JP2020097484A - Fruit and vegetable boxing method, packaging box stacking method, packaging box discharging method, fruit and vegetable boxing device, packaging box stacking device, and packaging box discharging device - Google Patents

Abstract

To reliably box fruits and vegetables even if intervals between them on a pool conveyor are not uniform.SOLUTION: The fruit and vegetable boxing method of the present invention is a method of boxing fruits and vegetables into a packaging box that is pooled into equal ranks on a pool conveyor, including: capturing images of the fruits and vegetables on the pool conveyor with image capturing means to obtain position information of the fruits and vegetables; sucking and holding the fruits and vegetables on the pool conveyor by a robot hand based on the position information; and housing the sucked and held fruits and vegetables in packaging boxes on at least two rows of transporters. The fruit and vegetable boxing device of the present invention is a device for boxing fruits and vegetables into a packaging box, the fruits and vegetables having been pooled into equal ranks on the pool conveyor, the device including: at least two rows of transporters for transporting the packaging boxes; image capturing means that captures images of the fruits and vegetables on the pool conveyor to acquire the position information of fruits and vegetables; and a robot having a hand that sucks and holds the fruits and vegetables on the pool conveyor based on the position information.SELECTED DRAWING: Figure 1

Description

The present invention, a fruit and vegetable packing method and a fruit and vegetable packing device for packing fruit and vegetables on a pool conveyor pooled by equal rank in a packaging box, and a packing box stacking method and a packing box stacking device for stacking the packing boxes after the fruit and vegetable packing. The present invention relates to a packaging box discharging method and a packaging box discharging device for discharging stacked packaging boxes first.

Conventionally, various fruits and vegetables such as tomatoes, cucumbers, eggplants, and melons are transported, and the fruits and vegetables being transported are measured by a measuring instrument, and the standards (equal rank) such as size, shape, color, sugar content, and weight of these fruits and vegetables are determined. However, there has been proposed an automatic fruit and vegetable sorting method and device for pooling the fruit and vegetables on a pool conveyor corresponding to an equal rank (for example, Patent Documents 1 and 2).

In the method and apparatus for automatically selecting fruit vegetables disclosed in Patent Document 1, a free tray is used as a fruit vegetable carrier for placing and conveying fruit vegetables, and a plurality of free trays can be circulated and conveyed as a fruit vegetable carrier in a horizontal plane. Combining multiple belt conveyors, the measuring instrument measures the equal rank of fruits and vegetables being conveyed, and based on the result of discrimination, each fruit and vegetables are placed on the side of the fruit and vegetable carrier according to the equal rank. At the position corresponding to the pool conveyor corresponding to the equal rank of the fruit and vegetables, the free tray is laterally fed onto the pool conveyor by the pusher, and then the pool conveyor travels a fixed distance.

The method and apparatus for automatic selection of fruits and vegetables disclosed in Patent Document 2 conveys fruits and vegetables on a belt conveyor-type fruits and vegetables carrier fixed to an endless chain of the fruits and vegetables carrier and conveys the fruits and vegetables to measure the equal rank of the fruits and vegetables being conveyed. Then, based on the determination result, each fruit vegetables, among the plurality of equal rank pool conveyors installed on the side of the fruit carrier, at a position corresponding to the pool conveyor corresponding to the equal rank of the fruit vegetables. , The fruit vegetables are sent out from the fruit carrier and taken in by the pool conveyor to take over, thereby sorting a plurality of fruit vegetables into equal ranks.

JP, 2006-175443, A JP, 2014-5149, A

In the automatic fruit and vegetable sorting method and apparatus of Patent Document 1, since a plurality of free trays discharged to the pool conveyor are closely arranged in a line at equal pitches (equal intervals), a plurality of suction means are provided at equal pitches. Although a boxing device can suck and hold a plurality of fruits and vegetables for packing, a free tray is expensive, fragile, and has a problem that a collision noise generated during transportation is noisy.

In the automatic vegetable and vegetable sorting method and apparatus of Patent Document 2, since a belt conveyor type vegetable and vegetable carrier is used in place of the free tray, the problems of the automatic vegetable and vegetable sorting method and apparatus of Patent Document 1 do not occur. However, the automatic fruit and vegetable selection method and device of Patent Document 2 does not have the same pitch as the fruit and vegetables discharged to the pool conveyor as in the case of using a free tray, and the pitches of a plurality of fruit and vegetables vary, so that a plurality of fruit and vegetables are generated. It was not possible to apply the conventional fruit and vegetable box packaging device in which the suction means are provided at equal pitches.

The present invention has been made in view of the above circumstances, the problem to be solved, regardless of whether or not the fruit vegetables on the pool conveyor pooled by equal rank are at equal intervals, surely and accurately box the fruit vegetables. It is possible to provide a vegetable box packaging method and a vegetable box packaging device, a packaging box stacking method and a packaging box stacking apparatus for stacking packaging boxes packed with fruits and vegetables, and a packaging box discharging method and a packaging box discharging device for discharging the stacked packaging boxes. To provide.

