 114, and is carried out from the annular body 104 onto the first conveyor 131.

  As shown in FIGS. 7 and 10, the first conveyor 131 of the second embodiment includes two belt conveyors 132A and 132B for placing and conveying the scallop S in a flat state, and each belt conveyor 132A. , 132B, and the servo control belt conveyor 133 arranged between them and 132B so as to be continuous in the shellfish transport direction. The downstream side belt conveyor 132B arranged on the downstream side among the belt conveyors 132A and 132B is arranged so as to gently incline upward toward the downstream side, which is the downstream end of the downstream side belt conveyor 132B. This is because the scallop S dropped from the downstream end of the downstream belt conveyor 132B is reliably turned by the shooter 150 of the shell selecting unit 141, which will be described later.

  Further, on the upstream side belt conveyor 132A arranged on the upstream side of the respective belt conveyors 132A and 132B, there is provided a first sensor 134 for measuring the interval between the respective scallops S conveyed on the upstream side belt conveyor 132A. , And a second sensor 135 that detects the position of each scallop S on the downstream side of the first sensor 134 and detects the timing at which the scallop S is conveyed on the servo control belt conveyor 133. The interval between the scallops S on the upstream belt conveyor 132A is measured by the sensor 134, and based on the position of each scallop S detected by the second sensor 135, each scallop S is controlled by the servo control belt from the upstream belt conveyor 132A. The central processing unit (not shown) servo-controls each scallop S at the timing when it is transferred onto the conveyor 133. By adjusting the conveyance speed of the belt conveyor 133, the intervals between the scallops S transferred from the servo control belt conveyor 133 to the downstream belt conveyor 132B are adjusted to be preset intervals. ing.

  As shown in FIGS. 7 and 10 to 12, the shellfish selecting unit 141 of the second embodiment includes the upper side of each scallop S that is transported in a flat state on the downstream belt conveyor 132B of the first transporting unit 131. First defect determining means 142 for determining whether or not there is a defect in the shell arranged in the first position, and first removing the scallop S for which the first defect determining part 142 has a defect in the shell from the downstream belt conveyor 132B. Excluding means 144, a first discharging belt conveyor 147 as a first discharging path for discharging the scallop S discharged from the downstream belt conveyor 132B by the first removing means 144, and a downstream belt of the first conveyor 131. The scallop S is placed flat in the direction below the downstream end of the conveyor 132B with its upstream end crossed and in a direction orthogonal to the shell transport direction of the downstream belt conveyor 132B. The shell sorting unit belt conveyor 148 to be transported, is disposed between the downstream end of the downstream belt conveyor 132B of the first transport unit 131 and the upstream end of the shell sorting unit belt conveyor 148, and is flat on the downstream belt conveyor 132B. A shooter 150 that vertically inverts the scallop S conveyed in the placed state and transfers it to the shell selection unit belt conveyor 148 in a flat state, and each scallop S conveyed in the flat state on the shell selection unit belt conveyor 148. Second deficiency determining means 154 for determining the presence or absence of a deficiency of the shell placed on the upper side of the shell, and scallop S determined to have a deficiency in the shell by the second deficiency determining means 154 is excluded from the shell selecting section belt conveyor 148. Second excluding means 156 for removing the scallop S eliminated from the shell selecting section belt conveyor 148 by the second excluding means 156 And a second discharge belt conveyor 159 as a road.

  As shown in FIGS. 7 and 10, the first malfunction determining unit 142 includes an image pickup unit 143 arranged above the downstream belt conveyor 132B of the first transport unit 131, and the image pickup unit 143 allows the downstream belt The three-dimensional shape of the shell placed on the upper side of the scallop S, which is imaged by the central processing unit (not shown), is measured by capturing an image of the shell placed on the upper side of the scallop S conveyed in a flat state on the conveyor 132B. , From the measured three-dimensional shape of the shell placed on the upper side of the scallop S, such as cracks, cracks, depressions (drilling), sticking of protrusions to the surface, etc. It is designed to determine whether or not there is a possible defect.

  The first excluding unit 144 includes a cylindrical body 145 having a plurality of openings 145a on the circumferential surface thereof at intervals in the circumferential direction.

  The tubular body 145 is arranged above the downstream side belt conveyor 132B of the first transport unit 131 in parallel with the shell transport direction of the first transport unit 131 and is attached to the rotation shaft of a motor (not shown) in the circumferential direction. In addition to being rotatably provided, it is provided so as to be vertically movable with respect to the upper surface of the downstream belt conveyor 132B by an elevator mechanism (not shown).

  Further, the first excluding means 144 is provided with a sensor 146 for detecting the position of the scallop S conveyed on the downstream side belt conveyor 132B of the first conveying section 131, and the sensor 146 is the first defect determining means. The position of each scallop S is detected at the timing at which the image of the shell placed on the upper side of the scallop S conveyed on the downstream belt conveyor 132B by the image pickup means 143 of 142 is detected, and the detected position information and the downstream belt The central processing unit calculates the timing at which each scallop S reaches the first excluding means 144 based on the conveying speed of the conveyor 132B, and it is determined that the shell imaged by the image capturing means 143 and arranged above is defective. When the scallop S reaches the first removing means 144, the first removing means 144 is driven and removed.

  Then, the first excluding means 144 lowers the tubular body 145 when the scallop S having the shell determined to be defective by the first malfunction determining means 142 is conveyed, and the opening 145a is located above the scallop S. The scallop S is removed from the downstream belt conveyor 132B by fitting the bulge of the arranged shell and rotating the tubular body 145.

  The first discharging belt conveyor 147 drives the belt below the downstream belt conveyor 132B corresponding to the tubular body 145 of the first removing unit 144 in a direction orthogonal to the shell transport direction of the first transport unit 131. It is installed in.

  The shell selecting section belt conveyor 148 is arranged below the downstream end of the downstream belt conveyor 132B with its upstream end intersecting, and is arranged to drive the belt in a direction orthogonal to the shell transferring direction of the first transfer section 131. It is set up.

