JP2023130633A - Fruit vegetable discharging method and fruit vegetable boxing method - Google Patents

Abstract

To provide a fruit vegetable discharging method which contributes to improvement in boxing efficiency, and a fruit vegetable boxing method which utilizes the fruit vegetable discharging method.SOLUTION: A fruit vegetable discharging method continuously discharges a preset prescribed number of fruit vegetables onto on any configuration conveyor of a plurality of configuration conveyors for pooling fruit vegetables of same rank, and after completion of discharge of the prescribed number of fruit vegetables to the configuration conveyor, starts discharge of fruit vegetables onto other configuration conveyor other than the afore-said configuration conveyor. A fruit vegetable boxing method takes out fruit vegetables, which have been discharged onto a pool conveyor by the fruit vegetable discharging method, one by one, and accommodates the taken-out fruit vegetables in a box existing at a preset boxing position.SELECTED DRAWING: Figure 1

Description

The present invention relates to a fruit vegetable discharging method for discharging fruit vegetables whose classes have been determined to a pool conveyor, and a fruit vegetable boxing method for packaging fruit vegetables discharged to a pool conveyor.

BACKGROUND ART Conventionally, an automatic fruit and vegetable sorting device (Patent Document 1) is known that distinguishes the equal class of fruits and vegetables and pools them on a pool conveyor for each equal class. In the automatic fruit and vegetable sorting device of Patent Document 1, a robot arm is installed near a pool conveyor, and the robot arm takes out fruits and vegetables on the pool conveyor and packs them into boxes.

JP2020-097484A

In the automatic fruit and vegetable sorting device of Patent Document 1, each pool conveyor includes a plurality of component conveyors, and the fruits and vegetables to be sorted are appropriately discharged to empty component conveyors. However, with this method, the robot sometimes has to travel a long distance, which does not improve the packaging efficiency of fruit and vegetables, and there is room for improvement in this respect.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a fruit vegetable discharging method that contributes to improving the packaging efficiency, and a fruit vegetable boxing method that utilizes the fruit vegetable discharging method.

[Fruit and vegetable discharge method]
The fruit and vegetable discharging method of the present invention is a method for discharging fruits and vegetables on a fruit and vegetable carrier to a pool conveyor according to equal class, and is set in advance to an arbitrary constituent conveyor among a plurality of constituent conveyors that pool fruits and vegetables of the same class. In this method, a predetermined number of fruits and vegetables are continuously discharged, and after the discharge of a predetermined number of fruits and vegetables to the component conveyor is completed, discharging of the fruits and vegetables to other component conveyors other than the component conveyor is started.

[How to pack fruit and vegetable boxes]
The fruit vegetable boxing method of the present invention is a fruit vegetable boxing method in which fruit vegetables pooled according to equal class are taken out and stored in boxes, and the fruit vegetables discharged onto the pool conveyor by the fruit vegetable discharge method of the present invention are taken out one by one. This is a method of storing the extracted fruits and vegetables in a box located at a preset packing position.

The fruit vegetable discharging method of the present invention and the fruit vegetable boxing method using the fruit vegetable discharging method are such that a predetermined number of fruit vegetables that are set in advance are consecutively placed on an arbitrary constituent conveyor among a plurality of constituent conveyors that pool fruit vegetables of the same class. Since the robot starts discharging to other component conveyors after discharging the products, the moving distance of the robot can be shortened, and the above-mentioned problem of packaging efficiency can be solved.

A schematic diagram of an automatic fruit and vegetable sorting device and a fruit and vegetable boxing device. A schematic explanatory diagram of a pool conveyor and a take-out robot. A schematic explanatory diagram of a fruit vegetable boxing method. (a) to (c) are explanatory diagrams of the operation of the robot arm. (a) to (e) are explanatory diagrams of the procedure for packing fruit and vegetables into boxes. (a) to (d) are explanatory diagrams of the procedure when storing fruits and vegetables in the second tier. (a) to (c) are explanatory diagrams of the operating range of the robot arm.