[How to pack vegetables]
The fruit and vegetables boxing method of the present invention is a fruit and vegetables box packing method for boxing fruit vegetables and vegetables on a pool conveyor pooled by equal ranks in a packaging box, and the fruit and vegetables on the pool conveyor by a photographing means installed near the pool conveyor. By capturing the position information of the fruit and vegetables on the pool conveyor, based on the position information, the fruit and vegetables on the pool conveyor are suction-held by a robot hand installed near the pool conveyor, and the suction-holding is performed. The fruits and vegetables are stored in a packaging box on at least two rows of transfer bodies installed in the vicinity of the pool conveyor, and thereafter, by repeating suction and holding of the fruits and vegetables in the hand and storing the fruits and vegetables in the packaging box a plurality of times, This is a method of storing a predetermined number of fruits and vegetables in the packaging box.

[Packing Box Stacking Method]
One of the packaging box stacking method of the present invention is a packaging box stacking method of stacking a plurality of packaging boxes containing a predetermined number of fruit vegetables in the fruit vegetable packaging method in a plurality of stages, and a package containing a predetermined number of fruit vegetables. It is desirable to lower the cradle on which the box is placed, stack another packaging box containing a prescribed number of fruits and vegetables on the packaging box on the lowered cradle, and lower the cradle and stack the packaging boxes. This is a method of stacking the packaging boxes in multiple stages by performing the operation several times.

Another one of the packaging box stacking methods of the present invention is a packaging box stacking method for stacking a plurality of packaging boxes in which a predetermined number of fruit vegetables are stored in the fruit vegetable packaging method in a plurality of stages, in which a predetermined number of fruit vegetables are stored. Lift the packaging box up by the lifting means, hold the lifted packaging box by the box holding means, and stack another packaging box containing a predetermined number of fruit vegetables under the packaging box held by the box holding means. In this method, the packaging boxes are stacked in a plurality of stages by lifting the packaging boxes by the lifting means, holding the packaging boxes by the box holding means, and stacking the packaging boxes a desired number of times.

[Packaging box discharge method]
One of the packaging box discharging methods of the present invention is a packaging box discharging method for discharging the packaging boxes stacked in a plurality of stages by the first packaging box stacking method to a discharging means, and raising a cradle. The packaging boxes stacked in a plurality of stages are raised to the same or substantially the same height as the box discharging means, and the plurality of packaging boxes raised to the same or substantially the same height as the box discharging means are horizontally placed from the cradle to the box discharging means. Alternatively, it is a method of discharging substantially horizontally.

Another one of the packaging box discharging methods of the present invention is a packaging box discharging method for discharging the packaging boxes stacked in a plurality of stages by the second packaging box stacking method to a discharging means, In this method, a plurality of packaging boxes are horizontally or substantially horizontally discharged to a box discharging means having the same or substantially the same height as the upper surface of the cradle.

[Fruit box packaging equipment]
The fruit and vegetable box packing device of the present invention is a fruit and vegetable box packing device for packing fruit vegetables on a pool conveyor pooled according to rank into a packaging box, and at least two rows of transfer bodies for transporting the packing box and on the pool conveyor. And a packaging box on the stacking means for adsorbing and holding the fruit vegetables on the pool conveyor based on the position information of the fruit vegetables obtained by the image capturing means by imaging the fruit vegetables and acquiring the position information of the fruit vegetables. It is a device equipped with a robot to be housed in.

[Packaging box stacking device]
One of the packaging box stacking device of the present invention is a packaging box stacking device for stacking a plurality of packaging boxes containing a predetermined number of fruits and vegetables in the vegetable packaging box, when the packaging boxes are placed and It is an apparatus provided with an up-and-down type receiving stand that descends when another packaging box is placed on the placed packaging box.

Another one of the packaging box stacking device of the present invention is a packaging box stacking device for stacking packaging boxes in which a predetermined number of fruits and vegetables are stored in the fruit and vegetable packaging device in a plurality of stages, and the packaging boxes can be placed. The apparatus is provided with a cradle, a lifting means for lifting the packaging box on the cradle upward, and a box holding means for holding the packaging box lifted by the lifting means at the lifting position.

[Packaging box discharging device]
One of the packaging box discharging devices of the present invention is a packaging box discharging device for discharging the packaging boxes stacked in a plurality of stages by the first packaging box stacking device to discharging means, wherein the transfer body is a packaging box discharging device. A pusher that pushes forward is provided, and the cradle rises to the same or substantially the same height as the box discharging means in a state where the packaging boxes having a predetermined number of layers are stacked on the pedestal, The pushing tool is a device that can send out a plurality of packaging boxes that have risen to the same or substantially the same height as the box discharging means to the box discharging means.

Another one of the packaging box discharging device of the present invention is a packaging box discharging device for discharging the packaging boxes stacked in a plurality of stages by the second packaging box stacking device to discharging means, wherein the transfer body is a package. The box is provided with a pusher that pushes the box forward, and the top of the cradle has the same or substantially the same height as the box discharging means, and the pusher is horizontal from the cradle to the box discharging means. It is a device that can discharge the liquid substantially horizontally.

[How to pack vegetables]
Since the fruit and vegetables packaging method of the present invention can perform the fruit and vegetables packing based on the position information of the fruit and vegetables acquired by the photographing means, even if the intervals of the fruit and vegetables pooled on the pool conveyor are not uniform You can pack fruits and vegetables.

