JP3220399B2 - Robot hand - Google Patents
Robot handInfo
- Publication number
- JP3220399B2 JP3220399B2 JP33791196A JP33791196A JP3220399B2 JP 3220399 B2 JP3220399 B2 JP 3220399B2 JP 33791196 A JP33791196 A JP 33791196A JP 33791196 A JP33791196 A JP 33791196A JP 3220399 B2 JP3220399 B2 JP 3220399B2
- Authority
- JP
- Japan
- Prior art keywords
- lettuce
- finger
- support member
- cylinder tube
- fluid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Description
【0001】[0001]
【発明の属する技術分野】本発明は、農作物処理装置の
農作物受入れ部側に球状農作物を送り込むロボットハン
ドに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for feeding a spherical crop to a crop receiving section of a crop processing apparatus.
【0002】[0002]
【従来の技術】農作物処理装置の一つに、例えば特開平
7‐315316号公報に開示されているように、球状
農作物としてのレタスを包装する包装装置があり、従
来、この包装装置でレタスを包装するのに、包装装置の
上向きの開口を覆って配備された包装シート上に作業者
がレタスを供給し、そのレタスを開口の内方側に包装シ
ートごと落とし込ませていた。2. Description of the Related Art As one of crop processing apparatuses, for example, as disclosed in Japanese Patent Application Laid-Open No. 7-315316, there is a packaging apparatus for packaging lettuce as spherical crops. In packaging, an operator supplies lettuce onto a packaging sheet placed over the upward opening of the packaging device, and drops the lettuce together with the packaging sheet inside the opening.
【0003】[0003]
【発明が解決しようとする課題】上記包装装置でレタス
を包装処理する場合、多数のレタスを包装処理するのが
普通であることから、従来のように、作業者がレタスを
包装装置に供給するといった手段では作業者の負担が大
きかった。また、レタス包装装置に限らず、他の農作物
処理装置においても、その処理装置に対する球状農作物
の供給は、作業者が行っており、作業者の負担が大きか
った。When the lettuce is wrapped by the above-mentioned wrapping device, it is common to wrap a large number of lettuce. Therefore, an operator supplies the lettuce to the wrapping device as in the prior art. Such a method puts a heavy burden on the worker. In addition, not only the lettuce packaging apparatus, but also other crop processing apparatuses, the supply of spherical crops to the processing apparatus is performed by an operator, which imposes a heavy burden on the operator.
【0004】本発明は、上記実情に鑑みてなされたもの
で、その目的は、球状農作物の処理作業時における作業
者の労力を軽減化する点にある。The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the labor of an operator when processing spherical crops.
【0005】[0005]
〔構成〕請求項1にかかる発明の特徴構成は、ピストン
ロッド先端部に農作物押し出し体を設けた流体圧シリン
ダを、球状農作物把持用の複数本のフィンガー部を支持
した位置変更自在な支持部材に、前記農作物押し出し体
が前記複数本のフィンガー部の基端側に囲まれる支持部
材部分から出退するように支持させて、把持解除もしく
はほぼ把持解除された球状農作物を農作物処理装置の農
作物受入れ部側に押し込み可能に構成し、前記フィンガ
ー部の初期開放径を変更調節するフィンガー開放径変更
調節機構を設け、このフィンガー開放径変更調節機構を
構成するに、前記流体圧シリンダのシリンダチューブを
前記支持部材に対してシリンダ軸芯周りに回動自在に構
成し、各フィンガー部が前記支持部材に対してその支持
部材の径方向に各別に移動するのを許容されるように、
前記フィンガー部の基端側を、前記支持部材に設けた前
記径方向に沿うガイド溝に挿通させ、前記シリンダチュ
ーブの回動に伴って回動することにより、前記フィンガ
ー部の基端側を前記径方向に押引きして、その基端側を
前記ガイド溝内で移動させるカム体を前記シリンダチュ
ーブに設け、前記シリンダチューブの回動駆動部を前記
シリンダチューブの前記押し出し体側とは反対側に配設
してあることにある。[Structure] The characteristic structure of the invention according to claim 1 is that a fluid pressure cylinder provided with a crop pushing body at the tip of a piston rod is replaced with a position-changeable support member that supports a plurality of fingers for gripping a spherical crop. The crop extruding body is supported so as to protrude and retreat from a support member portion surrounded by the base ends of the plurality of finger portions, and the gripped or almost released gripped spherical crop is received by the crop receiving unit of the crop processing apparatus. And a finger opening diameter changing adjustment mechanism for changing and adjusting an initial opening diameter of the finger portion is provided, and the cylinder tube of the fluid pressure cylinder is supported by the finger opening diameter changing adjusting mechanism. Each finger portion is configured to be rotatable around the cylinder axis with respect to the member, and each finger portion is positioned in the radial direction of the support member with respect to the support member. As permitted from moving,
The base end side of the finger portion is inserted into the guide groove along the radial direction provided in the support member, and is rotated with the rotation of the cylinder tube. A cam body that pushes and pulls in the radial direction and moves the base end side in the guide groove is provided in the cylinder tube, and the rotation drive unit of the cylinder tube is located on the side opposite to the extruded body side of the cylinder tube. It is located.
【0006】請求項2にかかる発明の特徴構成は、請求
項1にかかる発明において、前記シリンダチューブの回
動駆動部を、前記支持部材とは離れた固定側部材に設け
て、前記シリンダチューブの前記押し出し体側とは反対
側の端部に連係してあることにある。A feature of the invention according to claim 2 is that, in the invention according to claim 1, a rotation drive unit for the cylinder tube is provided on a fixed-side member separated from the support member. It is linked to the end opposite to the extruded body side.