(Embodiment)
An example of an embodiment of the present invention will be described with reference to the drawings. As an example, an automatic fruit and vegetable sorting device 10 shown in FIG.

The fruit and vegetable carrier 11 includes a plurality of fruit and vegetable carriers 11a on which the fruit and vegetable X are placed, and an endless running body (not shown) that conveys the plurality of fruit and vegetable carriers 11a. The endless running body consists of two vertically rotating endless chains arranged parallel to each other with an interval between them. The plurality of fruit and vegetable carriers 11a are connected to the endless traveling body, and are conveyed in the running direction of the endless traveling body as the endless traveling body travels.

The fruit and vegetable carrier 11a includes one or more rotating belts. The fruit vegetables X on the fruit vegetable carrier 11a are discharged to the pool conveyor 14 by rotation of the rotating belt. The fruit vegetable carrier 11a is provided so that the forward end of the fruit vegetable carrier 11a in the feeding direction faces diagonally rearward with respect to the conveyance direction of the fruit vegetable carrier 11 so that the fruit vegetable X on the fruit vegetable carrier 11a can be discharged diagonally rearward.

By arranging the fruit vegetable carrier 11a so that the forward end of the fruit vegetable carrier 11a faces diagonally backward with respect to the conveyance direction of the fruit vegetable carrier 11, it is possible to prevent the fruit vegetables X from rolling when being discharged to the pool conveyor 14, and as a result, the fruit vegetable It is possible to prevent X from being damaged. However, the fruit and vegetable carrier 11a can also be oriented in other directions (to the side, diagonally forward, etc.).

The measuring means 12 measures the fruit vegetables X on the fruit vegetable carrier 11a that is being transported by the fruit vegetable transport body 11. As the measuring means 12, an existing camera, a sugar content meter, etc. can be used. Although not shown in the figure, the measuring means 12 is connected to a class determining unit 13 that determines the class of the fruit vegetable X based on the measurement results.

The equal class determining section 13 determines the equal class of the fruit vegetable X based on the measurement result by the measuring means 12. The determination result by the equal class discriminating section 13 is transmitted as equal class data to a control section (not shown), and the fruit vegetables X on the fruit vegetable carrier 11a are discharged to the pool conveyor 14 of a predetermined equal class according to a control signal from the control section.

The pool conveyor 14 receives the fruits and vegetables X discharged from the fruit and vegetable carrier 11a. The pool conveyor 14 is arranged on the side of the fruit vegetable carrier 11 so as to receive the fruit vegetables X discharged from the fruit vegetable carrier 11a. The pool conveyor 14 is composed of a belt conveyor or the like.

The pool conveyor 14 is configured such that its upper surface is at the same or approximately the same height as the upper surface of the fruit and vegetable carrier 11a. Further, the pool conveyor 14 is placed as close as possible to the fruit and vegetables conveyor 11 to prevent the fruits and vegetables X from falling between the two. By doing so, the fruits and vegetables X can be smoothly discharged onto the pool conveyor 14 without being damaged.

Pool conveyors 14 are provided for each class. As shown in FIG. 2, in this embodiment, the pool conveyor 14 of each equal class is composed of a plurality of belt conveyors. For convenience of explanation, the individual belt conveyors that make up the pool conveyor 14 will be referred to as constituent conveyors below. Note that FIG. 2 is a simplified schematic diagram of FIG. 1 for convenience of explanation.

Here, an example is given in which the pool conveyor 14 of each equal class is composed of four constituent conveyors, but the number of constituent conveyors may be greater or less than four. Moreover, the number of constituent conveyors of all the pool conveyors 14 of the same class does not need to be the same number, and can be increased or decreased according to the number of fruits and vegetables X to be pooled.

In this embodiment, the number of fruits and vegetables X pooled on each component conveyor (hereinafter referred to as "predetermined pool number") can be set. The predetermined number of pools can be appropriately set depending on the size and shape of the fruit vegetables X, the pool interval, etc.