[Packing Box Stacking Method]
The packaging box stacking method of the present invention is a method of stacking a packaging box in which a predetermined number of fruits and vegetables are stored in a plurality of stages in the fruit and vegetables packaging method, so that a series of steps from the packaging of fruits and vegetables to the packaging of the packaging boxes in which the fruits and vegetables are packaged is performed. The flow can be done automatically.

[Packaging box discharge method]
Since the packaging box discharging method of the present invention is a method of discharging the packaging boxes stacked in a plurality of stages by the packaging box stacking method to the discharging means, the packaging of fruits and vegetables, the stacking of the packaging boxes in which the fruits and vegetables are packaged, and the discharging thereof. Can be done automatically in a series of steps.

[Fruit box packaging equipment]
The fruit and vegetable boxing device of the present invention can carry out the boxing of the fruit and vegetables based on the position information of the fruit and vegetables that are pooled on the pool conveyor of the equal rank acquired by the photographing means, so that the fruit and vegetables are pooled on the pool conveyor. Even if the intervals between the fruits and vegetables are uneven, the fruits and vegetables can be reliably boxed.

[Packaging box stacking device]
The packaging box stacking device of the present invention is a device for stacking a plurality of packaging boxes in each of which a predetermined number of fruits and vegetables are stored in the fruit and vegetable packaging device, so that a series of steps from the packaging of fruits and vegetables to the packaging of the packaging boxes in which the fruits and vegetables are packed. The flow can be done automatically.

[Packaging box discharging device]
Since the packaging box discharging device of the present invention is a method of discharging the packaging boxes stacked in a plurality of stages by the packaging box stacking device to the discharging means, the packaging of fruits and vegetables, the stacking of the packaging boxes in which the fruits and vegetables are packaged, and the discharging thereof. Can be done automatically in a series of steps.

The perspective view which shows an example at the time of combining the fruit and vegetable packing apparatus of this invention with the fruit and vegetable automatic selection device. The schematic plan view which shows an example at the time of combining the vegetable packaging apparatus of this invention with the automatic vegetable sorting apparatus. (A) and (b) are schematic explanatory drawings which show an example of a hand. The S-S arrow line view of FIG. (A) is a perspective view showing an example of a cradle, (b) is a front view of (a), (c) is a side view of (a). (A)-(d) is operation|movement explanatory drawing at the time of mounting the 1st packaging box on a receiving stand. (A)-(d) is operation|movement explanatory drawing at the time of mounting a 2nd packaging box on a 1st packaging box. (A)-(c) is operation|movement explanatory drawing at the time of mounting a 3rd packaging box on a 2nd packaging box. (A)-(f) is operation|movement explanatory drawing at the time of stacking a packaging box in multiple steps, lifting. (A)-(c) is operation|movement explanatory drawing at the time of stacking a packaging box in multiple steps, lifting.

(Embodiment 1 of the device)
An example of an embodiment of the device of the present invention (fruit vegetable box packing device, package box stacking device, and package box discharging device) will be described with reference to the drawings. Prior to the description of the device of this embodiment, the fruit and vegetable automatic sorting device A will be briefly described.

The automatic fruit and vegetable sorting apparatus A shown in FIGS. 1 and 2 measures a fruit and vegetable carrier D in which a number of fruit and vegetable carriers C are connected to an endless traveling body (endless chain) B and a fruit and vegetable X being conveyed by the fruit and vegetable carrier D. And a measuring means (not shown) for discriminating the equal ranks and a side of the fruit and vegetable carrier D (right side, diagonally forward, diagonally rearward) arranged on the side of the fruit and vegetable carrier D based on the discrimination result by the measuring means. The fruit vegetable accepting body (pool conveyor) E that accepts the fruit vegetables X sent to In this automatic vegetable and vegetable sorting apparatus A, the fruit and vegetable X on the vegetable and vegetable carrier C is measured by the measuring means during the transportation, and the equal grade is discriminated. It is sent to the determined pool conveyor E.

Unlike the conventional method using a free tray, in the automatic vegetable and vegetable sorting apparatus A, since the vegetable and vegetable X are not stored in the free tray, the vegetable and vegetable X are sent to the pool conveyor E (pulled onto the pool conveyor E and taken over). The positions and intervals of are not fixed. Even if the positions and intervals of the fruit vegetables X pooled on the pool conveyor E of equal rank are different, the fruit vegetable packing device 10 of the present embodiment spreads and holds the fruit vegetables X without any trouble. It is designed to be packed in a packaging box Y. Note that the automatic fruit and vegetable sorting apparatus A may have a configuration different from that of the automatic vegetable and vegetable sorting apparatus A as long as the vegetable vegetable X is sent to the pool conveyor E without being placed on a free tray or the like. ..

Next, the device of this embodiment will be described. As an example, the apparatus shown in FIGS. 1 and 2 carries a boxing work robot 20, a box transfer conveyor (box transfer means) 30 for transferring an empty packing box (fruit storage box) Y, and a packing box Y. At the same time, stacking means 40 for stacking the packaging boxes Y containing the fruits and vegetables in a plurality of stages, photographing means 50 for photographing the fruits and vegetables X pooled on the pool conveyor E to obtain position information, and an empty packaging box Y are stocked. The stocker 60 and the discharging conveyor (box discharging means) 70 that receives the packing boxes Y stacked in a plurality of stages and discharges the packing boxes Y to the outside.