【0007】請求項3にかかる発明の特徴構成は、請求
項1又は2にかかる発明において、前記フィンガー部を
中空の軟質材から形成するとともに、流体供給部からの
前記フィンガー部内への流体の供給圧で前記フィンガー
部が把持状態に折曲変形し、流体の排出で把持解除状態
に復元するよう構成し、前記流体供給部と前記フィンガ
ー部の中空部との間の流体給排経路を構成するに、前記
シリンダチューブと、前記支持部材のシリンダチューブ
周りの支持部分との間に環状の流体収容空隙を形成し、
前記流体供給部と流体収容空隙とを第1流路を介して連
通接続するとともに、各フィンガー部の中空部と流体収
容空隙とを流体分配用の第2流路を介してそれぞれ連通
接続してあることにある。According to a third aspect of the present invention, in the first or second aspect, the finger portion is formed of a hollow soft material, and a fluid is supplied from the fluid supply portion into the finger portion. The finger portion is bent and deformed to a gripping state by pressure, and is restored to a gripping released state by discharge of fluid, and forms a fluid supply / discharge path between the fluid supply portion and the hollow portion of the finger portion. Forming an annular fluid containing space between the cylinder tube and a support portion of the support member around the cylinder tube,
The fluid supply unit and the fluid storage space are connected to each other through a first flow path, and the hollow portion of each finger and the fluid storage space are connected to each other through a second flow path for fluid distribution. There is to be.
【0008】〔作用〕以下、球状農作物としてレタス
を、また、農作物処理装置としてレタスの包装装置を例
に挙げて、本発明の作用を説明する。請求項1の構成に
よれば次の作用を奏することができる。 〔イ〕レタス包装装置の農作物受入れ部にレタスを送り
込む場合、支持部材に支持されたフィンガー部が、包装
装置の上向きの開口を覆って配備された包装シート上に
レタスを供給し、レタスの把持を解除若しくはほぼ解除
すると、流体圧シリンダが伸長駆動して、ピストンロッ
ド先端部に設けた農作物押し出し体がレタスを開口の内
方側に包装シートごと押し込む。[Operation] The operation of the present invention will be described below using a lettuce as a spherical crop and a lettuce packaging apparatus as a crop processing apparatus. According to the configuration of the first aspect, the following operation can be achieved. (B) When lettuce is sent to the crop receiving portion of the lettuce packaging device, the finger portion supported by the support member supplies the lettuce onto the packaging sheet provided over the upward opening of the packaging device, and grips the lettuce. Is released or almost released, the hydraulic cylinder is driven to extend and the extruded agricultural product provided at the tip of the piston rod pushes the lettuce together with the packaging sheet inward of the opening.
【0009】〔ロ〕上記〔イ〕の場合において、フィン
ガー部の初期開放径を一定値に固定してあると、小さめ
の径のレタスはフィンガー部の先端側だけで把持し、大
きめの径のレタスはフィンガー部の基端側だけで把持す
るといったように、把持したときのフィンガー部の形状
が、そのレタスの形状に合わない不自然な形になって、
いずれの場合にも把持が不十分になりやすいが、請求項
1の構成によれば、フィンガー開放径変更調節機構によ
りフィンガー部の初期開放径をレタスに合わせて変更調
節することができるから、レタスが小さめであったり大
きめであったりしても、把持したときのフィンガー部の
形状が、そのレタスの形状に合った自然な形になり、レ
タスをしっかりと把持できる。[B] In the case of [A] above, if the initial opening diameter of the finger portion is fixed to a fixed value, the smaller diameter lettuce is gripped only by the tip side of the finger portion, and the larger diameter lettuce is held. As the lettuce is gripped only on the base end side of the finger, the shape of the finger when gripped becomes an unnatural shape that does not match the shape of the lettuce,
In either case, the grip tends to be insufficient. However, according to the configuration of claim 1, the initial opening diameter of the finger portion can be changed and adjusted according to the lettuce by the finger opening diameter change adjusting mechanism. Even if is small or large, the shape of the finger portion when grasped becomes a natural shape that matches the shape of the lettuce, and the lettuce can be firmly grasped.
【0010】〔ハ〕前記フィンガー開放径変更調節機構
はシリンダチューブの回動駆動部を駆動させて作動させ
る。つまり前記回動駆動部を駆動させると、流体圧シリ
ンダのシリンダチューブがその支持部材に対してシリン
ダ軸芯周りに回動するとともにその回動に伴ってカム体
が回動し、このカム体がフィンガー部の基端側を支持部
材の径方向に押引きして、支持部材側の前記径方向に沿
うガイド溝内を移動させ、フィンガー部の初期開放径を
変更する。[C] The finger opening diameter changing and adjusting mechanism is operated by driving a rotation drive unit of the cylinder tube. In other words, when the rotation drive section is driven, the cylinder tube of the fluid pressure cylinder rotates around the cylinder axis with respect to the support member, and the cam body rotates with the rotation. The base end side of the finger portion is pushed and pulled in the radial direction of the support member to move in the guide groove along the radial direction on the support member side, thereby changing the initial open diameter of the finger portion.
【0011】〔ニ〕例えば、シリンダチューブを回動自
在に構成することなく、カム体を直接回動駆動する回動
駆動部を設けることも考えられる。この場合、回動駆動
部をフィンガー部の基端側近くの外方側に位置する状態
に支持部材の外周部に取り付けることになる(他の部位
に取り付けると回動駆動部とカム体との連係構造が複雑
になる)が、このように構成すると次のような問題があ
る。すなわち、フィンガー部を支持する支持部材は、フ
ィンガー部の取り付け部あたりの部分が最大径になるの
が一般的であることから、上記のように、回動駆動部を
ィンガー部の基端側近くの外方側に位置する状態に支持
部材の外周部に取り付けると、ロボットハンドにおける
フィンガー部の取り付け部あたりの部分がさらに大径化
する。[D] For example, it is also conceivable to provide a rotation drive section for directly rotating the cam body without making the cylinder tube rotatable. In this case, the rotation driving unit is attached to the outer peripheral portion of the support member in a state of being located on the outer side near the base end side of the finger unit (when the rotation driving unit is attached to another portion, the rotation driving unit and the cam body are not connected). However, such a configuration has the following problem. In other words, since the support member supporting the finger portion generally has a maximum diameter at a portion near the attachment portion of the finger portion, as described above, the rotation drive portion is disposed near the base end side of the swinger portion. When it is attached to the outer peripheral portion of the support member in a state of being located on the outside of the robot hand, the portion around the attachment portion of the finger portion in the robot hand further increases in diameter.