  Further, a regulation plate 149 is provided upright along the shell feeding direction of the shell sorting belt conveyor 148 at the side edge of the shell sorting belt conveyor 148 facing the downstream end of the shooter 150, which will be described later. The regulation plate 149 prevents the shooter 150 from sliding down the scallop S from falling out of the shell selection section belt conveyor 148 and places it on the shell selection section belt conveyor 148. .

  The shooter 150 is disposed between the downstream end of the downstream side belt conveyor 132B of the first transport unit 131 arranged above and below and the upstream end of the shell selecting unit belt conveyor 148. An inclination that is erected so as to be opposed to the downstream end in the shell-conveying direction of the downstream belt conveyor 132B, and is curved in an arc shape so as to face the upstream end of the shell selection section belt conveyor 148 from the side downward. The surface 150a is provided and is arranged to receive the scallop S dropped from the downstream end of the downstream belt conveyor 132B.

  Further, above the shooter 150, an air nozzle 151 for injecting air downward, and a sensor 152 for detecting the presence or absence of the scallop S in the shooter 150 and detecting clogging of the scallop S in the shooter 150 are provided. Has been done.

  When the scallop S transported by the downstream side belt conveyor 132B of the first transport unit 131 is dropped into the shooter 150, the air nozzle 151 is intermittent from above with respect to the tip of the scallop S in the shell transport direction. Air is blown and pressed downward, the tip side of the scallop S is directed downward, and the shell placed on the upper side on the downstream side belt conveyor 132B is dropped so as to contact the inclined surface 150a, and the downstream side belt conveyor 132B. The scallop S is transferred on the shell selection section belt conveyor 148 in a state where the shell arranged on the upper side is arranged on the lower side and the shell shell is arranged upside down. The timing of injecting air by the air nozzle 151 is such that a sensor 153 for detecting the scallop S is arranged above the downstream portion of the downstream belt conveyor 132B, and when the sensor 153 detects the scallop S, a central arithmetic processing is performed. The device calculates the timing at which the scallop S reaches the shooter 150 based on the transport speed of the downstream belt conveyor 132B, and the air from the air nozzle 151 is placed at the timing when the tip of the scallop S in the transport direction is located on the extension line of the air nozzle 151. Is sprayed onto the tip of the shell placed above the scallop S, and the scallop S is turned by wind pressure.

  The second defect determining unit 154 has the same configuration as the first defect determining unit 142, and as shown in FIGS. 1 and 12, includes an image capturing unit 155 arranged above the shell selecting section belt conveyor 148. The image pickup means 155 picks up an image of the shell arranged on the upper side of the scallop S conveyed in a flat state on the shell selecting section belt conveyor 148, and a central processing unit (not shown) is arranged on the upper side of the scallop S which has been imaged. It is designed to determine whether or not there is a problem such as cracking, cracking, depression (opening) of the shell, sticking of protrusions to the surface, which may interfere with the processing in another processing device that supplies the scallop S.

  The second excluding means 156 has the same structure as the first excluding means 144, and includes a cylindrical body 157 having a plurality of circular openings 157a formed in the circumferential surface at intervals in the circumferential direction. .

  The tubular body 157 is attached to a rotating shaft of a motor (not shown) arranged in parallel with the shell feeding direction of the shell selecting section belt conveyor 148 above the shell selecting section belt conveyor 148 and is rotatably arranged in the circumferential direction. In addition to being installed, it is vertically movable with respect to the upper surface of the shell selection section belt conveyor 148 by an elevating mechanism (not shown).

  Further, the second excluding means 156 is provided with a sensor 158 for detecting the position of the scallop S conveyed on the shell selecting section belt conveyor 148 of the shell selecting section 141, and the sensor 158 uses the image capturing means 155 to detect the shell. The position of each scallop S is detected at the timing at which the shell placed on the upper side of the scallop S transported on the sorting section belt conveyor 148 is imaged, and the detected position information and the transport speed of the shell sorting section belt conveyor 148 are detected. The central processing unit calculates the timing when each scallop S reaches the second excluding means 156 based on the above, and the scallop S that is imaged by the imaging means 155 and is determined to be defective in the shell placed on the upper side is The second excluding unit 156 is driven and eliminated at the timing when the second excluding unit 156 is reached.

  Then, when the scallop S having the shell determined to be defective by the second defect determining means 154 is conveyed, the second excluding means 156 lowers the tubular body 157 and opens the opening 157a above the scallop S. The scallop S is removed from the shell selecting section belt conveyor 148 by fitting the bulge of the arranged shell and rotating the tubular body 157.

  The second discharging belt conveyor 159 drives the belt below the shell selecting section belt conveyor 148 corresponding to the tubular body 157 of the second removing means 156 in a direction orthogonal to the shell transferring direction of the shell selecting section belt conveyor 148. It is arranged so that. In addition, in the present embodiment, the downstream end of the first discharging belt conveyor 147 is disposed so as to face the second discharging belt conveyor 159, and the downstream side of the first conveying unit 131 by the first removing unit 144. The scallops S that have been removed from the belt conveyor 132B and conveyed on the first discharging belt conveyor 147 are collected on the second discharging belt conveyor 159 and removed from the shell selecting section belt conveyor 148 by the second removing means 156. It is designed to be discharged together with the scallop S.

  Then, in the shellfish selecting unit 141 having the above-described configuration, first, the image pickup unit 143 of the first defect determining unit 142 is on the upper side of the scallop S that is conveyed in a flat state on the downstream belt conveyor 132B of the first conveying unit 131. In another processing device that supplies an image of the scallop S placed on the scallop S to measure the three-dimensional shape, and to supply the scallop S such as cracks or sticking of protrusions on the scallop S located above the scallop S from the measured three-dimensional shape. Determine if there are any defects that may interfere with processing. At that time, the sensor 146 detects the position of each scallop S conveyed on the downstream side belt conveyor 132B of the first conveyor 131, and the timing at which each scallop S reaches the first excluding means 144 is calculated.