Although not shown in the drawing, a photographing means is provided near the pool conveyor 14 for photographing the fruit vegetables X on the pool conveyor 14 to obtain positional information of the fruit vegetables X on the pool conveyor 14. For example, a digital camera with a position information detection function can be used as the photographing means. One or more photographing means may be provided for each class.

In this embodiment, a photographing means is installed above the pool conveyor 14 so that position information can be obtained by photographing a plurality of fruits and vegetables X pooled on the pool conveyor 14. The photographing means may be provided at any other location as long as it is at a position where the fruit vegetables X on the pool conveyor 14 can be photographed. Two or more photographing means can also be provided.

The pool conveyor 14 can be provided with a sensor (not shown) that detects the presence of the fruit X at a preset take-out position P1 on the pool conveyor 14, instead of or together with the photographing means. In this case, a sensor can also be provided for each constituent conveyor.

The belt of each component conveyor is configured to rotate by one pitch each time the fruit vegetable X is sent out from the fruit vegetable carrier 11a, in other words, each time the belt of the fruit vegetable carrier 11a rotates in the feeding direction. One pitch here means the interval at which fruit vegetables X are placed on each other without coming into contact with each other.

In addition, the belt of each component conveyor is such that when a predetermined pool number of fruits X is placed on the belt, if the first fruit X has not reached the take-out position P1, the first fruit X is located at the take-out position P1. It is designed so that it can be rotated up to a certain point. By doing so, even if the predetermined number of pools is small relative to the length of the constituent conveyor, it becomes possible for the boxing robot 20 to take out the fruit vegetables X.

As shown in FIGS. 1 and 2, a boxing robot 20 is provided in front of each pool conveyor 14 to pack the fruits and vegetables X on the pool conveyor 14 into boxes B. The boxing robot 20 of this embodiment includes a base 21 and three robot arms 22. In this embodiment, the three robot arms 22 of the boxing robot 20 perform boxing in two equal classes.

Each robot arm 22 includes a horizontal arm 22a that is horizontally movably provided on the base 21, and a vertical arm 22b that is vertically movably provided on the horizontal arm 22a. A take-out tool 22c for taking out the fruit X is provided as an end effector at the tip of the vertical arm 22b.

In this embodiment, a suction tool for adsorbing the fruits and vegetables X is used as the removal tool 22c. The take-out tool 22c may be other than a suction tool, for example, a tool equipped with claws or the like for gripping the fruits and vegetables X may be used.

Each robot arm 22 of this embodiment uses a signal transmitted from the photographing means or the sensor, specifically, when a predetermined number of fruit vegetables X are pooled on the constituent conveyor, and when the fruit vegetables It operates based on a signal indicating that X is at the take-out position P1.

As shown in FIGS. 1 and 3, an empty box transport body 30 for transporting empty boxes B is provided on the forward side of the pool conveyor 14 in the transport direction. The empty box conveyor 30 is composed of various conveyors such as a roller conveyor and a belt conveyor.

A box packing lane 31 is provided on the side of the empty box carrier 30 and has a length that reaches the bottom of the pool conveyor 14. One box packing lane 31 is provided for each pool conveyor 14. The box packing lane 31 is composed of various conveyors such as a belt conveyor and a roller conveyor.

A pusher 32 for sending the boxes B on the empty box carrier 30 to the boxing lane 31 is provided on the side of the empty box carrier 30 that is opposite to the direction in which the box packing lane 31 is arranged. One pusher 32 is provided for each box packing lane 31.

A discharge conveyor 33 is provided at the front of the box packing lane 31 for discharging the boxes B containing fruit and vegetables, which have been packed into boxes, to the outside (for example, to a shipping yard, etc.). The discharge conveyor 33 is composed of various conveyors such as a belt conveyor and a roller conveyor.