【0012】これに対して、請求項1の構成では、シリ
ンダチューブを回動自在に構成して、シリンダチューブ
の回動駆動によってカム体を回動するよう構成し、シリ
ンダチューブの回動駆動部をシリンダチューブの押し出
し体側とは反対側に配設してあるから、ロボットハンド
におけるフィンガー部の取り付け部あたりの部分の大径
化を回避できる。On the other hand, in the structure of the first aspect, the cylinder tube is configured to be rotatable, and the cam body is configured to be rotated by the rotation drive of the cylinder tube. Is disposed on the side opposite to the extruded body side of the cylinder tube, so that it is possible to avoid an increase in the diameter of the portion of the robot hand near the attachment portion of the finger portion.
【0013】請求項2の構成によれば、上記請求項1の
構成による作用と同様の作用を奏することができるのに
加え、次の作用を奏することができる。 〔ホ〕支持部材とは離れた固定側部材に設けた回動駆動
部でシリンダチューブを回動させ、この回動に伴ってカ
ム体を回動駆動させる構造であり、さら前記回動駆動部
は、シリンダチューブの押し出し体側とは反対側の端部
に連係してあるから、例えば前記回動駆動部を支持部材
に設けた構造に比べると支持部材とともに位置変更する
部材が減って、位置変更する部分を軽量化できる。According to the structure of claim 2, in addition to the function similar to the function of the structure of claim 1, the following function can be provided. [E] A structure in which the cylinder tube is rotated by a rotation drive unit provided on the fixed side member separated from the support member, and the cam body is rotationally driven with this rotation. Is linked to the end of the cylinder tube on the side opposite to the extruded body side. It is possible to reduce the weight of the part to be made.
【0014】請求項3の構成によれば、上記請求項1又
は2の構成による作用と同様の作用を奏することができ
るのに加え、次の作用を奏することができる。 〔ヘ〕フィンガー部を中空の軟質材から形成するととも
に、流体供給部からのフィンガー部内への流体の供給圧
でフィンガー部が把持状態に折曲変形し、流体の排出で
把持解除状態に復元するよう構成してあるから、レタス
をやさしく把持できる。According to the configuration of claim 3, in addition to the same operation as the operation of the above-described configuration of claim 1 or 2, the following operation can be obtained. [F] The finger portion is formed from a hollow soft material, and the finger portion is bent and deformed into a gripping state by the supply pressure of the fluid from the fluid supply portion into the finger portion, and is restored to the gripping released state by discharging the fluid. With such a configuration, the lettuce can be easily gripped.
【0015】〔ト〕流体供給部からの流体は、シリンダ
チューブと、支持部材のシリンダチューブ周りの支持部
分との間に形成した環状の流体収容空隙に第1流路を介
して収容され、第2流路を介してそこから各フィンガー
部の中空部に分配されるから、流体を第1流路から各フ
ィンガー部の中空部に直接分配する場合に比べると、流
路をコンパクトに纏めることができて、流路を形成する
ホース等が支持部材の位置変更時に他物に引っ掛かるの
を防止できる。(G) The fluid from the fluid supply section is accommodated through a first flow path in an annular fluid accommodation space formed between the cylinder tube and a support portion of the support member around the cylinder tube. Since the fluid is distributed to the hollow portions of the finger portions through the two flow channels, the fluid channels can be more compactly compared to a case where the fluid is directly distributed from the first flow channel to the hollow portions of the finger portions. As a result, it is possible to prevent a hose or the like forming the flow path from being caught by another object when the position of the support member is changed.
【0016】〔チ〕前記流体収容空隙に代えて、例えば
横断平面視でシリンダチューブを囲むコの字状の分配流
路を支持部材にボール盤で穿設するとともに、この分配
流路の各直線流路部分の長手方向中間部と各フィンガー
部とを連通接続する流路を支持部材にその径方向外方側
から形成し、前記コの字状の分配流路の一つの開口部に
流体供給部からの第1流路を連通接続し、残りの開口部
(上記のようにボール盤でコの字状の分配流路を形成す
る場合、3本の穴を加工することになるから、残りの開
口部は2個である)に詰栓をした構造に構成すると、穿
設すべき流路の本数が多くなることや、各直線流路部分
を互いに繋がるように穿設しなけばならないことなどか
ら加工に時間がかかり、しかも詰栓工程も必要となる
が、請求項3の構成によれば、流体収容空隙と各フィン
ガー部とを連通接続する流路を支持部材にその径方向外
方側から形成するとともに、流体供給部からの第1流路
に連通接続する流路を流体収容空隙に連通するよう形成
するだけでよく、加工すべき流路の本数が少なくなって
穿設加工の時間を短縮化でき、さらに、詰栓工程も不要
で製作コストを低廉化することができる。[H] Instead of the fluid storage space, for example, a U-shaped distribution channel surrounding a cylinder tube in a cross-sectional plan view is drilled in a support member with a drilling machine, and each linear flow in the distribution channel is formed. A flow path for communicating and connecting the middle part in the longitudinal direction of the path part and each finger part is formed in the support member from the radially outer side, and a fluid supply part is formed in one opening of the U-shaped distribution flow path. The first flow path is connected to the remaining openings (when forming a U-shaped distribution flow path with a drilling machine as described above, three holes are machined. (The number of parts is two.) If it is configured to be plugged, the number of channels to be drilled will increase, and it will be necessary to drill each linear channel so as to connect with each other. Processing takes time and a plugging step is required. According to this, the flow path connecting the fluid storage space and each finger portion is formed in the support member from the radially outer side, and the flow path connected to the first flow path from the fluid supply unit is formed in the fluid storage section. It is only necessary to form the passage so as to communicate with the gap, and the number of channels to be processed is reduced, so that the drilling time can be shortened. Further, the plugging step is not required and the production cost can be reduced.
