JP2023000474A - Skin peeling device and skin peeling method for processing object vegetable - Google Patents

Abstract

To provide a skin peeling device and a skin peeling method for a processing object vegetable which can stably and continuously peel the skin even when the shapes of the processing object vegetables vary.SOLUTION: A skin peeling device 10 being the skin peeling device 10 which makes a processing object vegetable V pass through gaps between multiple pairs of peelers 81 arranged in one line to peel the skin of the processing object vegetable V with the peelers 81, comprises: an imaging unit 29 which captures an image of the processing object vegetable V; a detection unit 30 which is constituted by a multi-layer neural network and detects the type and shape of the processing object vegetable V by receiving input of the image; a vegetable attachment unit 50 which has a support part 55 that supports the processing object vegetable V and a rotation mechanism 53 that rotates the support part 55 and moves between the peelers 81; and a support part height adjustment mechanism 27 which matches the heights between the shaft center of the processing object vegetable V and the support part 55 on the basis of the shape of the processing object vegetable V.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a peeling apparatus and a peeling method for peeling the skins of vegetables to be processed, such as stick-shaped vegetables such as radishes, carrots, and burdocks.

The following invention has been filed as a device for peeling vegetables such as stick-shaped vegetables.
Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2020-014406) discloses a peeling device capable of peeling the vegetables while suppressing rotational shake of the vegetables to be processed.
The peeling apparatus for vegetables to be processed described in Patent Document 1 is a peeling apparatus that allows the vegetables to be processed to pass between a plurality of pairs of peelers arranged in a row and peels the skins of the vegetables to be processed by the peelers. It has a support means for supporting the processed vegetables and a rotating means for rotating the support means, and has a vegetable mounting portion that advances between the peelers, and the support means tilts the tips of the vegetables to be processed downward with respect to the direction of movement. The vegetable to be processed is supported in such a state that the vegetable is to be processed, and the rotating means rotates the top end of the vegetable to be processed in a state inclined downward with respect to the traveling direction.

Patent Document 2 (Japanese Patent Application Laid-Open No. 2017-169461) discloses a device for peeling bar-shaped vegetables that is excellent in workability and capable of improving productivity.
The stick-shaped vegetable peeling device described in Patent Document 2 includes a stick-shaped vegetable supply chain conveyor means for sending the placed stick-shaped vegetables, and a stick-shaped vegetable support means for supporting the stick-shaped vegetables sent by the stick-shaped vegetable supply chain conveyor means. , a plurality of blade means provided facing both sides of the stick-shaped vegetable supporting means, a stick-shaped vegetable pushing chain conveyor provided above the stick-shaped vegetable supporting means, and a chain of the stick-shaped vegetable pushing chain conveyor, It comprises a stick-shaped vegetable pushing means for sending the stick-shaped vegetables sent from the stick-shaped vegetable supply chain conveyor means to the cutler means, and a driving means for synchronously driving the chain conveyor of the stick-shaped vegetable supply chain conveyor means and the stick-shaped vegetable pushing chain conveyor. .

Patent Document 3 (Japanese Patent Application Laid-Open No. 2014-097005) discloses that a bar-shaped vegetable is continuously axially rotated and simultaneously moved in the longitudinal direction of a plurality of peeler blades while being pressed against each other. A peeling device is disclosed that peels the entire circumference of a stick-shaped vegetable in one movement.
The peeling device described in Patent Document 3 includes a vegetable support mechanism that supports both ends of a stick-shaped vegetable in the longitudinal direction, a vegetable shaft rotation mechanism that axially rotates the stick-shaped vegetable, and a blade that is pressed against the stick-shaped vegetable to cut the length of the stick-shaped vegetable. and a peeling mechanism for peeling the outer periphery of the vegetable stick by moving a peeler in a direction, wherein the vegetable axial rotation mechanism continuously rotates the vegetable stick. The peeling mechanism comprises a pair of endless peeler conveying parts arranged oppositely to sandwich the vegetable stick to form a peeling space for the vegetable stick, each of the peeler conveying parts having a plurality of peelers arranged side by side. , symmetrically and continuously circulating and rotating to move the plurality of peelers along the longitudinal direction of the vegetable sticks in the peeling space at a constant speed.

Patent Document 4 (Japanese Unexamined Patent Application Publication No. 2008-278807) discloses a device for peeling root vegetables capable of improving productivity.
The peeling device described in Patent Document 4 includes a rotating disc that is driven to rotate, and a plurality of root vegetable support mechanisms that are provided at equal angles on the rotating disc and support root vegetables. At least one root vegetable supply station, a plurality of root vegetable peeling stations, and a root vegetable discharge station are provided as stations where the root vegetable support mechanism is rotated by the position, and the plurality of root vegetable peeling stations are vertically moved. A peeling mechanism section is provided for peeling the skins of the different circumferences of the root vegetables, and the peeling of the root vegetables is completed each time the rotary disk rotates one station.

Japanese Patent Application Laid-Open No. 2020-014406 JP 2017-169461 A JP 2014-097005 A JP 2008-278807 A

Problems with peeling machines for vegetables to be processed such as radishes and carrots are that vegetables to be processed can be continuously fed to the peeling machine instead of one by one, and that the peeling process can be performed stably regardless of the type or shape of the vegetables to be processed. and that the skin can be peeled off.

In the peeling device described in Patent Document 1, the vegetables to be processed can be continuously supplied to the peeling device by placing the vegetables to be processed on the endless belt of the supply unit. However, when the type of vegetables to be processed is changed, the operator needs to adjust the height and angle of the frame. In addition, in Patent Document 1, a measurement device such as a laser sensor is arranged to measure the variation in the diameter of the vegetables to be processed, and the height is adjusted so that the center matches the vegetable mounting portion of the conveying unit and can be centered. Although it is described that adjustment is performed, it is not clear whether centering can be stably performed against variations in the shape of the vegetables to be processed.