  Next, of the scallops S conveyed on the downstream side belt conveyor 132B, when the scallop S imaged by the image pickup means 143 and determined to have a defect in the shell placed on the upper side reaches the first excluding means 144. The tubular body 145 is lowered and the opening 145a formed in the peripheral surface of the tubular body 145 is fitted into the bulge of the shell placed on the upper side of the scallop S determined to be defective, and the tubular body 145 is inserted. The scallop S, which has been determined to have a problem with the shell due to the rotational drive of, is scraped off from the downstream belt conveyor 132B onto the first discharging belt conveyor 147. Then, the scallop S scraped off on the first discharging belt conveyor 147 is transferred onto the second discharging belt conveyor 159 and conveyed to the collection container (not shown) by the second discharging belt conveyor 159. It is collected and collected, or it is transported to a hand peeling work table (not shown) by an operator.

  Next, the scallop S that has passed through the first excluding means 144, that is, the scallop S that has been determined by the first malfunction determining means 142 to have no malfunction on the upper shell is the shooter 150 from the downstream end of the downstream belt conveyor 132B. The shells are dropped inside, and the shells placed on the upper side on the downstream side belt conveyor 132B are placed on the lower side and inverted upside down, and are transferred onto the shell selection unit belt conveyor 148.

  Next, the image pickup means 155 of the second defect determination means 154 supplies the scallop S such as cracks or sticking of projections of the shell placed on the upper side of the scallop S conveyed in a flat state on the shell selection section belt conveyor 148. It is determined whether or not there is a defect that may hinder processing in another processing device. At that time, the sensor 158 detects the position of each scallop S conveyed on the shell selecting unit belt conveyor 148, and the timing at which each scallop S reaches the second excluding means 156 is calculated.

  Next, among the scallops S conveyed on the shell selection section belt conveyor 148, the scallop S imaged by the imaging means 155 and determined to be defective in the shell placed on the upper side reaches the second excluding means 156. Then, the tubular body 157 is processed, and the opening 157a drilled in the peripheral surface of the tubular body 157 is fitted into the bulge of the shell placed on the upper side of the scallop S determined to be defective, and the tubular body is The scallop S, which is determined to be defective in the shell due to the rotational driving of 157, is scraped off from the shell selecting section belt conveyor 148 onto the second discharging belt conveyor 159. Then, the scallop S scraped off on the second discharging belt conveyor 159 is removed from the downstream side belt conveyor 132B of the first conveyor 131 by the first removing means 144 and transferred from the first discharging belt conveyor 147. The scallop S is transported to a recovery container (not shown) for recovery, or is transferred to a hand peeling work table (not shown) by an operator.

  In the present embodiment, the first discharging belt conveyor 147 and the second discharging means 156 serve as a first discharging path for discharging the scallop S discharged from the downstream belt conveyor 132B by the first discharging means 144. The second discharge belt conveyor 159 is provided as a second discharge path for discharging the scallop S that has been removed from the partial belt conveyor 148, but the first discharge path and the second discharge path are each limited to the belt conveyor. Rather, it is a slope or the like that slides down the scallops S removed from the downstream belt conveyor 132B and the scallops S removed from the shell selection section belt conveyor 148 to the collection container or the hand peeling work table, respectively. Good.

  As shown in FIGS. 1 and 11, the shellfish inversion unit 161 of the second embodiment is configured such that the scallop S having a defective shell is eliminated in the shellfish sorting unit 141 and the shell sorting unit belt conveyor 148 is placed in a flat state. The identification means 162 for identifying the arrangement of the left shell and the right shell of each scallop S to be conveyed, and the shell set in advance based on the arrangement of the left shell and the right shell of the scallop S identified by this identification means 162 are on the upper side. A scallop returning device 163 for vertically inverting the scallop S that needs to be turned so as to be placed in the position.

  The identification means 162 is provided with an image pickup means (not shown) in the vicinity of the side of the shellfish selection section belt conveyor 148, and the scallop S conveyed in a flat state on the shellfish selection section belt conveyor 148 by this image pickup means. The central processing unit (not shown) measures the three-dimensional shape by imaging the three-dimensional shape, and the front and back of the scallop S, that is, either the left shell or the right shell is placed on the upper side from the measured three-dimensional shape (bulging of each shell). It is determined whether the scallop S has to be turned in order for the preset shell to be placed on the upper side by identifying whether or not the scallop S has been set.

  As shown in FIGS. 7, 12 and 13 (A) and (B), the shellfish return device 163 of the second embodiment is rotatably supported in a housing 166, and the shellfish sorting section 141 selects the shellfish. The belt conveyor 148 receives the scallop S conveyed in a flat state, and slides it down onto the belt conveyor 31 as a second conveyor arranged below the shellback device 163 with a height difference. Based on the orientation of the scallop S on the shell selection unit belt conveyor 148 of the shell selection unit 141 identified by the identification unit 162, it is determined that a preset shell needs to be turned in order to be placed on the upper side. A rotating body 164 is provided, which is rotationally driven to rotate the scallop S when the S is sliding down.

  The rotating body 164 is formed in a substantially columnar shape, and a slideway 164a for sliding down the scallop S in a flat state is communicated from the upper surface to the lower surface, and the outer peripheral surface has a gear portion 165 annularly in the circumferential direction. Is projected.

  The casing 166 has an opening 166a for supporting the rotating body 164 rotatably in the circumferential direction in a front surface on the upstream side with respect to the shellfish transport direction, and also has a downstream with respect to the shellfish transport direction. An opening 166b facing the downstream side of the slideway 164a of the rotating body 164 is formed on the rear surface which is the side.

  Further, in the housing 166, at least three support bodies 169 provided with a pair of rotating rollers 170, 170 arranged so as to sandwich the gear portion 165 of the rotating body 164 from both sides are rotatably arranged. By the support 169 and the opening 166a, one opening of the downhill 164a is arranged so as to face the downstream end of the shell selecting section belt conveyor 148 of the shell selecting section 141 from below, and the other opening is formed. The rotary member 164 is rotatably supported in the circumferential direction in a state where the rotary member 164 is inclined to the upstream end of the belt conveyor 31 from above.

