JP3095662B2 - Method and apparatus for treating lower leaves of leafy vegetables - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for treating the lower leaves of leafy vegetables, such as salad vegetables, which are hydroponically cultivated in an automatic plant factory, for example, an automatic vegetable factory, and harvesting the true leaves. And its equipment.

[0002]

2. Description of the Related Art Cultivation bars are used in hydroponic cultivation of leafy vegetables having short stems such as salad vegetables. The cultivation bar has cubic storage sections at regular intervals along the longitudinal direction, and each storage section stores a cubic made of urethane foam with a + -shaped cut. The leafy vegetables set in the cultivation bar are sown in cubic cuts and grown by hydroponics. By this cultivation, the roots of leafy vegetables penetrate the cubic downward, and the true leaves to be harvested grow above the cubic.

FIG. 18 shows the configuration of a conventional harvesting facility for harvesting the true leaves of leafy vegetables thus planted in the cultivation bar. In FIG. 18, reference numeral 1 denotes a first device frame on which the root receiving box 2 is supported, 3 denotes a reversing arm, 4 denotes a finger, and 5 denotes a cutter. The reversing arm 3, the finger 4, and the cutter 5 are all provided on the apparatus frame 1. Further, in FIG. 18, reference numeral 6 denotes a second device frame adjacent to the first device frame 1, reference numeral 7 denotes a bar receiver provided on the second device frame 6, and reference numeral 8 denotes an extrusion having a vertically movable extrusion rod 8a. The mechanism 8 is provided via a mechanism support 9 and is arranged to face the upper surface of the bar receiver 7.

[0004] The harvesting equipment configured as described above harvests leafy vegetables by performing the following harvesting method. In FIG. 18, two-dot chain lines indicate the packaging mechanism 10, 11 indicates a cultivation bar, and 1
Numeral 2 indicates leafy vegetables planted in the cultivation bar 11.

[0005] First, a cultivation bar 11 in which leaf vegetables 12 having reached a suitable harvest time are planted is taken out from a cultivation bed (not shown) by a carry-in robot (not shown) and set on the horizontal tip of the reversing arm 3. You. Next, the finger 4 is moved in the direction of arrow a in FIG. 18 to hold the cultivation bar 11 on the reversing arm 3. With the movement of the finger 4, the root of the leafy vegetable 12 is cut by the cutter 5 moved together with the finger 4. Thereafter, the reversing arm 3 holding the cultivation bar 11 is rotated 180 ° about the fulcrum 3a in the direction of arrow b in FIG. Thereby, as shown by the two-dot chain line in FIG. 18, the cultivation bar 11 is turned upside down with the leafy vegetables 12 facing downward and set at the pushing position on the bar receiver 7. Next, the pushing mechanism 8 is operated to push the pushing rod 8 a into the cubic storage section of the cultivation bar 11. Thereby,
The leafy vegetables 12 are pushed out below the cubic storage section together with the cubic. The leafy vegetables 12 thus harvested from the cultivation bar 11 fall to a packaging mechanism 10 having one end disposed below the bar receiver 7, and are packaged by this mechanism 10.

The cultivation bar 11 in which the true leaves, which are the harvesting portions of the leafy vegetables 12, are harvested and emptied by the above steps, is shown in FIG.
After being returned to the set position shown by the solid line, the bar is taken out from the set position and collected by a bar collecting mechanism (not shown). The above steps are operated according to a predetermined operation sequence program set in a control device such as a microcomputer (not shown).

[0007]

According to the conventional method and apparatus for harvesting leafy vegetables described above, there are the following problems.

Since the root of the leafy vegetables 12 is cut by moving the cutter 5 at a position below the cubic storage section in the cultivation bar 11, a part of the root located in the cubic remains. Until harvested. In addition, the old leaves located at the root hairline, which is usually referred to as the lower leaf in the leafy vegetables 12, are easily withered or damaged, but a part of the root hairline side remains as described above. As a result, such lower leaves are harvested. For this reason, the harvested true leaves have many unnecessary portions when they are eaten, and the quality of the true leaves is not good. As described above, conventionally, the lower lobe cannot be automatically processed.

Therefore, in order to improve the quality by removing the lower leaves and the like from the true leaves to be harvested, the above-mentioned harvesting equipment is not actually used, and the cultivation bar 11 is manually moved. After extracting the leafy vegetables, the lower leaves are peeled, and finally, the whole roots are cut using a pinch to harvest the true leaves.

As described above, since the lower leaves are processed by hand and the true leaves are harvested, much labor is required and there is a problem that the working efficiency is very poor. Further, there is a problem that since the lower leaf processing work is required by hand, automation of harvesting hydroponic leaf vegetables is hindered.

An object of the present invention is to provide a method and an apparatus for treating lower leaves of leafy vegetables which can automate the lower leafing of leafy vegetables and can greatly contribute to automation of harvesting of true leaves.

[0012]

According to a first aspect of the present invention, there is provided a method for treating lower leaves of leafy vegetables, the method comprising: placing a cultivation bar on which leafy vegetables are planted at a set position of a lower leaf processing device. Setting, holding a true leaf consisting of a portion above the root of the leafy vegetable arranged at the set position by a harvesting chuck of a harvesting unit chuck mechanism provided in the lower leaf processing device, and setting the cultivation bar or the harvesting chuck. Is lifted or lowered in a direction away from the other to separate the true leaf from the lower leaf of the leaf vegetable, and a root chuck provided in the lower leaf processing device for the root of the leaf vegetable. Grasping with the root chuck of the mechanism, cutting and separating the roots together with the lower leaves for the true leaves at the vicinity of the upper surface of the cultivation bar by a cutter mechanism provided in the lower leaf processing device, the cultivation bar or the roots Grasp After pulling out the root with the lower leaves from the cultivation bar by raising or lowering one of the root chucks in a direction away from the other, opening the root chuck and releasing the grip of the root, The method is characterized in that the roots are dropped and the lower leaves are processed.