Even in the stick-shaped vegetable peeling device described in Patent Document 2, the vegetables to be processed can be continuously supplied to the peeling device by placing the vegetables to be processed on the supply chain conveyor means. However, the peeling device described in Patent Document 2 is configured to center the vegetables to be processed by a centering means composed of a spring and a centering plate. is required.
Also, the vegetables to be processed are curved or distorted, rather than cylindrical or conical. For this reason, if the vegetable to be processed is advanced while the axis is rotated parallel to the direction of movement, the rotation may be shaken as the vegetable is advanced, and the skin may not be peeled properly.

The peeling apparatuses described in Patent Document 3 and Patent Document 4 are both peeling apparatuses that set vegetables to be processed one by one on the peeling apparatus and peel the skins, and continuously peel a plurality of vegetables to be processed. It is not possible to perform peeling work on

The main object of the present invention is to detect variations in the diameter and other shapes of each vegetable to be processed and to adapt the setting of the peeling device, simply by setting a plurality of vegetables to be processed in the supply unit. To provide a peeling device and method for a vegetable to be processed, capable of stably and continuously peeling the vegetable even if the shape of the vegetable to be processed varies.
A second object of the present invention is to change the type of vegetable to be processed by detecting the type of vegetable to be processed and adapting the settings of the peeling device simply by setting the vegetable to be processed in the supply unit. Another object of the present invention is to provide a vegetable peeling device and a method for peeling the skin of each vegetable to be processed.

(1)
A peeling device according to one aspect is a peeling device that passes a vegetable to be processed between a plurality of pairs of peelers arranged in a row and peels the skin of the vegetable to be processed by the peelers, and takes an image of the vegetable to be processed. a detection unit configured with a multi-layer neural network to input an image and detect the type and shape of the vegetables to be processed; a support for supporting the vegetables to be processed; and a rotation mechanism for rotating the support. and a support portion height adjusting mechanism for matching the height of the axis of the vegetable to be processed and the support portion based on the shape of the vegetable to be processed.

In this case, the type of vegetable to be processed, the maximum diameter, and the center position are detected by a detection unit configured with a multi-layer neural network, and the height of the support unit is adjusted to detect the axis of the vegetable to be processed. The position of the support portion and the cross blade can be matched.
In particular, the detector, which consists of a multi-layered neural network, detects the width of the maximum contour of the entire shape of the input processed vegetables. diameter can be obtained. Moreover, the maximum diameter can be accurately detected for each of the radish that is the largest near the root and the radish that is the largest near the center.
In addition, even for the same radish, there are parts that differ in color between a normal white radish and a blue-necked radish. By preparing data with different appearances such as neck radishes and training a multi-layer neural network using these training data, it is possible to accurately detect the maximum diameter of each radish even if it has different appearances. .
Therefore, in the peeling device according to one aspect, the detection unit accurately detects the maximum diameter of the vegetable to be processed, and the height between the axis of the vegetable to be processed and the support portion is determined based on the shape of the vegetable to be processed. By matching, even if the shape of the vegetables to be processed varies, the peeling can be stably and continuously performed.

(2)
A peeling apparatus according to a second aspect of the present invention is a peeling apparatus according to one aspect, wherein the multi-layer neural network is a YOLO system (you only look once), and the training data of the YOLO system is provided separately for each type of vegetable to be processed. may be prepared as training data for

In the YOLO system, as training data, for example, training data for various shapes of radishes and carrots, or various appearances such as normal radishes and blue-necked radishes, were prepared and trained, and photographed by the imaging unit. By inputting the image of the vegetable to be processed, the object class (corresponding to the type of vegetable to be processed, for example, radish or carrot) and the boundary box (corresponding to the circumscribing rectangle of the vegetable to be processed) are output. Therefore, the detection unit can detect the type of vegetable to be processed from the output class, and detect the maximum diameter of the vegetable to be processed from the width of the boundary box.
In addition, for example, as training data for radishes, prepare image data of normal white radishes, green neck radishes, radishes with a little soil, and radishes that are slightly blurred due to dirt on the lens, etc., and use these image data By training the YOLO system, it is possible to accurately detect the maximum diameter and length of radishes of various appearances. In addition, the frequency of maintenance of camera lenses and the like can be reduced.

(3)
A peeling device according to a third aspect of the invention is the peeling device according to one aspect or the second aspect of the invention, further comprising a support plate disposed below between the plurality of pairs of peelers, wherein the support part is for the vegetables to be processed. The vegetables to be processed are supported in a state in which the tips are brought into contact with the support plate so as to be inclined downward with respect to the direction of travel, and the rotation mechanism supports the vegetables to be processed in a state in which the tips of the vegetables to be processed are inclined downward with respect to the direction of travel. Processed vegetables may be rotated.

In this case, the vegetable to be processed can be stably advanced without rotational shake or floating of the tip by rotating while being supported in a downwardly inclined state with the tip abutting against the support plate. In addition, the vegetable to be processed rotates with its tip tilted downward and enters between the peelers, so that the blade of the peeler strikes the vegetable to be processed in an oblique direction, and the vegetable can be effectively peeled by the oblique cutting effect. .

(4)
A peeling apparatus according to a fourth invention is the peeling apparatus according to the third invention, further comprising a frame elevating mechanism for adjusting the height of the plurality of pairs of peelers and the support plate, and The height of multiple pairs of peelers and support plates may be adjusted based on the type and/or shape of the.