The robot 20 sucks and holds the fruits and vegetables X on the pool conveyor E and puts them in an empty packaging box (including a packaging box which is not empty but has a space for accommodating the fruits and vegetables X. The same applies hereinafter) Y. It is to be housed. As shown in FIGS. 1 and 2, the robot 20 is provided on a pedestal 21 above each pool conveyor E. As an example, the robot 20 shown in FIGS. 1 and 2 includes a robot arm 22 and a hand 23 mounted on the tip side of the robot arm 22. The hand 23 is held at the tip of the robot arm 22 via a flange 24 (FIGS. 3A and 3B ). As the robot 20, a so-called five-axis vertical articulated robot or the like can be used.

As an example, the hand 23 shown in FIGS. 1 and 2 has an air cylinder 23a and a rubber suction pad 23b attached to the tip of the piston rod of the air cylinder 23a, as shown in FIGS. Is equipped with. In this embodiment, four hands 23 are provided at intervals. The number of hands 23 may be more or less than four. Although illustration is omitted, the suction pad 23b is connected to a compressor (high-pressure air source) via an electromagnetic valve so that air supplied from the compressor can suck and release the fruit X. Each hand 23 operates individually and can suck and hold the fruit vegetables X.

The box transfer conveyor 30 is means for transferring an empty packaging box Y. An existing roller conveyor, belt conveyor, or the like can be used as the box conveyor 30. In this embodiment, an existing roller conveyor is used as the box conveyor 30. The roller conveyer constituting the box conveyer 30 is provided above the fruit conveyer D of the automatic fruit picker A in the same direction as the fruit conveyer D. The box transport conveyor 30 is provided above the discharge conveyor 70, which will be described later, in the same direction as the discharge conveyor 70.

The stacking unit 40 is a unit for stacking the packaging boxes Y containing fruits and vegetables in a plurality of stages. In this embodiment, two stacking means 40 having the same structure are provided in parallel with each other with the pool conveyor E interposed therebetween. From the viewpoint of improving work efficiency, it is preferable that the stacking means 40 be provided in at least two rows. However, the stacking means 40 may be more or less than two rows.

As an example, the stacking unit 40 shown in FIG. 1 includes a transfer body 41 and a standby conveyor 42. As shown in FIG. 4, the transfer body 41 transfers an empty packaging box Y supplied from the stocker 60 in the order of an empty box standby area A1-a box packing/stacking area A2-a transfer area A3. As shown in FIGS. 2 and 4, the transfer body 41 includes a drive motor M, a gear box G connected to the drive motor M, a sprocket 41a rotated by the power of the drive motor M, and an orbit around the sprocket 41a. The chain 41b is provided with a box pushing tool 41c fixed to the chain 41b. The chain 41b rotates vertically, and as shown in FIG. 2, four chains 41b are provided at intervals. The number of chains 41b may be more or less than four. The box pushing tool 41c fixed to the chain 41b supports the rear side of the transfer box 41 in the transfer direction of the packaging box Y and pushes the packaging box Y forward. The box pushing tool 41c is adapted to move with the rotation of the chain 41b. A plurality of box pushing tools 41c are provided at intervals so that the packaging box Y can be accommodated therein.

The empty box waiting area A1 is provided with a first placing plate 41d on which the packaging box Y supplied from the stocker 60 is placed.

In the boxing/stacking area A2, two support bodies 43 for supporting the packaging box Y fed to the boxing/stacking area A2 from below, and the support bodies 43 in the width direction outer side and inner side of the transfer body 41 ( A drive body (not shown) that slides the support bodies 43 in a direction in which the support bodies 43 move away from each other, a receiving stand 44 that receives the packaging box Y from the support body 43, and a positioning box that positions the packaging box Y on the receiving stand 44. A book positioning roller 45 and an elevating means 46 for elevating the pedestal 44 are provided (FIGS. 5A to 5C).

The support bodies 43 are flat plates that are elongated in the transfer direction of the transfer body 41, and are arranged on both sides of the transfer body 41 in the transfer direction. The support body 43 is installed so that the upper surface thereof has the same or substantially the same height as the upper surface of the first mounting plate 41d. The support body 43 can also be installed so as to be lower than the upper surface of the first mounting plate 41d within a range where the packaging box Y does not tilt. In any case, it is assumed that the packaging box Y does not tilt (several millimeters) when transferred from the first mounting plate 41d. The shape of the support body 43 is an example, and other shapes may be used.

The support body 43 is configured to be slidable inward and outward in the width direction of the transfer body 41 by a drive body (not shown). The distance between the two support bodies 43 becomes narrower than the lateral width of the packaging box Y when moving inward (direction in which the support bodies 43 approach each other), and when moving in the outer direction (direction in which the support bodies 43 move away from each other). It is designed to be wider than the width of the packaging box Y. Therefore, the packaging box Y is supported by both the support bodies 43 when the support body 43 moves inward, but is released by the support bodies 43 when the support body 43 moves outward, and the cradle is supported. No. 44.