In order to achieve the same object, a lower leaf processing apparatus for leafy vegetables according to claim 2 has a set position to which a cultivation bar on which leafy vegetables are planted is supplied, and
A bar support for detachably engaging and disengaging the longitudinal ends of the cultivation bar to support the cultivation bar, and a bar set mechanism having a bar elevating means for elevating the bar support; and the leaves arranged at the set position. A harvesting unit chuck mechanism having an openable and closable harvesting chuck for gripping a true leaf consisting of a portion above the root of the vegetable, a chuck opening and closing unit for opening and closing the chuck, and a chuck elevating unit for elevating the harvesting chuck; A root chuck mechanism provided on the bar set mechanism and having a root chuck for gripping the root, a first root chuck driving unit for moving the chuck, and a second root chuck driving unit for moving up and down the root chuck; The bar set mechanism is located near the upper side of the chuck mechanism, and is located near the upper surface of the cultivation bar. It is obtained by including a cutter for separating the lower lobe each root to the present lobe filtration, and a cutter mechanism having a cutter driving means for moving the cutter, a.

[0014]

According to the first aspect of the present invention, first, the cultivation bar on which the leafy vegetables are planted is set at the set position of the bar set mechanism, and then the harvesting chuck of the harvesting unit chuck mechanism is operated to set the set position. Of the leaf vegetables arranged above the roots of the leaf vegetables.

Next, one of the cultivation bar and the harvesting chuck is raised or lowered in a direction away from the other to separate the lower leaves of the leafy vegetables from the true leaves, The root chuck of the chuck mechanism is operated, and the root of the leaf vegetable is gripped by the chuck.

Thereafter, the cutter mechanism is operated to separate the root together with the lower leaf from the true leaf at a height near the upper surface of the cultivation bar.

Therefore, through the above steps, the whole root can be separated from the true leaves,
The lower leaves can be removed together with the roots.

Thereafter, either the cultivation bar or the root chuck is raised or lowered in a direction away from the other. Thereby, the root with the lower leaf is pulled out from the cultivation bar.

Finally, the root chuck is opened to release the grip of the root. As a result, the root with the lower leaf is dropped by its own weight and taken out.

Through the above steps, a series of lower leaf processing cycles for automatically separating the lower leaf together with the root from the true leaf is completed.

In the construction of claim 2, when a cultivation bar on which leafy vegetables are planted is supplied to the bar support of the bar set mechanism, the cultivation bar is arranged at the set position, and the bar support is provided on the cultivation bar. Engage the longitudinal ends to secure the bar.

The harvesting unit chuck mechanism operates the chuck elevating means at the set position to open the harvesting chuck, lowers the leaf vegetables on the true leaves of the leafy vegetables arranged at the set position, and then opens and closes the chuck. Operate the means and close the harvest chuck. Thereby, the harvest chuck grips the true leaves.

The root chuck mechanism moves the first position at the set position.
By operating the root chuck driving means, the root chuck is moved to the root side of the leafy vegetable protruding so as to hang down below the cultivation bar to grip the root.

The bar elevating means of the bar set mechanism slightly raises the bar support while the root is chucked as described above. Thereby, the lower leaves and the true leaves protruding from the root (hairline) of the root are separated (lower leaf separation) such that they are further apart. Instead of the raising operation of the bar raising and lowering means, the second root chuck driving means of the root chuck mechanism may be operated to lower the bar slightly to the root chuck, thereby separating the lower leaves.

The cutter mechanism operates the cutter driving means at the set position, moves the cutter to the root side of the leaf vegetable at a height near the upper surface of the cultivation bar, and moves the cutter relative to the true leaf. Cut and separate the lower roots with lower leaves.

The root chuck mechanism operates the second chuck driving means to lower the root chuck largely to the root chuck. Thereby, the roots with lower leaves cut and separated from the true leaves are pulled downward from the cultivation bar. After this withdrawal, the root chuck is returned to its original position by the first root chuck driving means of the root chuck mechanism in preparation for the next chucking operation, whereby the root with the lower leaf falls by its own weight and is discharged downward. Is done. Note that, instead of lowering the root chuck, the bar lifting mechanism of the bar set mechanism is operated to raise the bar support and the cultivation bar supported by the bar significantly, whereby the lower leaf gripped by the root chuck is moved. The attached roots may be pulled down from the cultivation bar.

Therefore, according to the apparatus for treating lower leaves of leafy vegetables of the present invention, the lower leaves can be separated without manual operation, and the whole roots can be cut off and separated from the true leaves together with the lower leaves. The quality of the harvested leaves can be improved. And since the lower leaf processing can be automated like this,
It can greatly contribute to the automation of the harvesting work of the true leaves of leafy vegetables that have been planted in the cultivation bar and have reached the optimal harvest time.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. A lower leaf processing apparatus for implementing a lower leaf processing method according to an embodiment of the present invention is incorporated in a hydroponic leaf vegetable harvesting facility. The harvesting equipment automates the harvesting operation of true leaves as a harvesting unit for leafy vegetables having short stems such as salad vegetables and the like, which are planted in the cultivation bar 31 shown in FIGS. Thing,
As shown in FIG. 1 and FIG.
, Harvester chuck mechanism 22 and root chuck mechanism 23
, A cutter mechanism 24, a weight measuring mechanism 25, a take-out mechanism 26, and a bar collecting mechanism 27. Of these, the bar set mechanism 21, the harvesting unit chuck mechanism 22, the root chuck mechanism 23, and the cutter mechanism 24 constitute a lower leaf processing device.