In the peeling apparatus according to the third aspect of the present invention, the leading end abuts against the support plate, and the vegetable to be processed is stably advanced and peeled by rotating while being supported in a downwardly inclined state. can be done. However, if the height of the support plate is the same, the angle of inclination is greater for short carrots and the like than for long radishes and the like. Also, even if the length is the same, if the diameter is small, the inclination angle is large. In addition, adjusting the height of the peeler makes it possible to peel radishes with a large diameter and carrots with a small diameter more smoothly.
In the peeling apparatus according to the fourth aspect of the invention, the inclination of the vegetable to be processed is adjusted by adjusting the height of the plurality of pairs of peelers and the support plate based on the type and/or shape of the vegetable to be processed detected by the detection unit. By maintaining an appropriate angle and appropriately aligning the position of the peeler with which the vegetables are to be processed, it is possible to peel the skins of each of the vegetables to be processed appropriately.
In addition, if the height of the frame lifting mechanism is adjusted frequently, the work efficiency of the peeling device will decrease. If so, it is desirable to provide hysteresis in the threshold for height adjustment of the multiple pairs of peelers and support plates to reduce the frequency of height adjustments of the multiple pairs of peelers and support plates.

(5)
A method of peeling a vegetable to be processed according to another aspect includes the steps of photographing an image of the vegetable to be processed;
A detection process of inputting an image and detecting the type and shape of the vegetable to be processed, and adjusting the height of the center of the vegetable to be processed and the support part that supports the vegetable to be processed based on the shape of the vegetable to be processed. and a step of adjusting the height of the supporting portion, and while rotating the supporting portion, the vegetable to be processed supported by the supporting portion is passed between a plurality of pairs of peelers arranged in a row, and the peeler removes the skin of the vegetable to be processed. and a peeling step, wherein the detecting step is performed using a multi-layer neural network.

In this case, the maximum diameter of the vegetable to be processed is detected using a multi-layer neural network, and the height of the supporting part is adjusted to a height half of the detected maximum diameter. Therefore, the support portion can be centered on the axis of the vegetable to be processed, and the vegetable to be processed can be peeled off appropriately.

1 is a perspective view of a peeling device according to an embodiment of the invention; FIG. 1 is a front view of a peeling device; FIG. 1 is a block diagram of one embodiment of a peeling device; FIG. Fig. 3 is a top view of the feed section of the peeling device; It is a figure which shows the photograph image|photographed from the root side of to-be-processed vegetables, and an example of a detection result. FIG. 3 is a cross-sectional view taken along the line AA of FIG. 2; 7(a) is an enlarged view of the endless belt, FIG. 7(a) shows a state in which a small-diameter processed vegetable is placed in the placement space, and FIG. 7(b) shows a state in which a large-diameter processed vegetable is placed in the placement space, viewed from the front side It is a schematic diagram of what I saw. It is a perspective view of a vegetable attaching part. It is a front view of a peeler part. It is a top view of a peeler part. FIG. 10 is a cross-sectional view taken along line CC in FIG. 9 and viewed in the direction of the arrows; FIG. 4 is an explanatory view showing a state in which vegetables to be processed are being peeled;

Hereinafter, a peeling device 10 according to an embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are given to the same parts. Moreover, in the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
Examples of processed vegetables V that can be peeled by the peeling apparatus 10 of the present invention include stick-shaped vegetables such as radishes, carrots, and burdock roots, but are not limited to these.

FIG. 1 is a perspective view of a peeling device 10 according to one embodiment of the present invention, and FIG. 2 is a front view. 3 is a block diagram of one embodiment of the peeling device 10, and FIG. 4 is a top view of the supply unit 20 of the peeling device 10. As shown in FIG.
As one embodiment, the peeling apparatus 10 is provided with a supply unit 20 for supplying the vegetables V to be processed V on the right front side in the drawing, and a peeler unit 80 for peeling the vegetables V to be processed V supplied on the left front side. Behind these, a conveying section 40 that conveys the vegetables to be processed V from the supply section 20 to the peeler section 80 and advances them within the peeler section 80 is arranged.

<Supply Department>
The supply unit 20 supplies the vegetables V to be processed to the peeling device 10 . In this embodiment, the supply unit 20 can be an endless belt 21 arranged in a direction perpendicular to the traveling direction of the vegetables V to be processed supplied to the peeler unit 80 . The endless belt 21 is stretched around pulleys 25 and 25a, and is driven by a conveyor motor 24 that is internally or externally attached to one of the pulleys 25 . In the illustrated embodiment, the conveyor motor 24 is installed inside the pulley 25 on the tip side near the conveying section 40 side. As shown in FIG. 3, the conveyor motor 24 is electrically connected to the control section 12 and can rotate intermittently in accordance with the operation of the vegetable mounting section 50 of the conveying section 40. As shown in FIG. In addition, the control unit 12 can be arranged at an appropriate place of the peeling device 10 .

As shown in FIGS. 2 and 4, a camera and an illumination device are provided on the side of the endless belt 21 of the supply unit 20 for photographing the vegetables V to be processed placed on the supply unit 20. A portion 29 is arranged. As shown in FIG. 4, the photographing unit 29 is arranged in front of the endless belt 21 in the advancing direction with respect to the supporting portion 55 that supports the vegetables V to be processed, and the supporting portion 55 supports the vegetables V to be processed (cross blade). ), the vegetable to be processed V immediately before is photographed from the root side.
As shown in FIG. 3, an image of the vegetable to be processed V photographed from the root side photographed by the photographing unit 29 is sent to the detecting unit 30 composed of a multilayer neural network, and the type and shape (diameter and center position 32) are detected.
In this embodiment, the multilayer neural network is a YOLO (you only look once) system. As training data for the YOLO system, separate image data are prepared for each type of processed vegetable V such as radish, carrot, and burdock. It is possible to detect the type of processed vegetable V, for example, radish or carrot).
In addition, for example, as training data for radishes, prepare image data of normal white radishes, green-necked radishes, radishes with a little soil, and radishes that are slightly blurred due to dirt on the lens, etc., and use those image data. By having the YOLO system learn by using , it is possible to accurately detect the maximum diameter and the center position 32 of radishes of various appearances. In addition, the frequency of maintenance of camera lenses and the like can be reduced.