As shown in FIGS. 5A to 5C, the pedestal 44 includes a frame 44a and a plurality of rotating rollers 44b provided on the upper surface side of the frame 44a. The rotating roller 44b is rotatably supported by a frame member (not shown). The rotating roller 44b rotates freely and is not provided with a drive source. The plurality of rotating rollers 44b are provided at a height that allows the upper surface of the packaging box Y fed from the support body 43 to be received.

Elevating means 46 is provided on the frame 44a of the receiving table 44, and the receiving table 44 is moved up and down by the operation of the elevating means 46. As the elevating means 46, an existing air cylinder, a pantograph type elevating means, or the like can be used. The cradle 44 is gradually lowered by one packaging box Y until a predetermined number (three in this embodiment) of packaging boxes Y are stacked, and when the predetermined number of packaging boxes Y are stacked, the discharge conveyor 70 The same height or substantially the same height as the above, specifically, the same or substantially the same height as the upper surface of the discharge conveyor 70 or a position higher than the upper surface of the discharge conveyor 70.

Although illustration is omitted, in the boxing/stacking area A2, there is a detecting means for detecting the presence of the packaging box Y on the support body 43, and the packaging box Y on the receiving table 44. A detection means for detecting the number of stages of the packaging box Y and the like is provided. An existing sensor or the like can be used for both the detection means. The support body 43 and the elevating means 46 are operated based on the detection signals of these detecting means.

The takeover area A3 is provided with a takeover body 47 for taking over the packaging box Y delivered from the box packing/stacking area A2. In this embodiment, the height of the upper surface of the takeover body 47 is the same as or substantially the same as the upper surfaces of the first mounting plate 41d, the standby conveyor 42, the two support bodies 43, and the takeover body 47. The take-over body 47 may be provided as needed, and can be omitted when unnecessary.

The standby conveyor 42 is arranged between the transfer body 41 and the discharge conveyor 70, and takes over the packaging box Y sent from the transfer body 41 and discharges it to the discharge conveyor 70. An existing belt conveyor, roller conveyor, or the like can be used as the standby conveyor 42. The discharge conveyor 70 is operated by a drive source (not shown) such as the drive motor M. Although not shown, a detection means for detecting the presence of the packaging box Y on the discharge conveyor 70 is provided near the end of the standby conveyor 42. An existing sensor or the like can be used as the detection means. The standby conveyor 42 operates based on the detection signals of these sensors. Specifically, when the detection means detects that the packaging box Y is not present on the discharge conveyor 70, it is discharged to the discharge conveyor 70.

The photographing means 50 photographs the fruit vegetables X pooled on the pool conveyor E and acquires the position information of the fruit vegetables X on the pool conveyor E. As the photographing means 50, for example, a digital camera with a position information detection function or the like can be used. In this embodiment, one photographing means 50 is installed above each pool conveyor E so that the plurality of fruit vegetables X pooled on each pool conveyor E can be photographed to obtain the position information. is there. Two or more photographing means 50 may be provided on each pool conveyor E. The position information obtained by photographing is transmitted to the control device of the robot 20, and the robot 20 operates based on the transmitted position information. The image capturing means 50 may be provided at a position other than the above position as long as it is a position where the plurality of fruit vegetables X pooled on the pool conveyor E can be imaged and position information can be acquired.

The stocker 60 stacks and stores the inside of the packaging box Y in which the pads P are stored. The stocker 60 of this embodiment has an inlet at the upper end and an outlet at the lower end. The packaging boxes Y in the stocker 60 are discharged one by one from the discharge port. The packaging box Y is discharged when a sensor (not shown) detects that there is no packaging box Y on the first mounting plate 41d. In this embodiment, the operator takes out the packaging box Y transported by the box transport conveyor 30, puts the pad P in the packaging box Y, and then stores it in the stocker 60.

The discharge conveyor 70 is a means for discharging the packaging box Y containing fruits and vegetables to the outside (for example, a shipping yard). As the discharge conveyor 70, an existing roller conveyor, belt conveyor or the like can be used. The discharge conveyor 70 of this embodiment is provided ahead of the standby conveyor 42 in a direction intersecting (orthogonal to) the standby conveyor 42. The standby conveyor 42 can be provided in any other orientation. The upper surface of the discharge conveyor 70 has the same or substantially the same height as the upper surface of the standby conveyor 42. By setting the heights of the upper surfaces of the discharge conveyor 70 and the standby conveyor 42 to the same level, the packaging box Y moving from the standby conveyor 42 to the discharge conveyor 70 is horizontally or substantially horizontally transferred so as not to be tilted. There is. In this embodiment, not only the standby conveyor 42 and the discharge conveyor 70, but also the upper surfaces of the first mounting plate 41d, the two support bodies 43, and the takeover bodies 47 are the same or substantially the same as the upper surfaces of the standby conveyor 42 and the discharge conveyor 70. Since the height is set to be high, as a result, except for the stacking portion of the packaging box Y, from the packaging of fruits and vegetables in the packaging box Y to the discharging of the packaging boxes Y stacked in a plurality of stages to the discharging conveyor 70, It will be performed almost horizontally.