The discharge conveyor 33 of this embodiment is arranged parallel to the fruit and vegetable conveyor 11. The boxes B containing fruits and vegetables are sent out from each boxing lane 31 to a common discharge conveyor 33 and transported to the outside.

As shown in FIG. 3, in this embodiment, the heights of the empty box carrier 30, the box packing lane 31, and the discharge conveyor 33 on the upper surface side are the same or approximately the same height. Furthermore, the gaps between the empty box carrier 30 and the box packing lane 31 and between each box packing lane 31 and the discharge conveyor 33 are set to be wide enough to prevent the boxes B from falling.

Above each box packing lane 31, a tray feeder 34 that automatically feeds the inner tray T into the box B is provided. A plurality of insole trays T are stacked and accommodated in the tray feeder 34. The tray feeder 34 automatically feeds the insole trays T into the box B one by one. In the example shown in FIG. 3, a stocker 35 is provided next to the tray feeder 34 to store replenishing insole trays T.

The insole trays T accommodated in each tray feeder 34 correspond to the same class of fruits and vegetables X pooled in each pool conveyor 14. It is possible to put the tray feeder 34 inside the empty box at the stage of transporting it by the empty box transporter 30, but with this method, if there are few fruits and vegetables The boxes B containing the class insole trays T cannot be discharged to the box packing lane 31, and there is a possibility that the necessary boxes B cannot be supplied upstream.

On the other hand, as in this embodiment, by adopting a system in which the insole tray T is inserted after being discharged to the box packing lane 31, the above-mentioned problem can be prevented from occurring. Note that the boxes B supplied from the empty box carrier 30 are not printed with the same class, but are printed by a printing device (not shown) after being discharged to the box packing lane 31.

The configuration of this embodiment is an example, and the configuration of the automatic fruit sorting device, the fruit vegetable packaging device, and each element constituting these in the present application may be modified such as additions, omissions, or replacements to the extent that the intended purpose can be achieved. be able to.

Next, the operation when discharging the fruit vegetables X from the fruit vegetable carrier 11a to the pool conveyor 14, the operation when taking out and boxing the fruit vegetables X on the pool conveyor 14, and the cooperation between the plurality of boxing robots 20 will be described.

[Operation when discharging fruit vegetables from the fruit vegetable carrier to the pool conveyor]
First, the operation when discharging the fruit vegetables X from the fruit vegetable carrier 11a to the pool conveyor 14 will be explained. Here, an example will be taken in which each pool conveyor 14 is composed of four component conveyors.

In this embodiment, a predetermined pool number of fruits and vegetables X are continuously discharged to any conveyor selected from the four conveyors. Until a predetermined pool number of vegetables X are discharged, the belt of the selected constituent conveyor (for example, the constituent conveyor 14a in FIG. 2) rotates by one pitch each time fruit vegetables X are sent from the fruit vegetable carrier 11a, The fruit and vegetables X sent out from the fruit and vegetable carrier 11a are accepted.

When the predetermined pool number of fruits and vegetables X have been discharged onto the constituent conveyor 14a, the constituent conveyor 14a stops the receiving operation, and discharge to the next arbitrary constituent conveyor (for example, the constituent conveyor 14b in FIG. 2) is started. .

When discharging to the constituent conveyor 14b is started, fruit vegetables X are not discharged to other constituent conveyors until a predetermined pool number of fruits X are discharged to the constituent conveyor 14b, and fruit vegetables Discharge is performed.

It is also possible to set a priority order for the constituent conveyors so that the fruits and vegetables X are discharged in accordance with that order. In this case as well, once the discharging to the constituent conveyor is started, the fruit vegetables X will not be discharged to the other constituent conveyors until the predetermined pool number of fruit vegetables X are discharged to the constituent conveyor. Emissions occur continuously.

In this embodiment, the configuration conveyor is operated by a signal from the equal class discriminator 13. For example, when the equal class of fruit vegetable X is AM, the signal is transmitted to the fruit vegetable carrier 11a carrying the fruit vegetable X and the component conveyor, and according to the signal, the component conveyor pools the fruit vegetables of the same class AM as the fruit vegetable carrier 11a. works.