【0017】〔効果〕従って、請求項1の構成によれ
ば、前記作用〔イ〕により球状農作物の包装作業時にお
ける作業者の労力を軽減化することができ、前記作用
〔ロ〕により、フィンガー部で球状農作物をしっかりと
把持できて、把持した球状農作物が落下したり位置ずれ
したりするのを防止でき、前記作用〔ハ〕,〔ニ〕によ
りロボットハンドを小型化できた。[Effect] Therefore, according to the configuration of claim 1, the operation [A] can reduce the labor of the worker at the time of packing the spherical crop, and the operation [B] can reduce the finger labor. The spherical crop can be firmly gripped by the portion, and the gripped spherical crop can be prevented from dropping or displacing, and the robot hand can be miniaturized by the above operations (c) and (d).
【0018】請求項2の構成によれば、上記請求項1の
構成による効果と同様の効果を奏することができるのに
加え、前記作用〔ホ〕により支持部材の位置変更させる
ための駆動部を小出力のものにできた。According to the configuration of claim 2, in addition to the same effect as the effect of the configuration of claim 1, it is possible to provide a drive unit for changing the position of the support member by the operation [e]. The output was small.
【0019】請求項3の構成によれば、上記請求項1又
は2の構成による効果と同様の効果を奏することができ
るのに加え、前記作用〔ヘ〕により把持に伴う農作物の
損傷を防止でき、前記作用〔ト〕により作業性を向上さ
せることができ、前記作用〔チ〕により安価に製作でき
て経済性を向上させることができた。According to the structure of claim 3, in addition to the effect similar to the effect of the structure of claim 1 or 2, it is possible to prevent the damage of the crop due to the gripping by the action [f]. The operation [g] can improve the workability, and the operation [h] can be manufactured at low cost and improve the economic efficiency.
【0020】[0020]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。図1に示すように、レタス包装装
置1(農作物処理装置に相当し、以下、包装装置と略称
する)と、この包装装置1にレタスを供給するレタス供
給装置2とを、互いに独立して床面に載置するととも
に、両装置1,2を制御する制御装置3を設けてレタス
包装設備を構成してある。Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a lettuce wrapping device 1 (corresponding to a crop processing device, hereinafter abbreviated as a wrapping device) and a lettuce supply device 2 for supplying lettuce to the wrapping device 1 are independently floor-mounted. On the surface, a control device 3 for controlling both devices 1 and 2 is provided to constitute a lettuce packaging facility.
【0021】図2にも示すように前記レタス供給装置2
は、包装装置1の前壁に対向した状態で起立する丸パイ
プ製の門形の主フレーム4を包装装置1よりも丈高く設
け、作業者により供給されたレタスを横方向に包装装置
1側まで送るベルトコンベア5の搬送終端側を、主フレ
ーム4の包装装置2とは反対側の側部に設けた丸パイプ
製の第1横向き支持フレーム6に、ボルト連結機構7を
介して取外し自在に支持させるとともに、ベルトコンベ
ア5の搬送始端側に脚部5Aを設け、ベルトコンベア5
で所定の取出し位置Aまで送られたレタスを、複数本の
フィンガー部16で把持し取出して包装装置1のレタス
受入れ部8に送り込むロボットハンド9を、主フレーム
4の包装装置1側の側部に設けた第2横向き支持フレー
ム10に支持させて構成してある。前記ベルトコンベア
5の搬送始端側には、その幅方向両端側に一対の棚板1
1を張出し形成して、レタスの根切り用のナイフや根切
り後のレタスの汁拭き用のタオル等を載置できるように
してある。As shown in FIG. 2, the lettuce supply device 2
Is provided with a portal-shaped main frame 4 made of a round pipe standing upright in a state facing the front wall of the packaging device 1 and having a height higher than that of the packaging device 1, and letting the lettuce supplied by an operator be laterally placed on the side of the packaging device 1. The transfer end side of the belt conveyer 5 is detachably attached via a bolt connection mechanism 7 to a first horizontal support frame 6 made of a round pipe provided on the side of the main frame 4 opposite to the packaging device 2. In addition to supporting the belt conveyor 5, a leg 5 </ b> A is provided on the conveyance start end side of the belt conveyor 5.
The robot hand 9 which grips the lettuce sent to a predetermined take-out position A with a plurality of finger portions 16 and takes out the lettuce to the lettuce receiving portion 8 of the packaging device 1 is moved to the side portion of the main frame 4 on the packaging device 1 side. Is supported by the second lateral support frame 10 provided in the first embodiment. A pair of shelves 1 are provided at both ends in the width direction at the transport start end side of the belt conveyor 5.
The overhang 1 is formed so that a knife for root cutting of lettuce, a towel for wiping the juice of lettuce after root cutting, and the like can be placed.
【0022】そして、包装装置1の前壁に沿って主フレ
ーム4の両脚部4A間よりも長くなる状態に包装装置本
体1Aにステー12を設け、このステー12に、両脚部
4Aのうち、よりレタス搬送方向上手側に対応する側の
脚部4Aに設けた下向きの第1フック13を係合させる
とともに、他方の脚部4Aに設けた下向きの第2フック
15を、前記ステー12に固着した横向き支持片14の
係合孔14Aに係合させてある。つまり、両フック1
3,15をステー12と係合孔14Aとに係合する構造
で、レタス供給装置2を包装装置1に対し位置決めして
連結、及び連結解除可能な位置決め係合手段Rを構成し
ている。第2フック15の係合孔14Aへの係合作業
は、ベルトコンベア5の搬送終端部の外方側から行うこ
とになるが、上記の構造では、係合孔14Aが前記搬送
終端部の外方側空間に近い位置にありるので、例えば、
前記第1フック13に対応する状態に形成した係合孔に
前記第1フック13を係合させる構造のものに比べる
と、係合作業を行ないやすいという利点がある。Then, a stay 12 is provided on the packaging device main body 1A along the front wall of the packaging device 1 so as to be longer than between the two legs 4A of the main frame 4, and the stay 12 is provided with more of the two legs 4A. The first downward hook 13 provided on the leg 4A on the side corresponding to the upper side in the lettuce transport direction was engaged, and the second downward hook 15 provided on the other leg 4A was fixed to the stay 12. It is engaged with the engagement hole 14A of the lateral support piece 14. In other words, both hooks 1
The structure in which the stays 3 and 15 are engaged with the stays 12 and the engagement holes 14A constitutes a positioning engagement means R capable of positioning and connecting and disconnecting the lettuce supply device 2 with respect to the packaging device 1. The work of engaging the second hook 15 with the engagement hole 14A is performed from the outer side of the transport end of the belt conveyor 5, but in the above structure, the engagement hole 14A is located outside the transport end. Because it is located near the side space, for example,
There is an advantage that it is easier to perform an engagement operation than a structure in which the first hook 13 is engaged with an engagement hole formed in a state corresponding to the first hook 13.