FIG. 5 shows a photograph of the vegetable V (radish) to be processed taken from the root side by the imaging unit 29, the bounding box 31 detected by YOLO, and the center position 32 of the vegetable V to be processed. The center position 32 of the vegetable V to be processed corresponds to the center of the bounding box 31 , and the diameter of the vegetable V to be processed corresponds to the width or height of the bounding box 31 .
The vegetable to be processed V generally has a larger diameter near the center than near the root along the length. In the YOLO system, by setting the bounding box 31 according to the maximum contour of the image of the vegetable V to be processed photographed from the root side as training data, the maximum diameter of the vegetable V to be processed and the maximum diameter are accommodated. A center position 32 can be detected.
Moreover, although the YOLO system is used as the multilayer neural network of the detection unit 30 in this embodiment, it is also possible to use a multilayer neural network other than the YOLO system, such as R-CNN, for the detection unit 30 .

The advantages of using the YOLO system over using a laser sensor in the sensing portion 30 of the peeler 10 are as follows.
The laser sensor irradiates a belt-shaped laser beam in a direction orthogonal to the longitudinal direction of the vegetables V to be processed, receives the reflected light with a CCD, and generates a shape profile of the object to be measured based on the principle of triangulation. Therefore, the shape of the laser-irradiated portion can be accurately measured. However, since the position of the maximum diameter in the longitudinal direction differs depending on whether the vegetable V to be processed is radish or carrot, it is necessary to adjust the position of the laser sensor for each type of vegetable V to be processed. In addition, even in the same radish, there are those whose diameter is larger near the base supported by the support part 55 and those whose diameter is larger near the center than the base. cannot be measured to
On the other hand, in the detection method comprising the imaging unit 29 and the multilayer neural network detection unit 30 of the present invention, the size of the bounding box 31 corresponding to the maximum contour of the image of the vegetable V to be processed photographed from the root side Since the maximum diameter of the vegetable V to be processed can be detected, the maximum diameter of the vegetable V to be processed can be accurately detected regardless of the type and shape of the vegetable V to be processed.

Advantages of using the YOLO system in the detection unit 30 of the peeling device 10 over conventional detection methods using image data are as follows.
Conventionally, a threshold is set for image data, and the shape of the processed vegetable V is detected by, for example, setting the area below the threshold as the vegetable V to be processed and the area above the threshold as the background. However, in this case, it is necessary to set the threshold value again for carrots and radishes with different colors. In addition, even if the radish is the same, the root side of the green-necked radish is blue, and depending on the threshold value, the shape may not be detected accurately.
On the other hand, in the detection method comprising the photographing unit 29 and the multi-layer neural network detecting unit 30 of the present invention, separate training data are prepared for each type of the vegetable V to be processed, and normal training data for radish is prepared. By preparing data of different appearances such as white radish and blue-necked radish, and making the multi-layer neural network learn using the teacher data, the type and shape of the vegetable V to be processed can be accurately detected.
The height and inclination angle of the support plate 91, the number of rotations of the support part 55, the biasing force of each peeler 81, and the like may be automatically adjusted according to the type of the detected vegetable V to be processed. For example, you can detect and adjust the classification of vegetables such as radish, carrot, cucumber, turnip, potato, etc., and also detect the variety, harvest time, production area, etc. for the same radish, such as autumn radish and winter radish. More detailed adjustments may be made.

As shown in FIG. 6, the endless belt 21 has a plurality of guide plates protruding in the width direction of the outer peripheral surface, and the vegetables V to be processed are placed in the holding space S formed between the guide plates. As shown in an enlarged view in FIG. 7, the guide plates are a pair of low first guide plates 22, 22 and a pair of guide plates 22, 22 arranged on both sides of the first guide plates 22, 22 and protruding higher than the first guide plates 22, 22. It can be composed of the second guide plates 22a, 22a. With the guide plates having different heights, vegetables V to be processed having a small diameter can be stably held between the first guide plates 22, 22 as indicated by line V1 in FIG. 7(a). In (b), as indicated by the line V2, the large-diameter vegetable V to be processed is stably held by the second guide plates 22a, 22a on the sides and the first guide plates 22, 22 on the bottom. As shown in FIG. 1, the first guide plates 22, 22 may be provided not on the entire length of the endless belt 21 in the width direction, but only on a part thereof.

As shown in FIGS. 1, 2 and 6, the endless belt 21 has a length such that a plurality of holding spaces S exist on the upper surface side, and at the same time a plurality of vegetables to be processed V are placed in each holding space S. can do. Therefore, the operator can place a plurality of vegetables V to be processed on the endless belt 21 and leave the peeling apparatus 10 until the vegetables V to be processed are gone, thereby improving work efficiency as much as possible. can be done. Further, since the endless belt 21 is arranged in a direction perpendicular to the advancing direction of the vegetables V to be processed supplied to the peeler section 80, the longitudinal length of the peeling device 10 does not become long. , the peeling device 10 can be made compact.

The supply section 20 includes a support section height adjustment mechanism 27 that adjusts the height of the conveying section 40 side up or down according to the diameter of the vegetables V to be processed. The support portion height adjusting mechanism 27 can be configured by, for example, a configuration in which a cam piece is operated by the support portion height adjusting motor 28 or an actuator or the like, and is controlled by the control portion 12 .
The vegetables to be processed V to be supplied are photographed by the photographing unit 29 shown in FIG. diameter) is detected. The support portion height adjusting mechanism 27 moves the height of the supply portion 20 up and down according to the diameter detected by the detection portion 30 . Specifically, the support portion height adjustment mechanism 27 is adjusted so that the center position 32 of the vegetable V to be processed can be aligned with the support portion 55 of the vegetable attachment portion 50 of the transport portion 40 described below and centered. make adjustments.