At this time, both belts are rotated so that the rotation peak of the belt of the fruit and vegetable carrier 11a coincides with the rotation peak of the belt of the constituent conveyor. By doing so, there is an advantage that the fruit vegetables X are discharged from the fruit vegetable carrier 11a and drawn into the component conveyor, and the fruit vegetables X are smoothly discharged without being damaged.

[Operations when taking out fruits and vegetables from the pool conveyor and packing them into boxes]
Next, with reference to the drawings, an explanation will be given of the operation when taking out the fruits and vegetables on the pool conveyor 14 and packing them into boxes. When a predetermined number of fruit vegetables X are pooled on the constituent conveyor, the fruit vegetables X on the constituent conveyor are taken out by the boxing robot 20 and boxed.

As shown in FIG. 3, in this embodiment, boxes B are supplied from an empty box carrier 30 to a box packing lane 31 prior to box packing. The supplied box B moves to the lower side of the tray supply machine 34, and the insole tray T is supplied into the box B. The box B to which the insole tray T has been supplied moves to the boxing position P2 on the boxing lane 31.

When the box B is placed at the boxing position P2, the boxing robot 20 starts packing the box. In this embodiment, fruit vegetables X are not taken out from an arbitrary component conveyor, but fruit vegetables X are taken out from a component conveyor in which a predetermined pool number of fruit vegetables X are pooled.

For example, when a predetermined number of six fruit vegetables X are pooled on the constituent conveyor, the fruit vegetable X at the take-out position P1 on the constituent conveyor is taken out by the boxing robot 20 and stored in the box B at the boxing position P2. Ru.

Specifically, as shown in FIG. 4(a), the vertical arm 22b is lowered, and the vegetable X at the take-out position P1 is taken out by the take-out tool 22c provided at the lower end of the vertical arm 22b.

When the fruit vegetables X are taken out, the horizontal arm 22a retreats as shown in FIG. 4(b), and the vertical arm 22b held by the horizontal arm 22a moves to the boxing position P2. When the vertical arm 22b moves to the boxing position P2, the vertical arm 22b descends and enters the box B, as shown in FIG.

In addition, in this embodiment, when the fruit vegetable X at the take-out position P1 is taken out, the belt of the constituent conveyor rotates by one pitch, and the following second fruit vegetable X moves to the take-out position P1. When the fruit vegetables X move to the take-out position P1, the fruit vegetables X at the take-out position P1 are taken out by the boxing robot 20 and stored in the box B at the box-packing position P2. This procedure is repeated until a predetermined pool number of fruits and vegetables X are taken out of the constituent conveyors.

When the fruit vegetables X on the constituent conveyor run out, the fruit vegetables X are taken out from the constituent conveyor in which a predetermined pool number of fruit vegetables X are pooled among the other constituent conveyors. When all the fruit vegetables X on the constituent conveyor are taken out, the fruit vegetables X are taken out from the constituent conveyor in which a predetermined number of pooled fruits X are pooled while the fruit vegetables X on the constituent conveyor are being packed into boxes.

When all the fruit vegetables X on the constituent conveyors are taken out, if there is no constituent conveyor with a predetermined number of pooled fruit vegetables X, the boxing operation of the fruit vegetables X is temporarily stopped. In addition, when all the fruit vegetables X of the predetermined pool number are taken out from the component conveyor, the reception of the fruit vegetables X from the fruit vegetable carrier 11a on the component conveyor is restarted.

Here, the operation of the boxing lane 31 during boxing will be explained. Here, a case where the insole tray T is provided with three rows by four rows of recesses will be taken as an example.

As shown in FIGS. 5(a) to 5(e), in this embodiment, when the fruit vegetables The eye recess moves to the retracted position.