  Further, a motor 171 for rotationally driving the rotating body 164 in the circumferential direction is disposed in the housing 166, and a gear 172 (see FIG. 13B) attached to the motor 171 is a rotating body. It is fitted in the gear portion 165 of 164, and the rotating body 164 is driven to rotate by the driving of the motor 171.

  In addition, in the housing 166, a lower guide plate 169 formed in an upward U-shape for further sliding down the scallop S that has slid down the slideway 164a of the rotating body 164 and guiding it onto the belt conveyor 31, An upper guide plate 170 is provided to cover the lower guide plate 169 and to prevent the scallop S sliding down on the lower guide plate 169 from jumping out from the lower guide plate 169.

  Further, the shellfish returning device 163 is provided with a sensor (not shown) for detecting the position of the scallop S conveyed on the shellfish sorting section belt conveyor 148 of the shellfish sorting section 141, and this sensor is, for example, an identification means. The position of each scallop S is detected at the timing when the scallop S conveyed on the shell selection section belt conveyor 148 is imaged by the image pickup means 162, and the center is detected based on this position information and the conveyance speed of the shell selection section belt conveyor 148. The computing device calculates the timing at which each scallop S reaches the shellback device 163, and the scallop S for which it is determined by the identifying means 162 that it is necessary to turn the preset shellfish in order to arrange it on the upper side is the shellfish return. The motor 171 is intermittently driven at the timing of sliding down the slideway 164a of the rotator 164 of the device 163 to rotate the rotator 164 to rotate the scallop. And it is adapted to reverse the.

  Then, the scallop S is transported to the downstream side of the shell return device 163 in a direction continuous with the scallop S of the shell return device 163, that is, in a direction continuous with the shell transfer direction of the shell selection section belt conveyor 148 of the shell selection section 141. As described above, the upstream end of the belt conveyor 31 as the second conveyor is connected, and the scallop is in a flat state in which the attitude is controlled so that one shell preset in the shell turning unit 161 is arranged on the upper side. S is sequentially supplied from the shell return device 163.

  In the second embodiment, the configuration after the belt conveyer 31 as the second conveyer, that is, the belt conveyer 31 as the second conveyer, the shell distribution unit 34, and the other device transfer unit 41 are the same as in the first embodiment. Since the configuration is the same as the configuration, detailed description will be omitted.

  Next, the operation of the above-described second embodiment of the present invention will be described.

  First, in the shellfish supply unit 102, a plurality of scallops S for shelling are placed in a flat state from the upstream side of the troughs 116 of the vibration feeder 115, and each scallop S is vibrated by the drive of the vibrator 121. Of the transport path 117 is advanced toward the downstream side and is gradually reduced from the wide width portion 117a to the narrow width portion 117b of the transport path 117 to be aligned in one row. From the downstream end of the trough 117 to the lower guide plate 118 and the upper side. Guided by the guide plate 119, they are sequentially placed on the rotary disk 103 at the most upstream position of the shell carrier path.

  Then, each scallop S sequentially loaded on the rotary disc 103 is guided by the guide plate 106 when being transported to the most downstream position of the shell transport path on the rotary disc 103 by the rotation of the rotary disc 103, and then on the annular body 104. When the scallop S is transferred to and further transported to the most downstream position of the shell transport path on the annular body 104 by the rotation of the annular body 104, each scallop S makes its side edge contact the belt 114 of the guide belt conveyor 109. , Are guided by the traveling of the belt 114, and are sequentially sent out onto the upstream side belt conveyor 132A of the first conveyor 131.

  Each scallop S was loaded from the trough 116 of the vibration feeder 115 onto the rotary disk 103 when being transferred from the rotary disk 103 onto the annular body 104 rotated at a faster speed than the rotary disk 103. The spacing is wider than the actual spacing.

  In this way, each scallop S sent from the shellfish supply unit 102 to the upstream belt conveyor 132A of the first transport unit 131 is transported by the first sensor 134 when being transported on the upstream belt conveyor 132A. The distance between the scallops is measured, and the position of each scallop S is detected by the second sensor 135. Based on the distance between each scallop S and the position of each scallop S, each scallop S is from the upstream belt conveyor 132A. The central processing unit adjusts the conveyance speed of the servo control belt conveyor 133 for each scallop S at the timing when it is transferred onto the servo control belt conveyor 133, and moves from the servo control belt conveyor 133 onto the downstream belt conveyor 132B. The distance between the placed scallops S is adjusted to a preset distance.

  Next, when the respective scallops S adjusted to a preset interval by the servo control belt conveyor 133 are conveyed to the shellfish sorting section 141 by the downstream belt conveyor 132B, the image pickup means 143 of the first defect determination means 142 makes the downstream. An image of the shell placed on the upper side of each scallop S conveyed in a flat state on the side belt conveyor 132B is imaged, and the three-dimensional shape of the shell placed on the upper side is measured by the central processing unit, and the measured 3 Presence or absence of defects such as cracks, cracks, depressions (drilling), and sticking of protrusions to the surface of the shells arranged above each scallop S due to the three-dimensional shape that may interfere with the processing in other processing devices that supply the scallop S Is determined. At that time, the sensor 146 of the first excluding means 144 detects the position of each scallop S, and the central processing unit calculates the timing at which each scallop S reaches the first excluding means 144.

  When the scallops S are conveyed by the downstream side belt conveyor 132B and reach the first excluding means 144, the first deficiency determining means 142 of the scallops S determines that the shell placed on the upper side has a defect. At the timing when the scallop S reaches the first eliminator 144, the first eliminator 144 is driven, the tubular body 145 is lowered, and the opening 145a of the tubular body 145 causes the bulge of the shell placed above the scallop S. The scallop S, which has been fitted and whose cylindrical body 145 has been rotationally driven and has been determined to be defective in the shell placed on the upper side, is removed from the downstream belt conveyor 132B, and the second discharge belt conveyor 147 to the second discharge conveyor 147 It is collected on the discharge belt conveyor 159 and conveyed to a collection container or a hand peeling workbench.

  On the other hand, each scallop S that has been conveyed on the downstream belt conveyor 132B without any defect being detected in the shell arranged on the upper side is dropped into the shooter 150 at the downstream end of the downstream belt conveyor 132B, and the downstream belt conveyor 132B. On 132B, the shell placed on the upper side is turned so as to be placed on the lower side and transferred onto the shell selecting section belt conveyor 148.