<Conveyor>
The vegetables to be processed V supplied from the supply unit 20 are attached to the vegetable attachment unit 50 arranged in the transport unit 40 and transported to the peeler unit 80 as shown in FIG. 1 and the like. As shown in FIGS. 2 and 6, the vegetable attaching portion 50 is an endless endless portion stretched in an elliptical shape so as to extend in the left and right direction inside the conveying portion casing 41 arranged on the rear side of the peeling device 10. As shown in FIG. It is attached to the carrier chain 44 . As shown in FIG. 2, the transport chain 44 is meshed with gears 45 and 45a on both sides, and one gear 45 is linked to a transport drive motor 46, for example, transport drive means. The transport drive motor 46 is electrically connected to the controller 12 as shown in FIG. circulate in the shape of As shown in FIGS. 1 and 2, the front surface of the conveying unit casing 41 is formed with an oblong groove 42 at a position corresponding to the inner circumference of the circulating orbit of the conveying chain 44. A portion 50 extends forward.

In addition, as shown in FIG. 2, a rotation drive means for driving the rotation mechanism 53 of the vegetable attachment portion 50 is arranged at a position facing the peeler portion 80 described later behind the conveying chain 44 and behind the lower circumference of the transportation chain 44. ing. The rotary drive means comprises a long shaft gear 60 arranged along the conveying chain 44 and a long shaft gear drive motor 61 for rotating the long shaft gear 60 . The long shaft gear 60 has gear grooves engraved on its longitudinal circumferential surface. In addition, the long shaft gear drive motor 61 is electrically connected to the controller 12 (FIG. 3).

A plurality of the vegetable mounting portions 50 are attached to the conveying chain 44 at predetermined intervals, convey the vegetables to be processed V from the supply portion 20 to the peeler portion 80, rotate the vegetables to be processed V within the peeler portion 80, and rotate the vegetables to be processed by the peeler. Debarking is performed by section 80 .

As shown in FIG. 8 , the vegetable attaching portion 50 is configured by attaching the vicinity of the proximal end of a substantially L-shaped conveying arm 51 with the distal end bent downward to the conveying chain 44 .

A gear 54 that forms a part of a rotation mechanism 53 that rotates a support portion 55 described below is supported at a base end of the transfer arm 51 at a position that can mesh with the long shaft gear 60 . The conveying arm 51 has a hollow interior, and in the hollow portion, bevel gears, shafts, etc. (none of which are shown) are arranged so as to be able to transmit power to the gear 54 . A support portion 55 that holds the vegetable V to be processed, which is attached to the bent end in the advancing direction, is rotatable. That is, when the gear 54 rotates, the supporting portion 55 is driven to rotate via the rotation mechanism 53 .

In the illustrated embodiment, the support portion 55 is a cross blade, and the vegetables to be processed V are stuck in the cross blade and supported by the support portion 55 .

A boat-shaped opening member 57 is attached to the conveying arm 51 above the supporting portion 55, and when the vegetable attaching portion 50 is inserted between the peelers 81 without attaching the vegetables V to be processed to the supporting portion 55. Then, the opening member 57 pushes the peelers 81 and 81 apart to prevent the support portion 55 and the peeler 81 from colliding.

A roller 58 is rotatably attached to the proximal end of the conveying arm 51 in order to stably advance the vegetable mounting portion 50 on the circulating path. As shown in FIG. 6 , the roller 58 runs along the circular transition path of the vegetable mounting portion 50 and within an oval guide groove 47 provided on the inner surface of the back side of the conveying portion casing 41 .

When the transport drive motor 46 is driven, the transport chain 44 rotates, and as shown in FIG. Follow the route of

As shown in FIGS. 2 and 6 , while the support portion 55 is passing through the peeler portion 80 , the vegetable attachment portion 50 engages with the long shaft gear 60 rotated by the long shaft gear drive motor 61 . rotates, and the support portion 55 is driven to rotate via the rotation mechanism 53 . The number of rotations of the support portion 55 can be freely adjusted by controlling the number of rotations of the long shaft gear drive motor 61 . Since the gear 54 is not engaged with the long shaft gear 60 while passing through the supply section 20 again after passing through the peeler section 80, the vegetable mounting section 50 advances without the support section 55 rotating.

<Peeler part>
The peeler section 80 is configured by arranging a plurality of pairs of peelers 81, 81 as shown in FIG. 1 and more specifically in FIGS. Each peeler 81, 81 is swingably supported by frames 90, 90 arranged in parallel, and can be opened in a double-door manner in the direction in which the vegetables V to be processed move. The frames 90, 90 can be vertically adjusted in height by a cam piece 90a indicated by reference numeral 90a in FIG. The cam piece 90a is operated by a frame elevating mechanism 93 having the same configuration as the support portion height adjusting mechanism 27 described above. Therefore, by actuating the cam piece 90a by the frame elevating mechanism 93, the frames 90, 90, the peelers 81, 81 supported by the frames 90, 90, and the peeler 81, 81 at approximately the center of the frames 90, 90 are moved. A flat support plate 91 (see FIG. 12) located below 81 can be raised and lowered. The frame lifting mechanism 93 is driven by a frame lifting adjustment motor 93a.
When the diameter and length of the vegetables change significantly, such as radish and carrot, the height of the support portion 55 of the vegetable attachment portion 50 of the conveying portion 40 should be adjusted so as to coincide with the center position 32 of the vegetable V to be processed. It is desirable to adjust the height of each peeler 81, 81 and the support plate 91 as well. In this embodiment, the control unit 12 controls the frame elevation adjustment motor 93a according to the type of vegetable detected by the detection unit 30, and the heights of the frames 90, 90, the peelers 81, 81, and the support plate 91 are adjusted. adjust.
Therefore, the frame 90 or the like is moved up and down to adjust the height according to the vegetable type detected by the detection unit 30, and the support unit 55 for the transport unit 40 is positioned according to the center position 32 detected by the detection unit 30. height is adjusted.
Between the support plate 91 and the frames 90, 90, a gap 92 is formed through which the peeled skin falls. Under the gap 92, as shown in FIG. 1 and the like, a dust box 15 for collecting peeled skins can be arranged. 1 and 2, a vegetable discharge guide plate 16 for discharging peeled vegetables V to be processed is attached to the downstream side of the peeler section 80. As shown in FIGS.