【0023】前記ボルト連結機構7は、ベルトコンベア
5における搬送フレーム17の搬送終端側の下面部分に
支持ブラケット81を介して設けた一対の下向きU字形
部材18を、前記第1横向き支持フレーム6に上方から
嵌合するとともに、U字形部材18の両遊端部と第1横
向き支持フレーム6とをボルト・ナットで連結して構成
してある。ボルト連結機構7を連結解除することで、作
業者が、搬送フレーム17の搬送終端側部分に設けた把
手80を持って、主フレーム4に対するベルトコンベア
5の平面視での向きを180°変更することができる
(図6参照)。つまり前記ボルト連結機構7は、主フレ
ーム4に対するベルトコンベア5の平面視での各向きご
とに前記搬送終端部と主フレーム4とを位置決めして連
結、及び連結解除可能な連結手段を構成している。The bolt connecting mechanism 7 connects the pair of downward U-shaped members 18 provided on the lower surface of the conveyor frame 17 of the belt conveyor 5 on the transport end side via the support bracket 81 to the first lateral support frame 6. It is fitted from above, and both free ends of the U-shaped member 18 and the first lateral support frame 6 are connected by bolts and nuts. By releasing the connection of the bolt connection mechanism 7, the operator changes the orientation of the belt conveyor 5 with respect to the main frame 4 by 180 ° with the handle 80 provided on the transfer end side portion of the transfer frame 17. (See FIG. 6). In other words, the bolt connection mechanism 7 constitutes a connection means capable of positioning and connecting the transport end portion and the main frame 4 for each direction of the belt conveyor 5 with respect to the main frame 4 in plan view and connecting and releasing the connection. I have.
【0024】図7,図9に示すように、平面視で分割環
状のレタス支持部19Aを円形状の座板19Bに一体に
設けて成るゴム製のレタス支持部材19を、ベルトコン
ベア5の搬送面に長手方向で一定のピッチで設けて、レ
タスをその切断面が上側となる姿勢にレタス支持部19
Aにより位置決め支持した状態で、ロボットハンド9側
に搬送するよう構成してある。また、図7,図8に示す
ように、レタス支持部19Aの中心部に位置する状態に
前記座板19Bに一体形成した突出リング部19Cに、
底抜けカップ状のゴム製のレタス補助支持部材20の下
端開口部を弾性嵌合自在に設け、レタス支持部19Aと
レタス補助支持部材20とに、それらの径方向外方側か
ら前記ロボットハンド9の複数本のフィンガー部16が
各別に入り込んでレタスを把持するのを許す複数の切欠
部21をそれぞれ設けて、短径がレタス支持部19Aの
内径より小さい紡錘形のレタスの場合は、レタス補助支
持部材20によりレタスを位置決めし縦姿勢に支持した
状態で、ロボットハンド9側に搬送可能に構成してあ
る。なお、前記レタス補助支持部材20の各切欠部21
が前記レタス支持部19Aの各切欠部21に各別に対応
して位置する状態に、レタス補助支持部材20をレタス
支持部19Aに対して位置決めする位置決め手段22を
設け、この位置決め手段22を構成するに、前記座板1
9Bとレタス補助支持部材20の底部とに、互いに係合
する係合ピン23と係合孔24とを振り分けて設けてあ
る。As shown in FIGS. 7 and 9, the lettuce support member 19 made of rubber, in which a lettuce support portion 19A having a divided annular shape in plan view is integrally provided on a circular seat plate 19B, is transported to the belt conveyor 5. The lettuce is provided on the surface at a constant pitch in the longitudinal direction, and the lettuce is positioned so that the cut surface thereof is on the upper side.
In a state where it is positioned and supported by A, it is configured to be conveyed to the robot hand 9 side. As shown in FIGS. 7 and 8, a protruding ring portion 19C integrally formed on the seat plate 19B in a state of being located at the center of the lettuce support portion 19A,
A lower end opening of a rubber-made lettuce auxiliary support member 20 made of a bottomed cup is provided so as to be elastically fittable, and the robot hand 9 is attached to the lettuce support portion 19A and the lettuce auxiliary support member 20 from their radially outer sides. In the case of a spindle-shaped lettuce having a short diameter smaller than the inner diameter of the lettuce support portion 19A, a plurality of cutout portions 21 are provided to allow a plurality of finger portions 16 to enter each and grip the lettuce. In a state where the lettuce is positioned by 20 and supported in a vertical posture, the lettuce can be transported to the robot hand 9 side. In addition, each notch 21 of the lettuce auxiliary support member 20
The positioning means 22 for positioning the lettuce auxiliary support member 20 with respect to the lettuce support part 19A is provided in such a state that each is positioned corresponding to each of the notches 21 of the lettuce support part 19A. And the seat plate 1
An engagement pin 23 and an engagement hole 24 that engage with each other are separately provided on the bottom surface of the lettuce auxiliary support member 20 and the bottom of the lettuce auxiliary support member 9.
【0025】図10〜図13に示すように、ベルトコン
ベア5の搬送終端側でレタス供給装置2の主フレーム4
よりも上手側に、一対のレタス支持部19Aで各別に支
持する一対のレタスの切断面からの植物液を除去する拭
き取り装置25を、ベルトコンベア5に跨がる状態にそ
のベルトコンベア5の搬送フレーム17に立設してあ
る。As shown in FIGS. 10 to 13, the main frame 4 of the lettuce supply device 2
The wiping device 25 that removes the vegetable liquid from the cut surfaces of the pair of lettuce separately supported by the pair of lettuce support portions 19A on the better side is transported to the belt conveyor 5 in a state of straddling the belt conveyor 5. It stands on the frame 17.