  More specifically, each scallop S for which no failure was detected in the shell placed on the upper side of the downstream belt conveyor 132B by the first failure determination means 142 is transported further downstream by the downstream belt conveyor 132B. , The sensors 153 arranged on the downstream side belt conveyor 132B in front of the shooter 150 detect the respective scallops S, and the central processing unit causes the respective scallops S to shoot at the shooter 150 based on the conveyance speed of the downstream side belt conveyor 132B. Is calculated, and the air is intermittently ejected from the air nozzle 151 at the timing when the tip of each scallop S in the transport direction is located on the extension line of the air nozzle 151. Then, due to the wind pressure of the air jetted from the air nozzle 151, the scallop S has its tip in the transport direction directed downward in the shooter 150, and the shell placed on the upper side on the downstream side belt conveyor 132B contacts the inclined surface 150a. Thus, the shells placed on the upper side on the downstream side belt conveyor 132B are placed on the lower side and are transferred upside down on the shell selecting section belt conveyor 148 in a flat state.

  Next, when each of the scallops S, which has been turned upside down by the shooter 150 and transferred onto the shell selecting section belt conveyor 148, is conveyed by the shell selecting section belt conveyor 148 and reaches the second eliminating means 156, a second defect determination is made. The image pickup means 155 of the means 154 picks up an image of the shell placed on the upper side of each scallop S conveyed in a flat state on the shell selecting section belt conveyor 148, and the central processing unit 3D of the shell placed on the upper side. The shape is measured, and other processing for supplying the scallop S such as cracks, cracks, depressions (holes), and sticking of protrusions to the surface of the shell placed on the upper side of each scallop S from the measured three-dimensional shape It is determined whether or not there is a defect that may interfere with processing in the device. At that time, the sensor 158 of the second excluding means 156 detects the position of each scallop S, and the central processing unit calculates the timing at which each scallop S reaches the second excluding means 156.

  Then, when each scallop S reaches the second excluding means 156 by being conveyed by the shell selecting section belt conveyor 148, the second deficiency determining means 154 of each scallop S determines that the shell placed above is defective. The second excluding means 156 is driven at the timing when the scallop S reaches the second excluding means 156, the tubular body 157 is lowered, and the opening 157a of the tubular body 157 expands the shell placed above the scallop S. The scallop S, which is determined to have a problem with the shell placed on the upper side by rotating the tubular body 157 by being driven into the shell, is excluded from the shell selecting section belt conveyor 148, and from the second discharging belt conveyor 159. It is transported to a collection container or a workbench.

  Next, each scallop S in which no defect was detected by the second defect determining means 154 in the shells arranged on the upper side on the shell selecting section belt conveyor 148, that is, each scallop S in which no defect was detected in both shells was a shellfish. When the scallops S are conveyed to the shellfish inversion unit 161 on the downstream side by the sorting unit belt conveyor 148, each scallop S is imaged from the side by the image capturing unit of the identifying unit 162, and the three-dimensional shape of each scallop S is obtained by the central processing unit. Based on the measured and three-dimensional shape measured, the bulges of the shells arranged above and below are used to identify the front and back of each scallop S, that is, whether the left shell or the right shell is arranged on the upper side, and preset. It is determined whether the cut shell (the left shell in this embodiment) needs to be turned upside down in order to be placed on the upper side. At that time, the sensor of the shellfish returning device 163 detects the position of each scallop S, and the central processing unit calculates the timing at which each scallop S reaches the shellfish returning device 163.

  Then, each scallop S, which has been determined by the identifying means 162 whether or not it needs to be turned upside down, is further transported to the downstream side by the shell selecting section belt conveyor 148, and needs to be turned by the identifying means 162 in the shell return device 163. The top and bottom of the scallop S determined to be present are turned upside down, and all the scallops S are transferred onto the belt conveyor 31 in a flat state with the left shell placed on the upper side.

  More specifically, each scallop S for which it is determined by the identifying means 162 whether or not it needs to be turned upside down is transported by the shellfish sorting section belt conveyor 148 to the shellfish return device 163, and transported by the shellfish sorting section belt conveyor 148. When the scallop S determined by the identifying means 162 to be turned upside down is sent out into the slideway 164a of the rotating body 164, the scallop S detected by the sensor is rotated. The motor 171 is intermittently driven at the timing of sliding down the slideway 164a of 164, the rotating body 167 is rotated 180 degrees in the circumferential direction, and the scallop S sliding down inside the slideway 164a is turned upside down. Is guided by the lower guide plate 169 and the upper guide plate 170 and is transferred onto the belt conveyor 31.

  On the other hand, when the scallop S determined by the identification means 162 to be not turned upside down is delivered into the slideway 164a of the rotary body 164, the rotary body 164 does not rotate and slides down the slideway 164a. The scallop S is slid down on the shell selection unit belt conveyor 148 in a flat state with the shell placed on the upper side as it is placed on the upper side, and is guided by the lower guide plate 169 and the upper guide plate 170 and transferred to the belt conveyor 31. Listed.

  The configuration after the belt conveyor 31 is the same as that of the first embodiment, and all the scallops S are transferred to the belt conveyor 31 under the control of the scallop S so that the left shell is arranged on the upper side. The respective scallops S are sequentially transferred onto the supply belt conveyor 32 of the shell distribution unit 34 while the left shell is placed on the upper side, and then are horizontally transferred by the transfer mechanisms 35 from the supply belt conveyor 32. They are transferred onto the respective belt conveyors 42a of the means 42.

  Then, each scallop S conveyed on each belt conveyor 42a of the flat-placing conveying means 42 is judged by the three-dimensional detecting means 46 whether or not it is suitable for automatic shelling, and it is judged that it is not suitable for automatic shelling. The scallop S is transferred by the parallel link robots 50, 50 onto the discharge path 53 and discharged, and the scallop S determined to be suitable for automatic shelling is circumferentially moved by the parallel link robots 50, 50 as needed. After being changed in direction, it is transferred to the automatic shelling machine 48.