As shown in FIGS. 9 to 11, the peelers 81, 81 are arranged at the center of the frames 90, 90, specifically the upper part of the support plate 91, in a state of being inclined toward the advancing direction of the vegetable V to be processed, and the tip thereof are placed close to each other. Each peeler 81 has a peeler blade 82 at the tip of a peeler arm 83 . The peeler blade 82 can be attached to the peeler arm 83 via a resin cover portion 86, for example, and the blade edge is arranged in the direction opposite to the direction in which the vegetables V to be processed pass through between the peelers 81, 81. Peel the skin of the processed vegetable V to be processed.

The peeler arm 83 has a shaft portion 84 pivoted to the frame 90 at its base end. Peelers 81 are each biased inwardly by biasing means 85 against frame 90 . For example, a torsion spring can be exemplified as the biasing means 85, and by attaching one end of the torsion spring to the shaft portion 84 or the peeler arm 83 and attaching the other end to the frame 90, the peeler 81 is urged inward. I am gaining momentum.

The peelers 81, 81 come into contact with the rear peelers 81, 81 when the vegetable V to be processed enters between the peelers 81, 81 and the peelers 81, 81 open against the biasing force of the biasing means 85 ( 10 and 11), the peelers 81, 81 on the rear side are arranged at an interval that allows them to be spread apart. For example, by making the cover portion 86 convex rearward, the cover portions 86, 86 of the opened peelers 81, 81 come into contact with the rear peelers 81, 81, and the rear peelers 81, 81 come into contact with each other. spread out. In this way, by configuring the front peelers 81, 81 to spread the rear peelers 81, 81, the interval between the peelers 81, 81 in each row can be shortened, and the peeling device 10 can be miniaturized. achievable. Further, since the front peeler 81 can utilize the biasing force of the rear peeler 81, the peeling ability can be improved, and the biasing force of the biasing means 85 can be reduced. Miniaturization of the force means 85 and thus miniaturization of the peeler 81 can be achieved.

As will be described later, the peelers 81, 81 arranged at the foremost side are used to pierce the vegetable V to be processed deeply into the support portion 55, and to regulate the direction of movement of the vegetable V to be processed without rotational shake. In order to advance the vegetables V between the peelers 81, 81, it is desirable that the biasing force of the biasing means 85 is stronger than that of the peeler 81 at the rear. When the biasing means 85 with the same biasing force is adopted for all the peelers 81, for example, a magnet (not shown) is arranged at the tip of the peelers 81, 81 on the front side, and the peelers 81, 81 are pulled together by magnetic force. may be attracted to each other to increase the biasing force.

The rearmost peeler 81 is provided with a guide 87 on the side of the peeler blade 82 as shown in FIG. The guide 87 prevents peeled skins from adhering to the vegetables V to be processed and being pulled downstream, and serves as a guide for dropping the peeled skins between the support plate 91 and the frame 90. - 特許庁This makes it possible to control the dropping position of the skin, leaving no skin on the frame 90 or the like, thereby improving cleanability. For example, the guide 87 may be attached to the cover portion 86 and curved outward.

The peeling device 10 of the present invention is operated by an operating portion 13 provided at an appropriate location of the conveying portion casing 41, as shown in FIG. The operation unit 13, the conveyor motor 24, the support height adjustment motor 28, the imaging unit 29, the detection unit 30, the transport drive motor 46, the long axis gear drive motor 61, and the frame elevation adjustment motor 93a are shown in FIG. It is electrically connected to the controller 12 as shown. Various control programs for the peeling device 10 are stored in the control unit 12. By operating the operation unit 13, the motors and the like are driven according to the programs, for example, in the following manner.

In the supply unit 20, the control unit 12 causes the conveyor motor 24 to operate intermittently, stops the rotation of the endless belt 21 when the vegetable attachment unit 50 passes over the supply unit 20, and stops the rotation of the next vegetable attachment unit 50. is rotated so that the holding space S advances by one until it reaches the supply unit 20. - 特許庁

In the conveying unit 40 , the control unit 12 continuously operates the conveying drive motor 46 to run the conveying chain 44 and rotate the vegetable attachment unit 50 . In addition, the control unit 12 continuously operates the long shaft gear drive motor 61 to rotate the long shaft gear 60 . The long shaft gear drive motor 61 can be adjusted to a rotation speed at which the support portion 55 rotated by the long shaft gear 60 makes one or more turns while the vegetable attaching portion 50 passes through the peeler portion 80 . The number of rotations of the support portion 55 is determined by the hardness of the vegetable V to be processed, the thickness of the skin, the amount of skin to be peeled, and the like. The rotation speed of the long shaft gear drive motor 61 may be adjusted so that it rotates more than one full turn. In the present invention, the number of rotations of the support portion 55 can be arbitrarily determined by the long shaft gear drive motor 61, and processing can be performed according to the type of the vegetable V to be processed, the peeled thickness, and the like.

Vegetables to be processed V are sequentially placed in the holding space S of the supply unit 20 by an operator. In the holding space S, the vegetables V to be processed are arranged so that the tip faces the peeler part 80 side. Since the endless belt 21 has a plurality of holding spaces S, the operator can place a plurality of the vegetables V to be processed in the holding spaces S at once, and after placing the vegetables V to be processed, It is possible to separate from the peeling device 10, and work efficiency can be improved as compared with the case where the vegetables V to be processed are placed one by one.

Since the holding space S is provided with the first guide plate 22 and the second guide plate 22a, the placed vegetables V to be processed have a diameter as indicated by the line V1 in FIG. 7(a). If the diameter is small, it is stably held between the first guide plates 22, 22, and if the diameter is large, the lower portion contacts the first guide plates 22, 22 as indicated by line V2 in FIG. 7(b). It contacts and is stably held between the second guide plates 22a, 22a.