As shown in FIGS. 12 and 13, a metal cultivation bar 31 used for hydroponics of leafy vegetables has an elongated bar main body 32 formed by bending reinforcing flanges on both side edges. The cubic storage sections 33 are provided at regular intervals along the longitudinal direction, and the suspension arms 34 and the projecting pieces 35 are provided at both ends in the longitudinal direction.

The cubic storage portion 33 protruding downward from the back surface of the bar body 32 has a truncated cone shape that gradually narrows from the upper end toward the lower end opening. Is provided with an opening 32a. Each cubic storage section 33 stores a cubic 36 made of urethane foam and having a + -shaped cut formed in the vertical direction.

The leafy vegetables C planted in the cultivation bar 31 are sowed in cuts of the cubic 36 and grown by hydroponics in a hydroponic cultivation bed (not shown). As a result of this cultivation, the root D of the leaf vegetable C penetrates the cubic C as shown by the two-dot chain line in FIG. 13, and the true leaves E to be harvested grow above 36 cubic. FIG.
In 3 and the like, a symbol F indicates a lower leaf coming out of the root of the root D. The lower lobe E generally grows in a slightly hanging state.

A pair of left and right opposing suspension arms 34 are provided by being bent vertically upward from the bar main body 32, and an engagement hole 37 is opened in this. The engaging hole 37 has a wide lower portion and a narrow upper portion, and the boundary between the upper and lower portions is formed with a taper, and has a substantially elongated convex shape. The pair of left and right projecting pieces 35 are flat plates that extend from both ends of the bar body 32 in the longitudinal direction of the bar body 32 and protrude horizontally, and are screwed to the bar body 32.

Next, the mechanisms 21 to 27 will be described.

The bar setting mechanism 21 will be described. 1 to 3 is an adjuster leg 42 whose height can be adjusted.
The setting mechanism base is installed on the installation surface through the interface 41. A standby position and a setting position are set on the base 41. The stand-by position is a position where a set truck described later is arranged as shown by a two-dot chain line in FIGS. 1 and 2, and this position is indicated by a symbol A for convenience. The set position is a position where a set truck described later is arranged as shown by a solid line in FIGS. 1 and 2, and this position is indicated by a reference numeral B for convenience. These two positions A and B are set adjacent to each other.

The bar set mechanism 21 has a pair of mutually parallel rails 43 which are arranged above and separated from the set mechanism base 41. These opposing rails 43
Is provided horizontally across the standby position A and the set position B. On these rails 43, a set carriage 44 having a rectangular shape in plan view is supported. 1 and FIG. 3, reference numeral 44 a denotes a wheel of the set cart 44 that rolls on the rail 43. Therefore, the set cart 44 is provided so as to be able to reciprocate horizontally between the adjacent standby position A and the set position B.

The reciprocating movement of the set cart 44 is performed by a cart driving means, for example, an air cylinder 45. The cylinder 45 is supported by a support 46 arranged at a height near the lower side of the set carriage 44 in a posture in which its axial direction is parallel to the rail 43, and as shown in FIG. The connecting head 45a provided at the tip of the set carriage 44 is connected to the center of the lower surface of the set cart 44.

As shown in FIGS. 3 and 4, bar elevating means, for example, an air cylinder 48, is attached to both ends in the longitudinal direction of the set carriage 44 via supports 47 so as to face vertically upward. Bar support bases 50 are connected to upper end portions of the piston rods of the pair of cylinders 48 via connection plates 49, respectively. As shown in FIG. 4, the base 50 has bent pieces 50a for positioning that are opposed to each other in the width direction, and an escape hole 50b. The support 47 and the like are located substantially at the center in the width direction of the set cart 44.

Bar supports 51 are fixed on both bar support bases 50 facing each other in the longitudinal direction of the set carriage 44. The bar support 51 includes a pair of upper and lower metal chuck claws 52, and a claw driving unit (for example, an air cylinder and the movement of a rod thereof being rotated by the chuck claws 52 by rotating the claws 52 in mutually opposite directions). ) And 53 are formed by interlocking means such as a crank.

The bar supports 51 have their chuck claws 5
When the horizontal postures are set so that the two protrude from each other, the protruding pieces 35 are sandwiched therebetween. Thereby, the cultivation bar 3
1 is gripped at both ends in the longitudinal direction, and the bar 31 is set in a posture extending in the longitudinal direction of the set cart 44 so that the set cart 44
Fix on top. As shown by the two-dot chain line in FIG. 4, the pair of chuck claws 52 are set to be in a vertically standing posture, so that the fixation of the cultivation bar 31 can be released. It passes through the hole 50b.

The cutter mechanism 24 will be described. As shown in FIGS. 6 and 7, a rectangular frame 62 is mounted on the set carriage 44 via a plurality of supports 61. The cultivation bar 31 supported by the bar support 51 is arranged at the center in the width direction of the frame 62 (see a two-dot chain line in FIG. 7).

The frame member 6 positioned in the longitudinal direction of the frame 62
2a, a rail 6 made of a ridge extending in the longitudinal direction is provided.
The sliders 64a and 64b are slidably fitted to the rails 63, respectively. A pair of sliders 64 arranged corresponding to the longitudinal direction of the frame 62
The end of the elongated cutter base 65 extending over these portions is connected to a. Similarly, the other end of the elongated cutter base 66 is connected to another pair of sliders 64b arranged corresponding to the longitudinal direction of the frame 62. These cutter tables 65 and 66 extend in the longitudinal direction of the frame 62 and are parallel to each other, and are arranged on both sides in the width direction of the cultivation bar 31 supported by the bar support 51.