When the recesses in the second row move to the storage position, the fruits and vegetables X are stored in the recesses in the second row. When all the recesses in the second row contain the fruits and vegetables X, the box B at the packing position P2 moves forward by one pitch, and the recesses in the third row move to the storage position.

When the recesses in the third row move to the storage position, the fruits and vegetables X are stored in the recesses in the third row. When fruit vegetables X are accommodated in all the recesses in the third row, when the fruit vegetables X are accommodated in only one stage, they move forward and are delivered to the discharge conveyor 33. On the other hand, when storing the fruit vegetables X in two layers, the insole tray T is placed on top of the fruit vegetables X in the first layer, and the fruit vegetables X are stored on top of the insole tray T.

Specifically, as shown in FIG. 5(d), the box B is moved back to the tray loading position P3 below the tray feeder 34, and the second-stage insole tray T is loaded. The box B into which the second-stage insole tray T has been placed moves to the boxing position P2 as shown in FIG. 5(e), and thereafter, as shown in FIGS. The second stage of packaging is carried out in the same manner as above. The box B in which a predetermined number of stages of fruits and vegetables X have been stored is sent to the discharge conveyor 33 as shown in FIG. 6(d).

In this embodiment, the fruit vegetables X are stored in one or two stages as an example, but the fruits and vegetables X can also be stored in three or more stages as described above. Note that the boxing lane 31 can be designed to perform the above-mentioned operation based on a sensor (not shown), a signal from the boxing robot 20, or the like.

[Cooperation between multiple boxing robots]
Finally, cooperation between the plurality of boxing robots 20 will be explained. As described above, in this embodiment, the boxing robot 20 equipped with three robot arms 22 performs boxing of two equal classes.

In FIGS. 7A to 7C, component conveyors 14a to 14d pool fruit vegetables X of equal class AM, and component conveyors 14e to 14h pool fruit vegetables X of equal class BM.

Among the three robot arms 22, the robot arm 22 in FIG. 7A is a dedicated robot arm 22 (hereinafter referred to as "first dedicated arm 22A") that packs the fruits and vegetables X on the constituent conveyors 14a to 14d. The robot arm 22 in (b) is a dedicated robot arm 22 (hereinafter referred to as "second dedicated arm 22B") that packs the fruits and vegetables X on the constituent conveyors 14e to 14h.

Among the three robot arms 22, the robot arm 22 shown in FIG. 7(c) is configured to collect the fruit vegetables X on the constituent conveyors 14c and 14d, in which the fruit vegetables X in the same class AM are pooled, and the fruit vegetables X in the same class BM in the pool. This is a support robot arm 22 (hereinafter referred to as "common arm 22C") that packs the fruits and vegetables X on the conveyors 14e and 14f.

The common arm 22C is a robot arm 22 that moves between adjacent pool conveyors 14 and selectively takes out the fruits and vegetables X on both pool conveyors 14.

In the illustrated example, the movement range of the common arm 22C is the component conveyors 14c and 14d and the component conveyors 14e and 14f, but the movement range of the common arm 22C can be wider or narrower. However, in either case, the movement range must be within a range that does not interfere with the first exclusive arm 22A or the second exclusive arm 22B, and the control thereof must also be performed so as not to interfere with each other.

In this embodiment, the case where the boxing robot 20 is provided with three robot arms 22 is taken as an example, but there are two robot arms 22, and the two robot arms 22 perform boxing of two equal classes. In this case, in addition to using one as the first exclusive arm 22A and the other as the second exclusive arm 22B, both can be used as the common arm 22C.

When both of the two robot arms 22 are shared, basically, the first dedicated arm 22A is used to pack the fruits and vegetables When fruit vegetables X are packed in boxes and fruit vegetables X are concentrated on one component conveyor, it can be set so that the other robot arm 22 supports it.

As in the case where one of the three robot arms 22 is shared, when both of the two robot arms 22 are used in common, the movement range is within the range where both do not interfere, and their control is also within the range where they do not interfere with each other. You need to do it in a way that doesn't make you happy.