  As described above, according to the scallop supply device 101 of the second embodiment, the plurality of scallops S randomly placed in the shell supply unit 102 cause the shell selection unit 141 to break the shell or attach protrusions to the scallop. The presence or absence of a defect that may hinder the removal of shells in the automatic shelling machine 48 that supplies S is detected, and the scallop S having a defective shell is eliminated, and all the scallops S are removed from the left shell or the right shell at the shell turning section 161. One of the shells, which is set in advance and suitable for stripping in the automatic shelling machine 48, can be turned so as to be arranged on the upper side, and further, the other device transfer section 41 allows the scallop S to move in the circumferential direction. Can be supplied in the direction suitable for the shell removal in the automatic shell remover 48, so that the shell of the scallop S can be removed efficiently.

  The present invention is not limited to the above-described embodiments, and various modifications can be made as necessary.

1 Scallop Supply Device 2 Shell Supply Unit 4 Rotating Bowl 5 Rotating Disc 6 Carrying Plate 8 Inclined Plate 10 First Conveying Unit 11A, 11B Belt Conveyor
12 Shellfish selection section 13 Failure determination means 14A, 14B Imaging means
15 Exclusion Means 17 Sorting Blades 18 Discharge Belt Conveyor 19 Shell Rotating Section 20 Imaging Means 21 Shellback Device 22 Standing Conveying Means 23 Posture Control Means 24 Expanding Ramp 25 Belt Conveyors 26A, 26B Side Walls 27A, 27B Pushing Means 31 Belts Conveyor 32 Supply belt conveyor 33 Sensor 34 Shell distribution unit 35 Transfer mechanism 41 Other device transfer section 42 Flat transfer means 42a Belt conveyor 43 Stopper 46 Three-dimensional detection means 47 Imaging means 48 Automatic shelling machine 50 Parallel link robot 51 Arm 52 hook 53 discharge path 101 scallop supply device 102 shellfish supply section 103 rotating disk 104 annular body 111 motor 114 belt 115 vibrating feeder 116 trough 117 transport path 121 vibrator 131 first transport section 132A, 132B belt controller Bare 133 Servo control belt conveyor 141 Shell selection section 142 First failure determination means 143 Imaging means 144 First elimination means 145 Cylindrical body 145a Opening 146 Sensor 147 First discharge belt conveyor 148 Shell selection section belt conveyor 150 Shooter 151 Air nozzle 154 2nd malfunction judgment means 155 Image pickup means 156 2nd elimination means 157 Cylindrical body 157a Opening 158 Sensor 159 2nd discharge belt conveyor 161 Shell turning part 162 Identification means 163 Shell return device 164 Rotating body 164a Sliding path 167 Support 168 Rotation Roller 169 Lower guide plate 170 Upper guide plate 171 Motor 172 Gear S Scallop M ₁ , M ₂ motor

Claims (18)