The cultivation bar 31 is provided on the cutter tables 65 and 66.
The plurality of cutters 67 and 68 are respectively arranged side by side at a pitch corresponding to the arrangement pitch of the cubic storage section 33. Each of the cutters 67 and 68 has a cut knife shape, and is attached to the cutter bases 65 and 66 such that the oblique blade portions thereof are parallel to each other.

A cutter driving means, for example, a pair of air cylinders 69, 70 is attached to the longitudinal center of the frame 62. The piston rod of one air cylinder 69 is connected to the longitudinal center of the cutter base 65, and the piston rod of the other air cylinder 70 is connected to the longitudinal center of the other cutter base 66. These air cylinders 69 and 70 are arranged so that their piston rods face each other, and are operated synchronously. Therefore, when the piston rod is projected, the cutter tables 65 and 66 are horizontally moved so as to approach each other, and when the piston rod is retracted, the cutter tables 65 and 66 are horizontally moved so as to be away from each other.

Each of the cutters 67 and 68 of the cutter mechanism 24 having the above-described structure is located between the root chuck mechanism 23 and a harvesting chuck (to be described later) of the harvesting section chuck mechanism 22 and has a height near the upper side of the root chuck mechanism 23. At the height of the cultivation bar 31 set at the set position, specifically at the height of several mm above the upper surface of the bar main body 32,
The root D of the leaf vegetable C is cut at a height of several mm above the upper surface of the bar main body 32 by the contacting and separating operations of the cutters 67 and 68 accompanying the movements of the bars 5 and 66.

The root chuck mechanism 23 will be described. The mechanism 23 is provided on a set carriage 44 with a bar support 51.
Are provided on both sides in the width direction of the cultivation bar 31 which is supported. These root chuck mechanisms 23 are attached to the frame 62 via suitable support members (not shown). FIG.
17, the root chuck mechanism 23 includes a root chuck 75, a first root chuck driving unit, for example, an air cylinder 76, and a second root chuck driving unit, for example, an air cylinder 77.

The root chuck 75 has a chuck base 75a.
The gripper 75b is pivotally mounted on the
It is formed by providing a coil spring 75c for applying a force for pushing the 5a to the chuck base 75a. These root chucks 75 are provided at a height position at which the root D protrudes downward from the cultivation bar 31 supported by the bar support 51, in other words, at a height position near the lower end of the cubic storage unit 33. Is done.

The piston rod of the air cylinder 76 is connected to the chuck base 75a from the side. The air cylinders 76 respectively arranged on both sides in the width direction of the cultivation bar 31 supported by the bar support 51 are arranged with the root chucks 75 facing each other, and are operated synchronously. Therefore, when the piston rod is protruded, the root chucks 75 are horizontally moved so as to approach each other, and when the piston rod is retracted, the root chucks 75 are horizontally moved so as to move away from each other.

The piston rod of the air cylinder 77 is connected to the chuck base 75a from below. The cylinder 77 supports the root chuck 75 and the air cylinder 76 connected to each other so as to be able to move up and down, and these cylinders 77 are operated synchronously.

The harvester chuck mechanism 22 and the weight measuring mechanism 25 will be described. As shown in FIGS. 1 and 9, the harvesting unit chuck mechanism 22 includes a guide column 81 that stands upright. The column 81 is supported by a column support 82 and has a guide 81 a that extends vertically in the upper part. Have. A chuck elevating means, for example, an air cylinder 83 is vertically and upwardly mounted below the guide column 81. An elevating table 84 is connected to the upper end of the piston rod of the cylinder 83. The elevating table 84 has a portion extending at right angles to the guide column 81 and extending in the lateral direction, and a slider 84 a provided at one end of the portion is slidably fitted to the guide 81. I have.
The elevating operation of the elevating table 84 is performed by the air cylinder 83.

A chuck elevating means, for example, an air cylinder 85 is vertically and downwardly attached to the tip of the laterally extending portion. The stroke of the piston rod of the cylinder 85 is smaller than the stroke of the piston rod of the air cylinder 83. Air cylinder 85
The weight adjusting mechanism 25 is connected to the piston rod via a connecting plate 86. The adjusting mechanism 25 has a weight sensor 25a.

The weight adjustment mechanism 25 includes the chuck unit 8
7 are supported. The weight sensor 25a is configured to measure the weight of the true leaf (harvesting unit) E gripped by the chuck unit 87, with or without subtracting the weight of the unit 87. In the latter case, a calculation process for subtracting the weight of the unit 87 is performed by a control device (not shown).

As shown in FIG. 9, the chuck unit 8
Reference numeral 7 denotes a pair of openable and releasable harvesting chucks 88, and a chuck driving unit (for example, an air cylinder and the movement of a rod thereof which is turned in synchronization with the chucks 88 in the opposite directions) to convert the rotation of the harvesting chuck 88. And a chuck driving unit 89 supported by the weight adjustment mechanism 25. Reference numeral 88a denotes a pivot of the harvesting chuck 88. The harvesting chuck 88 is wide to some extent, and its inner surface is concave.

The pair of harvesting chucks 88 are pivoted to open positions where the wings are spread as shown by the solid line or the two-dot chain line in the upper position in FIG.
As shown by the two-dot chain line in the middle and lower positions, the robot is moved over a closed position that is arranged so as to fit both sides of the pursed hands. In the closed position, the true leaf E is gripped from both sides thereof, and in the open position, the grip of the true leaf E is released to prepare for gripping the next true leaf E.