【0026】前記拭き取り装置25を構成するに、共通
した第1横軸芯X周りに各別に上下自由揺動自在に支持
フレーム26に支持させた一対の揺動アーム27の屈曲
揺動端部に、スポンジ製の衝撃吸収用円柱状部材28
を、搬送面の上方でその搬送面の幅方向に沿う状態に装
着し、この円柱状部材28に、植物液を吸収する吸収材
としてのタオル29を巻き付けるとともにタオル29の
端部に設けたマジックテテープ82で固定し、揺動アー
ム27の揺動基端側に、揺動アーム27を揺動駆動して
一対のタオル29に一対のレタスの切断面を各別に叩き
作動させる揺動駆動機構30を設け、この揺動駆動機構
30を構成するに、前記第1横軸芯Xよりも揺動端部と
は反対側に延出した前記一対の揺動アーム27の基端側
の延出端部を、これら両延出端部に挟み込み接当される
状態に受け止めて両揺動アーム27の自由揺動下降を牽
制阻止するクランクピン31と、その挟み込み接当状態
で両揺動アーム27が交互に上昇揺動するように、クラ
ンクピン31をクランクアーム32を介して第1横軸芯
Xに沿う第2横軸芯Y周りに回転させるクランク機構3
3とを設け、両延出端部をクランクピン31に当接付勢
してそれらの間での打撃の発生を抑制するスプリング3
4を、両揺動アーム27にわたって設けてある。The wiping device 25 is constituted by a pair of oscillating arms 27 supported on a supporting frame 26 so as to be freely oscillatable up and down around a common first horizontal axis X. , A shock absorbing cylindrical member 28 made of sponge
Is mounted above the transport surface along the width direction of the transport surface, and a towel 29 as an absorbent for absorbing plant fluid is wound around the columnar member 28 and a magic tee provided at an end of the towel 29 is provided. A rocking drive mechanism 30 that is fixed with a tape 82 and is driven to rock the rocking arm 27 on the rocking base end side of the rocking arm 27 to strike the cut surfaces of the pair of lettuce on the pair of towels 29 separately. In order to constitute the swing drive mechanism 30, the pair of swing arms 27, which extend from the first horizontal axis X to the opposite side to the swing end, are provided at the base end side. The crank pin 31 which receives the part in a state where it is sandwiched and contacted by these two extended ends to prevent free swinging down of the two swing arms 27 and prevents the two swing arms 27 in the sandwiched contact state. Click the crank pin 31 so that it rises and swings alternately. Crank mechanism is rotated to a second horizontal axis Y around along the first horizontal axis X via the Nkuamu 32 3
And a spring 3 for pressing both extension ends against the crankpin 31 to suppress the occurrence of a blow between them.
4 are provided over both swinging arms 27.
【0027】前記ベルトコンベア5は、前記一定のピッ
チの1ピッチ分だけ移動した後、設定時間だけ停止する
作動を繰り返して行う間歇作動型であり、ベルトコンベ
ア5の停止時に前記一対の揺動アーム27が揺動駆動さ
れて一対のタオル29が一対のレタスの切断面を各別に
叩くように前記拭き取り装置25を配置構成するととも
に、両タオル29のレタス叩き位置での間隔を、レタス
支持部材19のピッチと同一に設定してある(図13
(イ),(ロ)参照)。The belt conveyor 5 is an intermittent operation type in which the belt conveyor 5 moves by one pitch of the constant pitch and then repeatedly stops at a set time. When the belt conveyor 5 stops, the pair of swing arms 5 The wiping device 25 is arranged and configured so that the pair of towels 29 individually strike the cut surfaces of the pair of lettuce when the pair of towels 29 are swung, and the interval between the two towels 29 at the lettuce tapping position is adjusted by the lettuce support member 19. The pitch is set to be the same as that of FIG.
(See (a) and (b).)
【0028】図1に示すように前記包装装置1は、上面
中央部のレタス受入れ部8に形成したレタス投入口35
からレタスを受入れて透明な包装シート36で包装し、
前記主フレーム4とは反対側の側面に設けた開口37
(図28参照)から包装の終わったレタスを排出する装
置である。この包装装置1と前記制御装置3とには、共
に独立して移動自在にそれぞれキャスター38を設けて
ある(図5参照)。As shown in FIG. 1, the packaging apparatus 1 has a lettuce inlet 35 formed in a lettuce receiving portion 8 at the center of the upper surface.
And lettuce is wrapped in a transparent packaging sheet 36,
An opening 37 provided on the side opposite to the main frame 4
(See FIG. 28) This is a device for discharging lettuce after packaging. The packaging device 1 and the control device 3 are each provided with a caster 38 that is independently and freely movable (see FIG. 5).
【0029】図1,図14に示すように前記ロボットハ
ンド9は、前記第2横向き支持フレーム10に支持ブラ
ケット39を固定し、第1電動モータM1及び支持ブラ
ケット39に駆動揺動自在に支持させた揺動アーム40
の揺動端部側に、複数本のフィンガー部16をつり下げ
支持したフィンガー支持部材41を設けるとともに、こ
のフィンガー支持部材41を介してフィンガー部16の
姿勢を保持する姿勢保持機構42を設けて、揺動アーム
40の揺動に伴って、フィンガー部16が下向き姿勢の
まま円弧軌跡を描いて前記取出し位置Aと、前記レタス
投入口35に対応する送り込み位置Bとの間を往復移動
するよう構成してある。As shown in FIGS. 1 and 14, the robot hand 9 has a support bracket 39 fixed to the second lateral support frame 10 and is supported by the first electric motor M1 and the support bracket 39 so as to be able to swing. Swing arm 40
A finger support member 41 for suspending and supporting a plurality of finger portions 16 is provided on the swing end side of the device, and a posture holding mechanism 42 for holding the posture of the finger portion 16 via the finger support member 41 is provided. In accordance with the swing of the swing arm 40, the finger portion 16 reciprocates between the take-out position A and the feed position B corresponding to the lettuce insertion port 35 while drawing a circular locus in a downward posture. It is composed.