A plurality of scallops that have been thrown in are arranged in a row in a flat state, and a shell supply unit that supplies the scallops with an increased space between them,
A first transport unit for placing and transporting each scallop supplied from the shell supply unit in a flat state;
A shell turning unit that determines whether the upper side of each scallop transported in the flat state is the left shell or the right shell and turns so that the preset left shell or right shell is placed on the upper side,
A second transporting unit for placing and transporting each scallop in a flat state, which is turned by the shell-turning unit and has a preset left shell or right shell aligned in the upper direction,
The other device transfer unit for measuring the circumferential direction of each scallop transported by the second transport unit and rotating each scallop in a preset direction to transfer the scallop to another processing device. The scallop feeding device is characterized in that The shellfish supply section,
The upper part is opened, and the peripheral surface is curved to form a spherical shape so as to widen upward, and at the top edge, an annular flange part that extends horizontally outward is formed. A rotating bowl driven to rotate about a vertical axis,
A rotating disk that is inclined so that the outer peripheral edge is close to the inner peripheral surface and the upper edge of the rotating bowl, and is rotated by a motor in the same direction as the rotating bowl at a lower speed than the rotating bowl.
A plurality of scallops that are suspended from above at a carry-out position to the outside of the scallops, which is the most downstream position of the shellfish transport path on the flange portion of the rotating bowl, and are partially inserted into the scallops that are transported while the flange portion is placed flat. Concave recesses are formed at intervals in the circumferential direction of the outer peripheral edge, and are intermittently rotatable in the circumferential direction by a motor, and each scallop transported on the flange is transferred to each of the inserts. And a carrying-out plate for guiding the scallop fitted in the fitting part to the outside by fitting and rotating the fittings,
While rotating the rotary bowl and the rotary disc, the plurality of scallops put into the rotary bowl are aligned in a row in a flat state on the rotary disc and the flange portion of the rotary bowl. , When the scallops are transferred from the rotary disc onto the flange portion of the rotary bowl due to the difference in the rotational speeds of the rotary disc and the rotary bowl, the intervals between the scallops are widened and carried out. Item 1. A scallop supply device according to item 1. The shellfish supply section,
A rotating disk that is driven to rotate in a horizontal state,
An annular body which is arranged so as to be connected to the outer peripheral edge of the first rotating disk and is concentrically driven to rotate at a faster speed than the first rotating disk;
A guide plate that is hung from above with respect to the upper surface of the rotating disk and that guides the abutting shells that are loaded and conveyed on the rotating disk to be transferred to the annular body.
A belt conveyor for carrying out, which is hung from above at a carry-out position to the outside of the scallop, which is the most downstream position of the shell carrier path on the annular body, and guides the scallop carried on the annular body to be carried out to the outside. When,
A vibration is provided which has a conveying path whose width becomes narrower toward the downstream side in the shellfish conveying direction, and a plurality of scallops S introduced from the upstream side of this conveying path are forwarded while being aligned in one row by vibration and sequentially thrown onto the rotary disk. Equipped with a feeder,
By rotating a plurality of scallops put on the rotary disc from the vibration feeder, the rotary disc and the annular body, the ring from the rotary disc due to the difference in rotational speed of the rotary disc and the annular body. The scallop supply device according to claim 1, wherein when the scallops are transferred to the body, the intervals between the scallops are expanded and carried out.   Each shell of the scallop is characterized by having a shell selection unit that determines whether or not there is a defect that may interfere with the processing of other processing equipment that supplies the scallop, and eliminates the scallop that is determined to have a defect in the shell. The scallop supply device according to any one of claims 1 to 3. The shell turning part is
Identification means for identifying whether the shell placed on the upper side of each scallop transported in a flat state is the left shell or the right shell,
Based on the orientation of the scallop identified by the identifying means, a shell-back device for reversing the scallop that needs to be turned so that a preset shell of the left shell or the right shell is placed on the upper side. The scallop supply device according to any one of claims 1 to 4, wherein The shell folding device,
It has a pair of side walls that are erected opposite to each other with a spacing wider than the thickness of the scallop, and the scallop that has been conveyed in a flat state is dropped between these side walls so that the thickness direction is orthogonal to the conveyance direction. Standing transport means for placing and transporting a scallop in a substantially standing state in which it leans toward any one of the respective side walls, and
A pair of pushers for reciprocatingly moving a pair of abutting members protruding inward from the outside of each side wall through openings formed in the side walls of the upright conveying means so as to advance and retract in the horizontal direction. A left shell in which a substantially standing scallop leaning against one of the side walls of the standing transport means is tilted based on the directions of both shells of each scallop identified by the identifying means Or attitude control means for driving one of the pushing means so that the right shell is arranged on the upper side to push the lower end of the scallop,
A sensor for detecting each of the scallops conveyed by the upright conveying means, and driving one of the pushing means at the timing when each scallop approaches each of the pushing means of the attitude control means. ,
It is arranged on the downstream side of the upright conveying means, is widened toward both sides toward the downstream side and gradually increases in width, and is inclined so that it becomes lower toward the downstream side. Between each side wall of the means, the shell placed on the upper side of the almost standing scallop leaning against one of the side walls is inverted so that it is placed on the upper side as it is, and the left shell or the right shell is preset. The scallop supply device according to claim 5, characterized in that the formed shell is always arranged on the upper side, and an expanding ramp for sliding down to the downstream side in a flat state. The shell folding device,
It has a substantially cylindrical shape in which a downhill passage that communicates from the upper surface to the lower surface is formed, and it is arranged so as to slant the scallops that have been conveyed in the flat state in a slanting downward direction on the downhill, and is rotatable in the circumferential direction. A supported rotating body,
A motor for rotating the rotating body in the circumferential direction,
The position of each scallop that has passed through the identifying means is detected, and the scallop determined to be turned by the identifying means drives the motor at the timing when the scallop slides down the slideway of the rotating body to rotate the rotating body. And a sensor for rotating the scallop by rotating in the circumferential direction,
The scallop supply device according to claim 5, further comprising: a slide plate that slides down the scallop that has passed through the slideway of the rotating body to the lower side of the downstream side. The shell selection section
A three-dimensional shape is measured by imaging the shell placed on the upper side of each scallop that is transported in a flat state on the first transport unit, and the shell placed on the upper side of each scallop on the first transport unit. First defect determining means for determining the presence or absence of a defect such as cracking of the scallop or sticking of protrusions that may hinder processing in another processing device that supplies scallops,
A first excluding means for excluding the scallop, which has been determined by the first inconvenience determining means as being inferior to the shell, from the first transport unit;
A first discharge path that is arranged below the first transport unit so as to be orthogonal to the first transport unit, and that discharges the scallops that have been removed from the first transport unit by the first removing unit;
A three-dimensional shape is measured by imaging the shell placed on the upper side of each scallop that is rolled by the shell turning section and is carried flat on the second carrying section, and each three-dimensional shape is measured on the second carrying section. Second defect determining means for determining the presence or absence of a defect such as a crack of a shell placed on the upper side of the scallop or an attachment of a protrusion that may hinder processing in another processing device for supplying the scallop,
Second removing means for removing the scallop, which has been determined to be defective in the shell by the second malfunction determining means, from the second transport unit;
A second discharge path that is arranged below the second transport section so as to be orthogonal to the second transport section and discharges the scallops that have been removed from the second transport section by the second removing means. The scallop supply device according to any one of claims 4 to 7, wherein The shell selection section
A three-dimensional shape is measured by imaging the shell placed on the upper side of each scallop that is transported in a flat state on the first transport unit, and the shell placed on the upper side of each scallop on the first transport unit. First defect determining means for determining the presence or absence of a defect such as cracking of the scallop or sticking of protrusions that may hinder processing in another processing device that supplies scallops,