The take-out mechanism 26 will be described. As shown in FIG. 2, the take-out mechanism 26 is
It is provided longer than one end, and one end in the longitudinal direction is juxtaposed with the bar set mechanism 21, that is, provided on the opposite side of the standby position A from the set position B. The other end in the longitudinal direction of the take-out mechanism 26 is adjacent to the next process transfer position G. Although not shown, a carry-in end of the packaging device is disposed at the transfer position G, and the true leaves E collected by the packaging device are supplied by freely falling from above.

As shown in FIG. 1, FIG. 2, FIG. 8, and FIG. 9, the take-out mechanism 26 has a bearing support plate on each of the longitudinal ends of a mechanism frame 92 installed via adjuster legs 91. 93 and 94 are fixed.
Between the pair of bearing support plates 93 which are located on the set position B side and oppose in the width direction of the mechanism frame 92, these plates 9
A chain wheel 95 is rotatably mounted via a bearing supported by the wheel 3.

A pair of bearing support plates 94 facing the width direction of the mechanism frame 92 located on the next process transfer position G side.
Wheels 96 and 97 are rotatably mounted between the plates 94 via bearings supported by the plates 94. Chain Wheel 97
Is provided coaxially with the chain wheel 96, but is smaller than the chain wheel 96. In the mechanism frame 92, a drive unit 99 for driving a drive chain wheel 98 that can be rotated forward and backward is mounted.

A drive chain 100 is wound between the drive wheel 98 and the drive wheel 97, and a driven chain 101 is wound between the drive wheels 95 and 96 having the same diameter. The chain wheels 95 and 96 are at the same height position, so that the upper part of the driven chain 101 travels horizontally. Note that the chain wheel 95 is always the driven chain 1
01 is applied by a spring.

At the upper end of the mechanism frame 92, a substantially C-channel rail 102 having both ends connected to bearing support plates 93 and 94 is mounted. The rails 102 are provided on both sides in the width direction of the mechanism frame 92, and face each other. A transport vehicle 103 is provided between these rails 102. Wheels 104 of the carriage 103 are in rolling contact with the rails 102 as shown in FIGS. A driven chain 101 is connected to a connecting wall 103a protruding from a lower surface of a center portion of the transport vehicle 103 in the width direction.

The transport carriage 103 can repeat reciprocating movement horizontally along the longitudinal direction of the mechanism frame 92 by forward and reverse rotation of the prime mover 99. This movement is performed from the setting position B to the next process transfer position G. The harvesting unit chuck mechanism 22 is supported on the transport carriage 103. Therefore, the chuck mechanism 22 is reciprocated with the transport carriage 103 between the set position B and the next process transfer position G without being inverted.

The bar collecting mechanism 2 is shown in FIGS.
7 will be described. The mechanism 27 is installed on a set mechanism base 41, and includes a pair of pneumatic rotary cylinders 111, a pair of arms 112 connected to the cylinders 111 and reciprocally rotated,
, A pair of bar engaging and disengaging bodies 114, and a pair of balance weights 115.

The bar engaging and disengaging bodies 114 which are engaged and disengaged from the cultivation bar 31 from both ends in the axial direction are fixed to one end of the arm 112, respectively, and are connected to the air cylinder 114a and the tip of the piston rod. Tapered bar engaging element 1
14b. The bar engaging element 114b is engaged with and disengaged from the hole of the cultivating bar 31 where the width of the engaging hole 37 is large. The balance weight 115 is attached to the other end of the arm 112.

The rotation of the arm 112 causes the bar engaging and disengaging body 1 to move.
Numeral 14 reciprocates between the standby position A and a collection table 116 set adjacent to the standby position A, and is disposed so as not to hinder the introduction of the cultivation bar 31 to the standby position A. The bar engaging / disconnecting body 114 is arranged at the standby position A.

In FIG. 1 and FIG. 3, reference numeral 121 denotes a root receiving box having an open upper surface. The box 121 is hung below the set cart 44. The root receiving box 121 can be appropriately separated from the set cart 44 and can be taken in and out in the direction of the arrow in FIG.

The leaf vegetable harvesting equipment including the above-described lower leaf processing device includes a control device (not shown) and various position detection sensors. The cylinder is operated according to a program in a predetermined operation order.

Thus, the harvesting equipment comprises a series of steps including a setting step, a harvesting section chucking step, a lower leaf separating step, a root chucking step, a cutter step, a root extracting step, a weighing step, a harvesting section taking out step, and a bar collecting step. Are performed sequentially, and the true leaves E of the leafy vegetables C that have been planted in the cultivation bar 31 and have reached the optimal time for harvesting are automatically subjected to lower leaf processing and harvested. The details will be described below.

First, the cultivation bar 31 in which the leafy vegetables C, which has reached the optimal harvest time, is planted and removed from a cultivation bed (not shown) by a carry-in robot (not shown).
As indicated by a chain double-dashed line, the bar set mechanism 21 is positioned on the set carriage 44 which has already been moved to the standby position A of the bar set mechanism 21 and is on standby and is automatically set. This setting is performed by placing the projecting pieces 35 at both ends in the longitudinal direction of the cultivation bar 31 on a pair of bar support bases 50. The protruding piece 35 is positioned by the pair of bent pieces 50a and is exposed to the escape hole 50b.

In this state, the claw driving portions 53 of the pair of bar supports 51 are operated synchronously, and the opened chuck claw 52 is opened.
Close. Then, the cultivation bar 31 is fixed on the set cart 44 with the chuck claws 52 sandwiching the projecting pieces 35 respectively.

Thereafter, the air cylinder 45 operates to pull in the piston rod. Thereby, the set cart 44 is arranged at the set position B shown by the solid line in FIGS.