By the intermittent driving of the conveyor motor 24, the holding space S on the endless belt 21 advances by one, and when the holding space S reaches the transition path of the vegetable mounting portion 50, the conveyor motor 24 stops, and the photographing portion 29 The image of the vegetable V to be processed is photographed by , and the diameter of the vegetable V to be processed is detected by the detection unit 30 . Based on the diameter of the vegetables V to be processed detected by the detection unit 30, the control unit 12 drives the support height adjusting motor 28 so that the axis of the vegetables V to be processed matches the axis of the support 55. , adjusts (centers) the height of the end of the endless belt 21 .

In this state, the vegetable mounting portion 50 attached to the conveying chain 44 circulated by the conveying driving motor 46 passes over the holding space S at the tip of the feeding portion 20 . A support portion 55 is attached to the leading end of the vegetable attachment portion 50 in the traveling direction, and the support portion 55 pierces the axial center of the vegetables V to be processed waiting on the holding space S to support the vegetables V to be processed. , the vegetable mounting portion 50 advances. Even if the vegetable V to be processed is only slightly stuck into the supporting portion 55, the urging force of the first peelers 81, 81 of the peeler portion 80 is increased in the present invention as described below. By advancing the vegetable mounting portion 50, the tip of the vegetable V to be processed hits the first peelers 81, 81 of the peeler portion 80, and the support portion 55 is deeply pierced into the vegetable V to be processed.

The vegetable attachment portion 50 further advances while the vegetables V to be processed are attached to the support portion 55 . The vegetable V to be processed is supported at its base end by the supporting portion 55, but its tip end is free, so it droops downward due to its weight. However, since the flat support plate 91 is arranged below the transition path of the vegetable V to be processed in the peeler section 80, the tip of the vegetable V to be processed abuts against the support plate 91 as shown in FIG. As shown by the one-dot chain line E, the tip of the robot advances with its tip slightly tilted downward.
In this case, the tip of the vegetable V to be processed abuts against the support plate 91 and is supported in a downwardly inclined state and rotated, so that the vegetable V to be processed moves stably, and the skin can be preferably peeled. can. However, when the height of the support plate 91 is the same, the angle of inclination is greater for carrots, etc., which are short in length, than for radishes, etc., which are long in length. Also, even if the length is the same, if the diameter is small, the inclination angle is large.
In the peeling apparatus 10 of this embodiment, the height of the plurality of pairs of peelers 81 and the support plate 91 is adjusted by the frame lifting mechanism 93 based on the type and/or shape of the vegetable V to be processed detected by the detection unit 30. Thus, the inclination angle of the vegetables V to be processed can be properly maintained, and the skins of the vegetables V to be processed can be preferably peeled.
In addition, if the heights of the plurality of pairs of peelers 81 and the support plate 91 are frequently adjusted, the working efficiency of the peeling device 10 is reduced. 81 and the support plate 91, hysteresis is provided for the threshold value of the shape (diameter) of the vegetable V to be processed for adjusting the height of the plurality of pairs of peelers 81 and the support plate 91. It is desirable to reduce the frequency of peeler 81 and support plate 91 height adjustments.
In addition, the tip of the vegetable V to be processed in the present invention does not refer only to the vertex (the most pointed point) of the vegetable V to be processed, but includes the whole or part of the inclined portion whose diameter decreases toward the vertex. It is a thing. Therefore, the support plate 91 may be in contact with the apex of the vegetable V to be processed, or may be in contact with part of an inclined portion whose diameter decreases toward the apex.

When the tip of the vegetable V to be processed hits the peelers 81, 81 on the near side of the peeler part 80, the vegetable V to be processed pushes the peelers 81, 81 apart against the biasing force of the biasing means 85. - 特許庁At this time, even if the vegetable V to be processed does not pierce the supporting portion 55 deeply, the vegetable V to be processed hits the peelers 81, 81, so that the supporting portion 55 can be deeply pierced.

Almost at the same time that the tip of the vegetable V to be processed comes into contact with the peelers 81, 81, the vegetable attachment portion 50 meshes with the long shaft gear 60, in which the gear 54 rotates, and the support portion 55 rotates via the rotation mechanism 53. do. Then, the vegetable V to be processed, which is supported by the support portion 55, also rotates. The vegetables to be processed V are peeled by the peeler blades 82 , 82 by advancing between the peelers 81 , 81 while rotating by the vegetable mounting portion 50 .

When the vegetable V to be processed further advances, the peelers 81, 81 on the front side are further opened by the vegetable V to be processed, and when the opening angle increases, the peelers 81, 81 are opened as indicated by P in FIGS. The cover portion 86 abuts on the peelers 81, 81 located behind. As a result, the foremost peelers 81, 81 are subjected to the urging force of the urging means 85 of the peelers 81, 81 in contact with the urging force of the urging means 85 of the peelers 81, 81 on the front side, so that the vegetable V to be processed is stronger. Abutment and skinning are performed. In particular, when the diameter of the vegetable V to be processed is large, the opening angle of the peelers 81, 81 is increased, and the biasing force of the rear peelers 81, 81 can be utilized, and the peeler blades 82, 82 are strongly pushed against the vegetable V to be processed. Can be applied to increase skinning ability.

When the tip of the vegetable V to be processed passes through the peelers 81, 81 at the foremost side, the peelers 81, 81 located at the second position are pushed apart, and the peeling progresses with these peeler blades 82, 82.例文帳に追加The peeled skin falls from the peeler blades 82, 82 into the dust box 15 through the gaps 92 on both sides of the support plate 91. - 特許庁

12, the vegetables V to be processed are rotated (arrow F) and advanced (arrow G) while being in contact with the support plate 91 in a state in which the tip is tilted obliquely downward. The processed vegetables V are not lifted up from the peeler part 80, and are smoothly rotated stably without rotational shake. For this reason, clean and efficient peeling can be performed. In particular, although the vegetable V to be processed is bent or distorted, smooth rotation can be maintained by rotating it with the tip tilted downward. In addition, since the vegetable V to be processed hits the peeler part 80 in a state obliquely downward, the resistance of the peeler blades 82, 82 biting into the vegetable V to be processed can be reduced due to the oblique cutting effect, and the skin can be peeled cleanly. can.