A first excluding means for excluding the scallop, which has been determined by the first inconvenience determining means as being inferior to the shell, from the first transport unit;
A first discharge path that is arranged below the first transport unit so as to be orthogonal to the first transport unit, and that discharges the scallops that have been removed from the first transport unit by the first removing unit;
A shell selecting section belt conveyor arranged below the downstream end of the first transferring section in the shell transferring direction so as to be orthogonal to the first transferring section;
Each scallop carried by the first carrying section is arranged between the downstream end of the first carrying section in the shell carrying direction and the shell selecting section belt conveyor and has an inclined surface curved in an arc shape. From the downstream end of the first transporting section so that the tip ends face downward, and the slanting surface slides down to transfer the scallops on the shell selecting section belt conveyor in a flat state in which the shells are inverted. Shooter to do,
A three-dimensional shape is measured by imaging the shell placed on the upper side of each scallop that is rolled by the shooter and conveyed in a flat state on the shell sorting section belt conveyor, and each three-dimensional shape is measured on the shell sorting section belt conveyor. Second defect determining means for determining the presence or absence of a defect such as a crack of a shell placed on the upper side of the scallop or an attachment of a protrusion that may hinder processing in another processing device for supplying the scallop,
Second removing means for removing from the above-mentioned shell selecting section belt conveyor the scallops that have been determined to be defective in the shell by the second failure determining means;
From a second discharge path that is arranged below the shellfish selection belt conveyor so as to be orthogonal to the shellfish selection belt conveyor and discharges the scallops that have been removed from the shell selection belt conveyor by the second removing means. It is comprised, The scallop supply apparatus of any one of Claim 4 thru | or 7 characterized by the above-mentioned. The first transport unit,
Two belt conveyors that are connected in series at a predetermined interval in the shellfish transport direction,
Servo control belt conveyor arranged with a gap to the extent that scallops are transferred without dropping between any one of the belt conveyors between the belt conveyors,
Measure the interval of each scallop that is transported on the upstream belt conveyor that is arranged on the upstream side in the shell transport direction of each belt conveyor, and adjust the transport speed of the servo control belt conveyor according to this spacing. A sensor for adjusting the interval between the scallops sent from the servo control belt conveyor to the downstream belt conveyor arranged on the downstream side of the belt conveyor in the shell transport direction to a preset interval. The scallop supply device according to any one of claims 1 to 9, wherein The first transport unit,
It is composed of two belt conveyors that are continuously installed with a gap to the extent that the scallops can be transferred without falling in the shell transport direction.
The shell selection section
The three-dimensional shape is measured by imaging each shell of the scallop that passes through the gap between the belt conveyors of the first conveyor, and the scallop such as cracks or sticking of protrusions on each shell of the scallop is supplied. Defect determining means for determining the presence or absence of a defect that may interfere with processing in the processing device,
Exclusion means for excluding the scallop, which has been determined to be defective in the shell by the defect determining means, from the first transport unit,
The discharge path is disposed below the first transfer section so as to be orthogonal to the first transfer section, and configured to discharge a scallop that has been removed from the first transfer section by the removing means. The scallop supply device according to any one of claims 4 to 7. The first transport unit,
Two belt conveyors that are connected in series at a predetermined interval in the shellfish transport direction,
Servo control belt conveyor arranged with a gap to the extent that scallops are transferred without dropping between any one of the belt conveyors between the belt conveyors,
Measure the interval of each scallop that is transported on the upstream belt conveyor that is arranged on the upstream side in the shell transport direction of each belt conveyor, and adjust the transport speed of the servo control belt conveyor according to this spacing. A sensor for adjusting the interval between the scallops sent from the servo control belt conveyor to the downstream belt conveyor arranged on the downstream side of the belt conveyor in the shell transport direction to a preset interval. And
The shell selection section
A three-dimensional shape is measured by imaging each shell of the scallop that passes through a gap between any one of the belt conveyors of the first transport unit and the servo control belt conveyor, and the three-dimensional shape is measured, Defect determination means for determining the presence or absence of a defect that may hinder processing in other processing devices that supply scallops, such as cracks in each shell or adhesion of protrusions,
Exclusion means for excluding the scallop, which has been determined to be defective in the shell by the defect determining means, from the first transport unit,
The scallops are disposed below the downstream side belt conveyor of the first transport unit so as to be orthogonal to the first transport unit, and are removed from the downstream belt conveyor of the first transport unit by the removing unit. The scallop supply device according to any one of claims 4 to 7, wherein the scallop supply device comprises a discharge passage for discharging. The other device transfer section,
A flat placing and conveying means for conveying each scallop sent from the shell turning section in a flat state,
Three-dimensional detection means for measuring the three-dimensional shape of each scallop transported by the flat-laid transport means and detecting the circumferential direction of each scallop,
The scallops that have been transported to a predetermined position by the flat-position transporting means are held, and the scallops are rotated in a preset direction based on the circumferential direction of the scallops detected by the three-dimensional detection means, and the scallops are moved to another device. The scallop supply device according to any one of claims 1 to 12, further comprising a parallel link robot that is transferred.   The flat placing and conveying means is provided with a plurality of conveying lanes for transmitting a plurality of scallops in parallel, and the scallops sent from the scallops are placed flat between the scallops and the other device transfer section. The scallop supply device according to claim 13, further comprising a shell distribution unit that is sequentially transferred to each of the transportation lanes of the transportation means. The shellfish distributor is
Adjacent to the upstream side in the shell-transporting direction of the other-apparatus transfer section, the scallops sent from the shell-turning section are connected to the shell-transfer direction of the other-device transfer section in the flat-plate transfer means. Shell-row transport means for transporting in a direction orthogonal to each other,
Transferring means for transferring each scallop transported by the shell row transporting means to each transporting lane of the flat transporting means of the other device transferring section,
15. Detecting means for detecting each of the scallops carried by the shell-row carrying means and controlling the drive of the transfer means based on the detected information. Scallop feeding device. The transfer means is composed of a plurality of transfer mechanisms,
Each transfer mechanism,
A slider which is disposed above the shell-row transporting means and reciprocates a moving arm in a horizontal direction orthogonal to the shell-shell transporting direction of the shell-row transporting means;
A cylinder which is disposed on the moving arm and reciprocates a cylinder rod in a vertical direction;
The cylinder rod is arranged at the lower end of the cylinder rod, and in a state where the cylinder rod is extended downward, the slider is driven to move from the shell-line transfer means side to the flat-position transfer means side of the other device transfer section. The moving arm is horizontally moved, and a pushing member for pushing the scallop by contacting the scallop on the scallop-conveying means from the side,
16. The transfer mechanism according to claim 15, wherein the plurality of transfer mechanisms are arranged in parallel with the shell-transport direction of the shell-row transport means so as to correspond to the transport lanes of the flat-laid transport means. Scallop feeding device.   A parallel link in which the transfer means holds the scallops on the flat transfer means based on the information detected by the detection means and transfers the scallops to the transfer lanes of the flat transfer means of the other device transfer section. The scallop supply device according to claim 15, which is a robot.   The other-device transfer section is arranged on the upstream side of the horizontal transfer means in the shell transfer direction so as to be able to move up and down, and is transferred to each transfer lane of the other-device transfer section by the other-device transfer section. A stopper is provided that abuts the downstream side edge of each of the scallops in the shell transport direction, and temporarily restricts the transport of each scallop against the drive of the flat transfer means of the other device transfer section. The scallop supply device according to any one of claims 15 to 17, characterized in that.

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