(Embodiment 2 of apparatus)
The stacking unit 40 of the first embodiment of the apparatus stacks the packaging boxes Y in a plurality of stages while lowering the packaging boxes Y, but the stacking unit 40 can also stack the packaging boxes Y in a plurality of stages while raising the packaging boxes Y. In this case, for example, instead of the support body 43, the receiving base 44, the positioning roller 45, and the elevating means 46 of the first embodiment, a mounting table 44x for mounting the packaging box Y, a lifting means 48 for lifting the packaging box Y, and a lifting operation. The box holding means 49 for holding the packed packaging boxes Y can be provided in the packing/stacking area A2, and the packaging boxes Y can be stacked in a plurality of stages while being raised (FIGS. 9A to 9-). f) and FIGS. 10A to 10C).

As an example, the mounting table 44x shown in FIGS. 9A to 9F and 10A to 10C is a table on which the packaging box Y is mounted. Although not shown, a frame and a plurality of rotating rollers pivotally supported by the frame are provided on the upper surface of the mounting table 44x. The rotating roller has an upper surface which is horizontal or substantially horizontal so that the packaging box Y can be placed on the upper surface thereof. As the rotary roller, a roller that rotates freely without a drive source can be used.

As an example, the lifting means 48 shown in FIGS. 9A to 9F and FIGS. 10A to 10C includes an L-shaped locking portion that can be locked to the bottom surface of the packaging box Y. The lifting means 48 is moved in the vertical and horizontal directions by an actuator (not shown). The lifting means 48 may have any other structure as long as it can raise the packaging box Y.

The box holding means 49 is for holding the packaging box Y (including the packaging boxes Y stacked on the packaging box Y) on both sides of the packaging box Y. The box holding means 49 is moved by an actuator (not shown) in the horizontal direction, specifically, in the direction toward the side surface of the packaging box Y and the direction away from the side surface of the packaging box Y. The box holding means 49 may have any other structure as long as it can hold the packaging box Y.

(First Embodiment of Method)
An example of an embodiment of the method of the present invention (a method of packing vegetables, a method of stacking packaging boxes, and a method of discharging packaging boxes) will be described with reference to FIGS. 6(a) to (d) to 8(a) to (c). explain. Here, the case where the device described in the first embodiment of the device is used is taken as an example.

(1) The photographing means 50 photographs the fruit vegetables X on the pool conveyor E, and acquires the position information of the fruit vegetables X on the pool conveyor E.
(2) Based on the position information obtained by the photographing means 50, a predetermined fruit vegetable X on the pool conveyor E is suction-held by the hand 23, and the fruit vegetable X is placed in the depression of the pad P of the first packaging box Y1. Place it. This operation is repeated a predetermined number of times (until the fruits X have been placed on all the concave portions of the pad P), and the packaging in the first packaging box Y1 is completed.
(3) When the packaging of the first packaging box Y1 is completed, the support body 43 slides outward (FIG. 6(a)), and the packaging box Y on the support body 43 is placed on the rotation roller 44b of the receiving stand 44. (FIG. 6B).
(4) When the first packaging box Y1 is transferred onto the rotation roller 44b of the pedestal 44, the pedestal 44 is lowered by one packaging box Y by the elevating means 46 (FIG. 6(c)).
(5) When the receiving table 44 descends, the chain 41b rotates and the second packaging box Y2 waiting in the empty box waiting area A1 is supplied onto the support body 43 in the boxing/stacking area A2. The support body 43 returns to the original position by the time the second packaging box Y2 is supplied onto the support body 43 in the boxing/stacking area A2 (FIG. 6(d)).
(6) Similar to the first packaging in the packaging box Y1, based on the position information obtained by the photographing means 50, the predetermined fruit vegetables X on the pool conveyor E are suction-held by the hand 23 and the fruit vegetables X are held. It is placed in the recess of the pad P of the second packaging box Y2. This operation is repeated a predetermined number of times (until the fruits X have been placed on all the concave portions of the pad P), and the packaging in the second packaging box Y2 is completed.
(7) When the packaging in the second packaging box Y2 is completed, the support body 43 slides outward (FIG. 7A), and the packaging box Y on the support body 43 is placed on the rotation roller 44b of the receiving stand 44. Is transferred to the first packaging box Y (see FIG. 7B).
(8) When the second packaging box Y2 is transferred to the first packaging box Y1, the cradle 44 is lowered by one packaging box Y by the elevating means 46 (FIG. 7(c)).
(9) When the cradle 44 descends, the chain 41b rotates and the third packaging box Y3 waiting in the empty box waiting area A1 is supplied onto the support 43 in the boxing/stacking area A2. The support body 43 returns to the original position by the time the third packaging box Y3 is supplied onto the support body 43 in the boxing/stacking area A2 (FIG. 7(d)).
(10) Similar to the case of packing in the second packaging box Y2, the predetermined fruit vegetables X on the pool conveyor E are suction-held by the hand 23 based on the position information obtained by the photographing means 50, and the fruit vegetables X are held. It is placed in the recess of the pad P of the third packaging box Y3. This operation is repeated a predetermined number of times (until all the fruit vegetables X have been placed on all the concave portions of the pad P), and the packaging in the third packaging box Y3 is completed.
(11) When the packaging in the third packaging box Y3 is completed, the support body 43 slides outward, and the packaging box Y on the support body 43 is the second packaging box on the rotation roller 44b of the receiving table 44. It is transferred to Y2 (FIG. 8A).
(12) When the third packaging box Y3 is transferred to the second packaging box Y2, the packaging boxes Y stacked in three stages are received up to a height at which they can be delivered to the discharge conveyor 70 horizontally or substantially horizontally. The table 44 rises (FIG. 8(c)).
(13) When the pedestal 44 is raised to a predetermined position by the elevating means 46, the drive motor M rotates the chain 41b, and the box pushing tool 41c provided on the chain 41b causes the packaging boxes Y stacked in three stages to move. It is pushed and sent to the takeover body 47 in the takeover area A3.
(14) The packaging boxes Y, which are sent to the takeover body 47 and stacked in three stages, are discharged from the takeover body 47 to the discharge conveyor 70 at a timing when there is a space on the discharge conveyor 70.