Thus, the setting step of setting the cultivation bar 31 on which the leafy vegetables C are planted at the set position B of the harvesting device is completed. As a result of this setting process, the leafy vegetables C planted in the cultivation bar 31 are placed between the pair of cutters 67 and 68 and the pair of root chucks 7 as shown in FIG.
Between them, they are arranged to face them.

Next, the harvesting unit chuck mechanism 22 which is waiting at a position corresponding to the set position B in advance is operated.
That is, first, the piston rod of the air cylinder 83 is retracted to lower the elevating table 84 from the height position shown by the solid line in FIG. 1, and then, the piston rod of the air cylinder 85 is projected so that the piston rod 2 at the upper position in FIG. The harvesting chuck 88 kept open as shown by the dashed line is brought close to just above the cultivation bar 31 arranged at the set position B.

Thereafter, the chuck drive unit 89 of the chuck unit 87 is operated to close the pair of harvesting chucks 88 as shown by the two-dot chain line at the lower position in FIG. Then, as shown in FIG. 14, the true leaves E as the harvesting part are gripped from both sides, leaving the root D. Thus, at the setting position B, the true leaf E is moved from above to the harvest chuck 88.
The harvesting unit chucking step of gripping with is completed.

Thereafter, a lower lobe separation step is performed. This is performed by slightly retracting the piston rod of the air cylinder 48 of the bar set mechanism 21 and similarly lowering the cultivation bar 31 together with the bar support base 50 and the bar support 51. Then, the lower portion on the root side of the true leaf E is relatively pulled in the direction of the arrow in FIG. Thereby, the boundary between the true leaf E and the root D becomes longer so that the neck extends substantially, and the lower leaf F is easily separated from the true leaf E accordingly. That is, the main leaf E and the lower leaf F are separated (in other words, greatly separated) in this manner, and the lower leaf separation step ends.

In this step, a chuck unit provided with a harvesting chuck 88 by slightly retracting the piston rod of the air cylinder 85 or slightly projecting the piston rod of the air cylinder 83 without lowering the cultivation bar 31. 87 may be raised. Also in this case, the lower lobe separation process can be automatically performed similarly.

Next, the pair of air cylinders 76 of the root chuck mechanism 23 are operated synchronously so that their piston rods come close to each other. Then, each of the root chucks 75, which are far apart and stand by, grips the root D projecting below the cultivation bar 31 from both sides thereof (see FIG. 15). This gripping is performed while compressing the coil spring 75c, and the gripper 75b clamps the root D. Therefore, the root D is gripped while preventing an excessive load on the root D, and the position of the leaf vegetable C Can be stabilized by the root chuck mechanism 23. Thus, the root chucking step of holding the root of the leaf vegetable C with the root chuck 75 is completed.

In addition, in this step, since the gripper 75b is inclined before the chuck, the gripper 75b starts to pinch the root D from the lower portion thereof, and finally displaces so as to stand vertically. Accordingly, the root D can be pulled downward. Therefore, the leaf chuck C can be pulled up and down by the root chuck 75 and the harvesting unit chuck 88, so that the leaf vegetable can be more firmly stabilized.
Can be moved further downward, and cutting by a cutter can be facilitated.

After the root chucking step, a cutter step is performed. In this step, the air cylinders 69 and 70 are operated synchronously so that their piston rods protrude. As a result, the cutter tables 65 and 66 are brought closer to each other (see FIG. 16), and the cutters 67 and 68 attached to them pass over a few mm above the upper surface of the bar main body 32 of the cultivation bar 31. Thereby, the boundary between the root D and the true leaf E is cut off. By this cutting, the lower leaves F are included in the cut root D side. This is realized by the lower lobe separation and consideration of the cutting height position. Thus, the cutter step of separating the whole root D together with the lower leaf F from the true leaf E is completed.

Next, a pair of air cylinders 77 provided in the root chuck mechanism 23 are operated synchronously so that the piston rods are retracted. Thereby, the root chuck 75 holding the root D with the air cylinder 76 is moved so as to be separated from the cultivation bar 31 below the root D, so that the root D is simultaneously pulled down (see FIG. 17). Then, finally, the whole root D including the lower leaf F is pulled out from the cubic 36 held in the cultivation bar 31.
Thus, the root extraction step of extracting the root with the lower leaf F from the cultivation bar 31 is completed.

Thereafter, the pair of root chucks 75 of the root chuck mechanism 23 are opened. Thereby, the root D with the lower leaf F
Is dropped and received in the root receiving box 121.

In the root pulling-out step, instead of lowering the root chuck mechanism 23, the bar set mechanism 2
1 may be performed by operating a pair of air cylinders 48 included in 1 synchronously so that their piston rods protrude. Then, while the root D is held by the root chuck 75, the cultivation bar 31 is lifted upward with respect to this chuck 75 so as to be separated therefrom.
Cubic 3 holding root D with cultivation bar 31
6 can be pulled out.

Through the above steps, the lower leaf processing operation for automatically processing the lower leaves F of the hydroponically grown leafy vegetables C and removing the same together with the entire roots D is completed without requiring any manpower. .

On the other hand, since the true leaves E separated from the whole roots D by the cutter process are still held by the harvest chuck 88, the total weight of these true leaves E and the chuck unit 87 is transmitted to the weight measuring mechanism 25. Works.
Therefore, next, the weight measurement mechanism 2 is operated with the chuck unit 87 raised by operating the air cylinder 85.
5, the weight sensor 25a automatically measures the weight of the true leaf E. That is, the weighing step of measuring the weight of the true leaf E ends.

Next, the take-out mechanism 25 is operated to rotate the prime mover 99 in the forward direction, that is, rotate the drive chain gear 98 counterclockwise in FIG. Then, the entire harvesting unit chuck mechanism 23 together with the transport vehicle 103 via the chains 100 and 101 is moved to the harvesting chuck 88.
With the true leaf E still being held, it is moved horizontally from the set position B to the next process transfer position G and stopped. After this stop, the harvesting chuck 88 is opened via the chuck driving unit 89.