The configuration of the embodiment described above is an example, and the configuration of the fruit vegetable discharging method and fruit vegetable boxing method of the present invention is not limited to the configuration of the present embodiment. The configurations of the fruit vegetable discharging method and fruit vegetable boxing method of the present invention can be appropriately modified by adding, deleting, or replacing the configurations within a range that can achieve the intended purpose.

The fruit vegetable discharging method and fruit vegetable boxing method of the present invention can be suitably used for packaging various fruit vegetables, particularly whole fruit vegetables such as tomatoes, pears, persimmons, peaches, apples, mangoes, and Dekopon.

10 Automatic fruit and vegetable sorting device 11 Fruit and vegetable conveyor 11a Fruit and vegetable carrier 12 Measuring means 13 Grade discrimination section 14 Pool conveyor 14a to 14h Component conveyor 20 Boxing robot 21 Base stand 22 Robot arm 22a Horizontal arm 22b Vertical arm 22c Takeout tool 22A First exclusive Arm 22B Second exclusive arm 22C Common arm 30 Empty box carrier 31 Boxing lane 32 Pusher 33 Discharge conveyor 34 Tray feeder 35 Stocker B Box P1 Retrieval position P2 Boxing position P3 Tray input position T Insole tray X Fruit vegetables

Claims (8)

In a fruit and vegetable discharge method in which fruits and vegetables on a fruit and vegetable carrier are discharged into a pool conveyor according to equal class,
Continuously discharge a predetermined number of fruits and vegetables to any of the plurality of conveyors that pool fruits and vegetables of the same class, and
After completion of discharging a predetermined number of fruits and vegetables to the constituent conveyor, starting discharging fruits and vegetables to other constituent conveyors other than the constituent conveyor;
A fruit and vegetable discharge method characterized by: The method for discharging fruits and vegetables according to claim 1,
After completion of discharging a predetermined number of fruits and vegetables to the constituent conveyor, continuously discharging a predetermined number of fruits and vegetables to a constituent conveyor other than the constituent conveyor;
A fruit and vegetable discharge method characterized by: In the fruit and vegetable discharge method according to claim 1 or claim 2,
Priorities are set for multiple conveyors that pool fruits and vegetables of the same class,
successively discharging a predetermined number of fruits and vegetables in the order of the highest priority;
A fruit and vegetable discharge method characterized by: In the method for discharging fruits and vegetables according to any one of claims 1 to 3,
By the operation of a constituent conveyor in which a predetermined number of fruits and vegetables are pooled, the first fruit vegetable on the constituent conveyor is moved to a preset take-out position;
A fruit and vegetable discharge method characterized by: In a vegetable boxing method in which fruits and vegetables pooled according to equal class are taken out and stored in boxes,
Taking out the fruit vegetables discharged onto the pool conveyor one by one by the fruit vegetable discharge method according to any one of claims 1 to 4,
Storing the extracted fruits and vegetables in a box at a preset packing position,
A fruit and vegetable boxing method characterized by: The fruit and vegetable boxing method according to claim 5,
Multiple storage rows are provided within the box,
After one row of fruits and vegetables has been stored, the boxes are moved so that the next storage row is located at the boxing position.
A fruit and vegetable boxing method characterized by: The fruit and vegetable boxing method according to claim 6,
The boxes that have been filled with fruits and vegetables in multiple storage rows are moved to a preset tray loading position,
Supplying the insole tray into the box that has been moved to the tray loading position,
moving the box supplied with the insole tray to a boxing position;
accommodating the fruit vegetables in the inner tray inside the box that has been moved to the boxing position;
A fruit and vegetable boxing method characterized by: The fruit and vegetable boxing method according to claim 7,
The insole tray has multiple storage rows,
After the storage of fruits and vegetables for one row of the plurality of storage rows is completed, moving the boxes so that the next storage row is located at the boxing position;
A fruit and vegetable boxing method characterized by:

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