Although not described, it is necessary for an operator to manually set the pad P in the packaging box Y and then set the packaging box Y in which the fruits and vegetables X are stored in the stocker 60.

(Embodiment 2 of Method)
In the first embodiment of the method, the case where the packaging boxes Y are stacked in a plurality of stages while being lowered is taken as an example, but when the device of the second embodiment of the device is used, the packaging boxes Y are lifted upward and are arranged in a plurality of stages. It can also be stacked. Specifically, they can be stacked by the procedure shown in FIGS. 9A to 9F and FIGS. 10A to 10C.

(1) When the packaging in the first packaging box Y1 is completed, the lifting type lifting means 48 is arranged on the side of the first packaging box Y1 (FIG. 9A).
(2) The lifting means 48 is locked to the bottom surface side of the first packaging box Y1, and the first packaging box Y1 is lifted up by the lifting means 48 (FIG. 9B).
(3) Both side surfaces of the first packaging box Y1 lifted upward are held by the box holding means 49 (FIG. 9C).
(4) After the first packaging box Y1 is held by the box holding means 49, the lifting means 48 descends (FIG. 9(d)).
(5) Next, when the packaging in the second packaging box Y2 is completed, the lifting means 48 is arranged on the side of the second packaging box Y2 (FIG. 9(e)).
(6) The lifting means 48 is locked to the bottom surface side of the second packaging box Y2, and the second packaging box Y2 is lifted up by the lifting means 48 (FIG. 9(f)).
(7) When the second packaging box Y2 is lifted to a predetermined position, the box holding means 49 holding the first packaging box Y1 moves to the outside to hold the first packaging box Y1. After the release, the first packaging box Y1 is transferred onto the second packaging box Y2 (FIG. 10A).
(8) Next, when the packaging in the third packaging box Y3 is completed, the lifting means 48 is moved to the position outside the bottom side of the second packaging box Y2 and the holding by the lifting means 48 is released. (FIG. 10(b)), the first packaging box Y1 and the second packaging box Y2 are transferred onto the third packaging box Y3 (FIG. 10(c)).
(9) When the packaging boxes Y are stacked in three stages, the drive motor M rotates the chain 41b, and the box pushing tool 41c provided in the chain 41b pushes the packaging boxes Y stacked in three stages. It is sent to the takeover body 47 in the takeover area A3.
(10) The packaging boxes Y, which are sent to the takeover body 47 and stacked in three stages, are discharged from the takeover body 47 to the discharge conveyor 70 at a timing when there is a space on the discharge conveyor 70.

The vegetable box packaging method and the vegetable box packaging device of the present invention can be particularly preferably used for the box packaging of the vegetable vegetables whose positions are not uniformly determined by being discharged according to the ranks on the pool conveyor, and the packaging box stack of the present invention. The method and the packaging box stacking device can be preferably used for stacking the packaging boxes in which the vegetables are packed by the vegetable packaging method and the vegetable packaging device of the present invention, and the packaging box discharging method and the packaging box discharging device of the present invention. Can be suitably used for discharging the packaging boxes stacked in a plurality of stages by the packaging box stacking method and the packaging box stacking apparatus of the present invention.

10 Fruit Vegetable Boxing Device 20 Robot 21 Pedestal 22 Robot Arm 23 Hand 23a Air Cylinder 23b Suction Pad 24 Flange 30 Box Conveyor (Box Conveying Means)
40 Stacking Means 41 Transfer Body 41a Sprocket 41b Chain 41c Box Pushing Tool 41d First Placing Plate 42 Standby Conveyor 43 Supporting Body 44 Receiving Platform 44a Frame 44b Rotating Roller 44x Mounting Platform 45 Positioning Roller 46 Lifting Means 47 Lifting Means 49 Boxes Holding means 50 Imaging means 60 Stocker 70 Discharging conveyor (box discharging means)
A Automatic fruit and vegetable sorting device A1 Empty box standby area A2 Box packing/stacking area A3 Transfer area B Endless traveling body (endless chain)
C Fruit Vegetable Carrier D Fruit Vegetable Carrier E Fruit Vegetable Acceptor (Pool Conveyor)
G gear box M drive motor P pad X fruit vegetable Y packaging box Y1 first packaging box Y2 second packaging box Y3 third packaging box