As a result, the true leaves E between the harvesting chucks 88 freely fall under their own weight, and are located at the next process transfer position G and supplied to the packaging device. Thus, the automatic harvest of the true leaves E is performed. That is, as described above, the harvesting unit chuck mechanism 22 is moved between the set position B and the next process transfer position G without being inverted, and the harvest chuck 88 is opened at the next process transfer position to drop the true leaves E. The copy removal process is completed.

The harvesting section take-out step is performed by moving the harvesting section chuck mechanism 22 between the set position B and the next process transfer position G.
Is repeatedly moved back and forth to perform the number of plants (the number of plants) of the leafy vegetables C with respect to the cultivation bar 31.

When the charging of all the stocks into the packaging apparatus is completed, the harvesting unit chuck mechanism 22 is returned to the set position B, and waits for the next harvesting.

Finally, a bar collecting step is performed. In this step, first, after the set carriage 44 is pushed back from the set position B to the standby position A by the air cylinder 45,
The holding of the cultivation bar 31 at both ends in the longitudinal direction by the bar support 51 is released. Next, the pair of rotary cylinders 111 of the bar collection mechanism 27 are operated in synchronization with each other, and
The arm 112 is rotated so that 14 is located at the standby position A. As a result, the pair of bar engaging members 114 are set so as to sandwich the cultivation bar 31 emptied therebetween from both ends in the longitudinal direction. In this state, the bar engaging body 11
4 faces the engaging hole 37 of the suspension arm 34 of the cultivation bar 31.

Then, the air cylinder 114a of the bar engaging body 114 is operated synchronously so that the bar engaging element 114b projects toward the suspension arm 34 side. Therefore, the bar engaging element 114b is inserted into and engaged with the wide hole of the engaging hole 37, and supports the empty cultivation bar 31 from both ends in the longitudinal direction.

Thereafter, the rotary cylinder 111 is operated synchronously so as to rotate the arm 112 in the direction opposite to the above. Therefore, the cultivation bar 31 rotatably suspended around the bar engagement body 114 is carried out from the standby position A with the rotation displacement of the arm 112 without changing its attitude, and Will be collected. In this way, the cultivation bar 3 emptied through the harvesting unit removal process
The bar collecting step of collecting the number 1 is completed.

Thus, all of the mechanisms 21 to 27 are on standby for the next harvest.
One harvest cycle of this automatic harvesting equipment is completed.

Therefore, according to the method and the facility for harvesting the hydroponic culture of the present invention described above, the cultivation bar 31
The harvesting of the true leaves E of the leafy vegetables C, which have been planted in a suitable period and can be fully harvested, can be fully automated without manual work.

In this automatic harvesting, the lower leaves F can be separated, and the lower leaves can be cut and separated from the true leaves E without leaving the roots D, so that the quality of the harvested true leaves E can be improved. Along with this, the harvested part can be limited to only the true leaf E, which is the most necessary part, and the root D
Is not left or the whole cubic 36 is not harvested, so that the packaging shape at the time of packaging can be reduced and the packaging weight can be reduced.

Further, according to the present embodiment, the true leaf E is dropped and harvested by its own weight at the next process transfer position G, so that the attitude of taking out the true leaf E can be made constant. Therefore, packaging in the packaging device can be facilitated.

In addition, according to the present embodiment, the movement of the cultivation bar 31 from the standby position A to the set position B is a horizontal movement, and the movement of the harvesting unit chuck mechanism 22 from the set position B to the next process transfer position G is performed. Since the movement is performed without reversing, the transport posture is kept constant. Therefore, the leafy vegetables C do not drop from the cultivation bar 31 or the true leaves E drop from the harvesting chuck 88 during the transportation.

Further, according to the present embodiment, the weight of the true leaves E harvested during the harvesting is automatically measured, so that the harvesting section can be sorted according to the weight.

Further, in the lower leaf processing as described above, the true leaf E is gripped from both sides thereof, so that the true leaf E is not excessively deformed and harmed, and the true leaf E can be easily and securely removed. Can be gripped. Similarly, since the root D is gripped from both sides thereof, the root D is not excessively deformed and is not broken, and the root D can be gripped easily and securely. Cutting can also be performed reliably. In addition, since the root D is also cut from both sides of the root D by the cutters 67 and 68, it can be easily cut.

Further, as described above, there are two methods for performing the lower leaf separation step and the root extraction step, respectively, so that the backup function of the apparatus is high.

The present invention is not limited to the above embodiment. For example, in the present invention, an automatic measuring mechanism, a take-out mechanism, a bar collecting mechanism, and the like may be omitted.

[0098]

As described above in detail, according to the method for treating lower leaves of leaf vegetables and the structure of the apparatus according to the present invention, the lower leaves are removed after the leaf vegetables are manually pulled out from the cultivation bar. Finally, it is possible to automate lower leaf processing of leafy vegetables without the trouble of cutting the whole root using a pinch, and to greatly contribute to automation of true leaf harvesting.

[Brief description of the drawings]

FIG. 1 is a front view showing the configuration of an entire hydroponic cultivation harvesting equipment for implementing a method for treating lower leaves of leafy vegetables according to one embodiment of the present invention.

FIG. 2 is a plan view showing the configuration of the entire harvesting facility according to one embodiment.