【0030】図22に示すように前記フィンガー部16
は、背部側を長手方向に一定の間隔で蛇腹16aに形成
した中空ゴム材から成り、その基端側の開口を、鍔付き
の支持パイプ65に外嵌するとともに、前記基端側を締
めつけリング83で締めつけ固定し、フィンガー部16
の基端部と支持パイプ65との連結部の把持面側部分
に、この把持面側部分の段差を埋めてその部分のレタス
側を向く面をフィンガー部16の先端から遠ざかるほど
縮径側に位置させるテーパー部66をフィンガー部16
の基端部に一体連設し、コンプレッサー67(流体供給
部に相当、図17参照)からのフィンガー部内への空気
の供給圧でフィンガー部17が把持状態に折曲変形し、
空気の排出で把持解除状態に復元するよう構成してあ
る。As shown in FIG.
Is made of a hollow rubber material having bellows 16a formed on the back side at regular intervals in the longitudinal direction. The base end side of the hollow rubber material is externally fitted to a flanged support pipe 65, and the base end side is tightened with a ring. 83 and fix it.
In the gripping surface side portion of the connection portion between the base end portion and the support pipe 65, the step of the gripping surface side portion is filled, and the surface facing the lettuce side of the portion is reduced in diameter as the distance from the distal end of the finger portion 16 increases. Position the tapered portion 66 to be positioned
The finger portion 17 is bent and deformed into a gripped state by the supply pressure of air from the compressor 67 (corresponding to a fluid supply portion, see FIG. 17) into the finger portion.
It is configured to restore the grip release state by discharging air.
【0031】図14,図16に示すように、前記揺動ア
ーム40がほぼ直立したことを、揺動アーム40に設け
た被検出金具43を介して検出する第1近接センサ44
を設け、この第1近接センサ44の検出情報に基づい
て、ほぼ直立位置で格納停止等させるよう構成し、ま
た、揺動アーム40に一対の被検出板45を、その一端
側が揺動アーム40から横外方側に張り出す状態に並設
するとともに、揺動アーム40がレタス取出し位置A
側、又はレタスの送り込み位置B側に位置したことを、
前記一対の被検出板45のうちの対応する被検出板45
を介して検出する一対の第2近接センサ46を支持ブラ
ケット39側の側面39Aに設け、前記一対の第2近接
センサ46の検出情報に基づいて、揺動アーム40を停
止させるとともに揺動方向を逆方向に切換え制御するよ
う制御装置3を構成してある。なお、図中の86は、オ
ーバーラン防止用のストッパーである。As shown in FIGS. 14 and 16, a first proximity sensor 44 for detecting that the swing arm 40 is almost upright is detected via a detection member 43 provided on the swing arm 40.
The storage device is configured to stop the storage at a substantially upright position based on the detection information of the first proximity sensor 44. A pair of detected plates 45 is provided on the swing arm 40, and one end of the plate 45 is provided on the swing arm 40. Are arranged side by side so as to protrude outward from the side, and the swing arm 40 is moved to the lettuce take-out position A.
Side or lettuce feed position B side,
The corresponding detected plate 45 of the pair of detected plates 45
Are provided on the side surface 39A on the support bracket 39 side, and based on the detection information of the pair of second proximity sensors 46, the swing arm 40 is stopped and the swing direction is changed. The control device 3 is configured to perform switching control in the reverse direction. Reference numeral 86 in the drawing denotes a stopper for preventing overrun.
【0032】前記姿勢保持機構42を構成するに、フィ
ンガー支持部材41に、レタス搬送方向に沿う状態に一
体に設けた支軸47を、揺動アーム40の揺動軸芯Oに
平行に沿う姿勢でその支軸軸芯P周りに回動自在に、揺
動アーム40の揺動端部に支持させ、前記支軸軸芯P上
に軸芯が位置する状態に支軸47に一体回転自在に設け
た無端体第1巻き掛け部材としての上側歯付きプーリ4
8と、前記揺動軸芯O上に軸芯が位置する状態に揺動ア
ーム40とは別体に前記支持ブラケット39に支持板5
0を介して位置固定した無端体第2巻き掛け部材として
の下側歯付きプーリ49とにわたって歯付きベルト51
を巻回してある。To constitute the posture holding mechanism 42, a support shaft 47 integrally provided on the finger support member 41 in a state along the lettuce transport direction is provided in a posture parallel to the swing axis O of the swing arm 40. To be rotatable about the spindle shaft P, supported by the swinging end of the swing arm 40, and rotatable integrally with the support shaft 47 in a state where the shaft center is located on the spindle shaft P. Upper end toothed pulley 4 as endless body first winding member provided
8 and the support plate 39 attached to the support bracket 39 separately from the swing arm 40 in a state where the axis is positioned on the swing axis O.
And a lower toothed pulley 49 as an endless second winding member fixed in position via
Has been wound.