By advancing the vegetable V to be processed while rotating, the vegetable V to be processed is peeled by the peeler blades 82, 82 while the peelers 81, 81 are spread out one by one. Then, the vegetables V to be processed reach the rearmost peelers 81,81. A guide 87 is attached to the peeler blade 82 of the rearmost peelers 81 , 81 . Fall. Therefore, peeling is not completed while the peeled skin remains attached to the vegetable V to be processed.

Since the conveying chain 44 is wound upward behind the peeler portion 80 , the support portion 55 of the vegetable attachment portion 50 is tilted upward after passing the peeler portion 80 . As a result, the vegetables to be processed V whose skins have been peeled are separated from the cross blades, which are the support portions 55 , by their own weight, and fall along the vegetable discharge guide plate 16 . By placing a case or the like into which the peeled vegetables V to be processed are put at the drop position of the vegetables V to be processed, the vegetables V to be processed are successively accommodated in the case.

In addition, when the vegetable to be processed V is not placed in the holding space S of the supply unit 20, the empty vegetable mounting unit 50 advances between the peelers 81,81. At this time, since the boat-shaped opening member 57 provided on the peeler arm 83 advances while spreading the peelers 81, 81, the support portion 55 does not abut on the peeler blades 82, 82, and the peeler blade 82 is damaged. Not at all.

After passing through the peeler section 80 , the vegetable attachment section 50 is turned by the circulating conveying chain 44 and returned to the supply section 20 again.

In the present invention, the number of rotations of the vegetables V to be processed, that is, the number of rotations of the support portion 55 can be appropriately adjusted by the rotation speed of the long shaft gear drive motor 61 . Therefore, by controlling the rotational speed of the long shaft gear drive motor 61 and adjusting the number of rotations of the vegetables V to be processed, the amount of skin peeled increases or decreases, or depending on the hardness of the vegetables V to be processed, etc. It is possible to respond to detailed needs such as the thickness of peeling.

In the present invention, the conveying unit 40 that advances the vegetable attachment unit 50, the long shaft gear 60 that rotates the support unit 55, and the long shaft gear drive motor 61 are not arranged on the progress transition path of the vegetables V to be processed, It is set in a position retreating from the Therefore, the lubricating oil of the conveying chain 44, the long shaft gear 60, etc. will not drop and adhere to the vegetables V to be processed. In addition, since the peeled skin does not adhere to the conveying chain 44 and the long shaft gear 60, the operational stability of these can be ensured.

In the present invention, the peeler 81 corresponds to the "peeler", the vegetable to be processed V corresponds to the "vegetable to be processed", the peeling device 10 corresponds to the "peeling device", and the photographing unit 29 corresponds to the "photographing unit". , the detection unit 30 corresponds to the “detection unit”, the support unit 55 corresponds to the “support unit”, the rotation mechanism 53 corresponds to the “rotation mechanism”, and the vegetable mounting unit 50 corresponds to the “vegetable mounting unit”. , the support height adjustment mechanism 27 corresponds to the "support height adjustment mechanism", the support plate 91 corresponds to the "support plate", and the frame lifting mechanism 93 corresponds to the "frame lifting mechanism".

Although one preferred embodiment of the invention is described above, the invention is not so limited. It is understood that various other embodiments can be made without departing from the spirit and scope of the invention. Furthermore, in this embodiment, the actions and effects of the configuration of the present invention are described, but these actions and effects are examples and do not limit the present invention.

REFERENCE SIGNS LIST 10 Peeling device 27 Support height adjusting mechanism 29 Imaging unit 30 Detecting unit 40 Transport unit 50 Vegetable attachment unit 53 Rotation mechanism 55 Support unit 81 Peeler 91 Support plate 93 Frame lifting mechanism V Vegetable to be processed

Claims (5)

A peeling device for passing a vegetable to be processed between a plurality of pairs of peelers arranged in a row and peeling the skin of the vegetable to be processed by the peeler,
a photographing unit for photographing an image of the vegetables to be processed;
a detection unit configured by a multi-layered neural network for inputting the image and detecting the type and shape of the vegetable to be processed;
A vegetable mounting portion having a support portion that supports the vegetables to be processed and a rotation mechanism that rotates the support portion, and progressing between the peelers;
A peeling device, comprising: a supporting portion height adjusting mechanism for matching the height of the axis of the vegetable to be processed and the height of the supporting portion based on the shape of the vegetable to be processed. The skin according to claim 1, wherein the multilayer neural network is a YOLO system (you only look once), and training data for the YOLO system is prepared as separate training data for each type of the vegetable to be processed. stripping device. further comprising a support plate disposed below between the plurality of pairs of peelers;
The support part supports the vegetable to be processed in a state in which the tip of the vegetable to be processed is in contact with the support plate and is inclined downward with respect to the traveling direction,
3. The peeling apparatus according to claim 1, wherein the rotating mechanism rotates the vegetable to be processed while the tip of the vegetable to be processed is inclined downward with respect to the advancing direction. Further comprising a frame lifting mechanism for adjusting the height of the plurality of pairs of peelers and the support plate,
4. The peeling apparatus according to claim 3, wherein heights of said plurality of pairs of peelers and said support plate are adjusted based on the type and/or shape of said vegetable to be processed detected by said detector. a photographing step of photographing an image of the vegetables to be processed;
a detection step of inputting the image and detecting the type and shape of the vegetable to be processed;
a support portion height adjusting step of adjusting the height between the axis of the vegetable to be processed and the support portion that supports the vegetable to be processed, based on the shape of the vegetable to be processed;
A peeling step of passing the vegetable to be processed supported by the supporting part between a plurality of pairs of peelers arranged in a row while rotating the supporting part, and peeling the skin of the vegetable to be processed by the peeler. and
A method of peeling, wherein the detecting step is performed using a multilayer neural network.

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