FIG. 3 is a side view showing a configuration of a bar set mechanism included in the harvesting equipment according to one embodiment, as viewed from a ZZ line direction in FIG. 2;

FIG. 4 is a side view showing a configuration around a set cart provided in the bar set mechanism shown in FIG. 3;

FIG. 5 is a plan view showing a configuration around the set cart shown in FIG. 4;

FIG. 6 is a side view showing a configuration of a cutter mechanism included in the harvesting equipment according to the embodiment, with a part thereof being omitted.

FIG. 7 is a plan view showing the configuration of the cutter mechanism shown in FIG. 6;

FIG. 8 is a side view showing the configuration of a take-out mechanism provided in the harvesting equipment according to one embodiment.

FIG. 9 is a front view showing a configuration of a harvesting unit chuck mechanism included in the harvesting equipment according to one embodiment.

FIG. 10 is a plan view showing the configuration of a bar collection mechanism provided in the harvesting equipment according to one embodiment.

FIG. 11 is a front view showing the configuration of the bar collection mechanism shown in FIG. 10;

FIG. 12 is a perspective view showing a configuration of a cultivation bar used in the harvesting equipment according to one embodiment.

FIG. 13 is a sectional view showing the configuration of the cultivation bar shown in FIG.

FIG. 14 is a view showing a state in which the true leaves of leafy vegetables are gripped by the harvesting chuck of the harvesting unit chuck mechanism in the harvesting equipment according to one embodiment.

FIG. 15 is a diagram showing a state in which the roots of leafy vegetables are held by the root chuck of the root chuck mechanism in the harvesting equipment according to one embodiment.

FIG. 16 is a view showing a state in which the roots of leafy vegetables are about to be separated from true leaves by a cutter of a cutter mechanism in the harvesting equipment according to one embodiment.

FIG. 17 is a diagram showing a state in which the roots of leafy vegetables separated in the harvesting facility according to one embodiment are to be removed from the cultivation bar.

FIG. 18 is a front view showing a configuration of a harvesting facility for harvesting true leaves of leafy vegetables according to a conventional example.

[Explanation of symbols]

 21: Bar set mechanism (lower leaf processing device), 22: Harvester chuck mechanism (lower leaf processing device), 23: Root chuck mechanism (lower leaf processing device), 24: Cutter mechanism (lower leaf processing device), 31 ... Cultivation bar, 32: Bar body, 48: Air cylinder (bar lifting / lowering means), 51: Bar support, 67, 68: Cutter, 69, 70: Air cylinder (cutter driving means), 75: Root chuck, 76: Air cylinder (First root chuck driving means), 77: air cylinder (second root chuck driving means), 83: air cylinder (chuck lifting / lowering means), 85: air cylinder (chuck lifting / lowering means), 88: harvesting chuck, B: set Position, C: leafy vegetables, D: root, E: true leaf, F: lower leaf,

──────────────────────────────────────────────────続 き Continued on the front page (72) Mitsuhisa Nakahara 1-1-10 Takagase Higashi, Saga City, Saga Prefecture Inside the Agricultural Electrification Test Station, Kyushu Electric Power Co., Inc. (72) Inventor Noboru Iwaki Fukuoka City, Fukuoka Prefecture Kyushu Electric Power Co., Inc., Research Institute of Electricity Utilization, 2-1-1, Shiobara, Minami-ku (72) Inventor Tomihiro Oda 2-1-1, Niihama, Araimachi, Takasago City, Hyogo Prefecture Inside the Takasago Works, Mitsubishi Heavy Industries, Ltd. (72 ) Inventor Etsuko Kobayashi 2-1-1 Shinhama, Arai-machi, Takasago City, Hyogo Prefecture Inside the Takasago Works, Mitsubishi Heavy Industries, Ltd. (56) References JP-A-55-34075 (JP, A) JP-A-7-99847 (JP, A JP-A-7-67484 (JP, A) JP-A 63-50596 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01G 31/00

Claims (2)

(57) [Claims] 1. A cultivation bar on which leafy vegetables are planted is set at a set position of a lower leaf processing device, and a true leaf consisting of an upper portion of a root of the leafy vegetables disposed at the set position is placed on the lower leaf processing device. Grasping by the harvesting chuck of the harvesting unit chuck mechanism provided in the leaf processing device, raising or lowering one of the cultivation bar or the harvesting chuck in a direction away from the other, and removing the true leaves and the leafy vegetables The lower leaf is separated from the root, the root of the leafy vegetable is gripped by a root chuck of a root chuck mechanism provided in the lower leaf processing device, and a cutter mechanism provided in the lower leaf processing device is provided near the upper surface of the cultivation bar by the cutter mechanism. Cut and separate the root together with the lower leaf from the true leaf, and raise or lower either the cultivation bar or the root chuck holding the root in a direction away from the other. After extracting the root with the lower leaf from the cultivation bar, open the root chuck, release the grip of the root, drop the root, and process the lower leaf, a leafy vegetable Lower leaf processing method. 2. A bar support for supporting a cultivation bar having a set position to which a cultivation bar on which leafy vegetables are planted is supplied, and detachably engaging and disengaging from both longitudinal ends of the cultivation bar. And a bar setting mechanism having a bar elevating means for elevating and lowering the bar support, and a harvesting chuck which can be opened and closed freely to grip a true leaf above a root of the leafy vegetables arranged at the set position, and the chuck A harvester chuck mechanism having chuck opening / closing means for opening / closing the chuck, and a chuck elevating means for elevating / lowering the harvest chuck; a root chuck provided on the bar set mechanism for gripping the root; a first root chuck for moving the chuck A root chuck mechanism having a driving means, and a second root chuck driving means for moving the root chuck up and down; Provided positioned near the bar set mechanism, a cutter for separating the lower lobe each root to the true leaves at the vicinity of the upper surface of the culture bars,
And a cutter mechanism having cutter driving means for moving the cutter.