Claims (10)

A method of packing fruits and vegetables on a pool conveyor in a packaging box, which is pooled according to rank,
By photographing the fruit vegetables on the pool conveyor with a photographing means installed in the vicinity of the pool conveyor to obtain the position information of the fruit vegetables on the pool conveyor,
The fruit and vegetables on the pool conveyor based on the position information is suction-held by a robot hand installed in the vicinity of the pool conveyor,
The fruit vegetables that have been suction-held are stored in a packaging box on at least two rows of transfer bodies installed near the pool conveyor,
Thereafter, a predetermined number of fruits and vegetables are contained in the packaging box by repeating suction holding of the fruits and vegetables with the hand and accommodation of the fruits and vegetables in the packaging box,
A method for packaging fruit vegetables, which is characterized in that A packaging box stacking method for accommodating a predetermined number of fruits and vegetables in the packaging box according to the method for packaging fruits and vegetables according to claim 1, and stacking the packaging boxes accommodating the predetermined number of fruits and vegetables in a plurality of stages,
Lower the cradle on which the packaging box containing the predetermined number of fruits and vegetables is placed,
Stacking another packaging box containing a predetermined number of fruits and vegetables on the packaging box on the lowered cradle,
By stacking the packaging boxes in a plurality of stages by performing the descending of the cradle and stacking the packaging boxes a desired number of times,
A method for stacking packaging boxes, which is characterized in that A packaging box stacking method for accommodating a predetermined number of fruits and vegetables in the packaging box according to the method for packaging fruits and vegetables according to claim 1, and stacking the packaging boxes accommodating the predetermined number of fruits and vegetables in a plurality of stages,
The packaging box containing the predetermined number of fruits and vegetables is lifted up by the lifting means,
Holding the lifted packaging box by box holding means,
Stacking another packaging box containing a predetermined number of fruits and vegetables under the packaging box held by the box holding means,
By lifting the packaging boxes by the lifting means, holding the packaging boxes by the box holding means, and stacking the packaging boxes a desired number of times, the packaging boxes are stacked in a plurality of stages,
A method for stacking packaging boxes, which is characterized in that A packaging box discharging method for discharging packaging boxes stacked in a plurality of stages by the packaging box stacking method according to claim 2 to a discharging means,
By raising the cradle, the packaging boxes stacked in multiple stages are raised to the same or substantially the same height as the box discharging means,
Discharging a plurality of packaging boxes that have risen to the same or substantially the same height as the box discharging means horizontally or substantially horizontally from the cradle to the box discharging means,
A method for discharging a packaging box, which is characterized in that A packaging box discharging method for discharging packaging boxes stacked in a plurality of stages by the packaging box stacking method according to claim 3 to a discharging means,
Discharging a plurality of packaging boxes on the cradle horizontally or substantially horizontally to a box discharging means having the same or substantially the same height as the upper surface of the cradle,
A method for discharging a packaging box, which is characterized in that A fruit and vegetable cartoning device for boxing fruit and vegetables on a pool conveyor pooled according to rank into a packaging box,
At least two rows of transfer bodies for conveying the packaging box,
A photographing means for photographing the fruit and vegetables on the pool conveyor to obtain the position information of the fruit and vegetables,
Based on the position information of the fruits and vegetables obtained by the image capturing means, a robot that adsorbs and holds the fruits and vegetables on the pool conveyor and stores them in a packaging box on the stacking means is provided.
A fruit and vegetable packaging device characterized by the above. A packaging box stacking device for stacking a plurality of packaging boxes in each of which a predetermined number of fruits and vegetables are stored by the vegetable packaging device according to claim 6.
With a lifting pedestal that descends when a packaging box is placed and when another packaging box is placed on the placed packaging box,
A packaging box stacking device characterized by the above. A packaging box stacking device for stacking a plurality of packaging boxes in each of which a predetermined number of fruits and vegetables are stored by the vegetable packaging device according to claim 6.
A cradle on which the packaging box can be placed,
Lifting means for lifting the packaging box on the cradle upward,
A box holding means for holding the packaging box lifted by the lifting means in its lifting position,
A packaging box stacking device characterized by the above. A packaging box discharging device for discharging the packaging boxes stacked in a plurality of stages by the packaging box stacking device according to claim 7 to a discharging means,
The transfer body is equipped with a pusher that pushes the packaging box forward,
When a predetermined number of packaging boxes are stacked on the pedestal, the pedestal rises to the same or substantially the same height as the box discharging means in a state where the packaging boxes having a plurality of stages are placed,
The pushing tool can send a plurality of packaging boxes raised to the same or substantially the same height as the box discharging means to the box discharging means.
A packaging box discharging device characterized in that A packaging box discharging device for discharging the packaging boxes stacked in a plurality of stages by the packaging box stacking device according to claim 8 to a discharging means,
The transfer body is equipped with a pusher that pushes the packaging box forward,
The top surface of the cradle has the same or substantially the same height as the box discharging means,
The pusher can discharge the packaging boxes of the plurality of stages from the cradle to the box discharging means horizontally or substantially horizontally.
A packaging box discharging device characterized in that

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