【0033】図15に示すように、前記フィンガー支持
部材41は縦パイプ部41Aの下端部に中空で傘状のフ
ィンガー保持部41Bを連設して形成してあり、フィン
ガー支持部材41とその周りの構造について説明する
と、横断面が小判形のピストンロッド52(図17参
照)の先端部に、スポンジ53aを表面が平滑なゴム又
は軟質樹脂53bで被覆してなる弾性変形可能なレタス
押し出し体53を設けたエアーシリンダ54(流体圧シ
リンダに相当)を、前記レタス押し出し体53が複数本
のフィンガー部16の基端側に囲まれる支持部材部分か
ら出退するように、縦パイプ部41Aからフィンガー保
持部41Bの中空部にわたって下向き姿勢に支持させる
とともに、フィンガー支持部材41の底板55に取り付
けたブラケット56の小判形の孔56Aにピストンロッ
ド52を挿通させ、把持解除もしくはほぼ把持解除され
たレタスを包装装置1のレタス受入れ部8側に押し込み
可能に構成し、フィンガー部16の初期開放径を変更調
節するフィンガー開放径変更調節機構57を設けてあ
る。前記レタス押し出し体53には、把持状態の各フィ
ンガー部16の各別の入り込みを許す切欠部53Aを形
成してある(図14参照)。As shown in FIG. 15, the finger supporting member 41 is formed by connecting a hollow, umbrella-shaped finger holding portion 41B at the lower end of a vertical pipe portion 41A. The structure of (1) will be described. An elastically deformable lettuce extruded body 53 in which a sponge 53a is covered with a rubber or soft resin 53b whose surface is smooth is provided on the tip of a piston rod 52 having an oval cross section (see FIG. 17). The air cylinder 54 (equivalent to a fluid pressure cylinder) provided with a finger is moved from the vertical pipe portion 41A to the finger so that the lettuce extruded body 53 moves out of the supporting member portion surrounded by the base end sides of the plurality of finger portions 16. The bracket 56 is attached to the bottom plate 55 of the finger support member 41 while being supported in a downward position over the hollow portion of the holding portion 41B. The piston rod 52 is inserted through the hole 56A of the format, and the lettuce that has been released or almost released can be pushed into the lettuce receiving portion 8 of the packaging device 1, and the initial opening diameter of the finger portion 16 is changed and adjusted. A finger opening diameter change adjusting mechanism 57 is provided. The lettuce extruded body 53 is formed with a cutout 53A that allows each of the finger portions 16 in the gripped state to enter each other (see FIG. 14).
【0034】図15,図19,図20に示すように、前
記フィンガー開放径変更調節機構57を構成するに、エ
アーシリンダ54のシリンダチューブ58をフィンガー
支持部材41に対してシリンダ軸芯Q周りに回動自在に
構成し、フィンガー部16がフィンガー支持部材41に
対してそのフィンガー支持部材41の径方向に各別に移
動するのを許容されるように、各支持パイプ65を、フ
ィンガー支持部材41の底板55に設けた前記径方向に
沿う複数のガイド溝59に各別に挿通させ、シリンダ軸
芯Qを中心として渦巻き状に形成した複数の長孔60に
各支持パイプ65を挿通させた状態で、シリンダチュー
ブ58の回動に伴って回動することにより、支持パイプ
65を前記径方向に押引きして、前記ガイド溝59内で
移動させる円板状のカム体61をシリンダチューブ58
の下端部に外嵌固定し、前記主フレーム4の下端側に設
けたシリンダチューブ58の回動駆動用の第2電動モー
タM2と、シリンダチューブ58のレタス押し出し体5
3側とは反対側の上端部に一体回転自在に外嵌した回転
円板62とをワイヤ63を介して連係してある。As shown in FIGS. 15, 19 and 20, in order to constitute the finger opening diameter change adjusting mechanism 57, the cylinder tube 58 of the air cylinder 54 is moved around the cylinder axis Q with respect to the finger support member 41. Each support pipe 65 is formed so as to be rotatable, and each of the support pipes 65 is connected to the finger support member 41 such that the finger portion 16 is allowed to move individually in the radial direction of the finger support member 41. In the state where each support pipe 65 is inserted through a plurality of long holes 60 formed in a spiral shape around the cylinder axis Q, respectively, through the plurality of guide grooves 59 along the radial direction provided on the bottom plate 55. By rotating along with the rotation of the cylinder tube 58, the support pipe 65 is pushed and pulled in the radial direction and moved in the guide groove 59. A cam member 61 the cylinder tube 58
And a second electric motor M2 for rotationally driving a cylinder tube 58 provided at the lower end of the main frame 4 and a lettuce extruded body 5 of the cylinder tube 58.
A rotating disk 62 fitted externally so as to be rotatable integrally with the upper end opposite to the third side is linked via a wire 63.
【0035】前記第2電動モータM2は、レタスの周り
に位置した各フィンガー部16の基端側が、レタスに接
触しその接触圧が一定以上になると停止する程度の出力
のもので、この停止を検出する検出手段、即ち、回転円
板62の回転変化がなくなったことを検出するポテンシ
ョメータ64を設けて、前記制御装置3の制御により、
フィンガー部16の初期開放径を大径側に設定し(図1
9,図21(イ))、かつ、フィンガー部16を開放さ
せた状態で各フィンガー部16をレタスの周りに位置さ
せ、その後にフィンガー開放径変更調節機構57を縮径
作動させ(図20,図21(ロ))、フィンガー部16
の基端側がレタスに接近又は接触したことをポテンショ
メータ64が検出すると、その検出結果に基づいて各フ
ィンガー部16を閉じ側に把持折曲作動させるよう構成
してある。このようにしてレタスを把持するのでレタス
を抱き込み把持でき、レタスが小さめであったり大きめ
であったりしても、フィンガー部16は、把持したとき
にレタスの形状に沿った把持に好適な形になる。The second electric motor M2 has such an output that the base end side of each finger portion 16 located around the lettuce contacts the lettuce and stops when the contact pressure becomes higher than a certain value. A detecting means for detecting, that is, a potentiometer 64 for detecting that the rotation change of the rotating disk 62 has disappeared is provided, and under the control of the control device 3,
The initial opening diameter of the finger portion 16 is set to the large diameter side (FIG. 1).
9, FIG. 21 (a)), and with each finger portion 16 opened, each finger portion 16 is positioned around the lettuce, and then the finger opening diameter change adjusting mechanism 57 is operated to reduce the diameter (FIG. 20, FIG. 20). FIG. 21 (b)), finger portion 16
When the potentiometer 64 detects that the base end side approaches or contacts the lettuce, the respective finger portions 16 are configured to be gripped and bent to the closing side based on the detection result. Since the lettuce is grasped in this manner, the lettuce can be embraced and grasped, and even if the lettuce is small or large, the finger portion 16 has a shape suitable for grasping along the shape of the lettuce when grasped. become.
【0036】図15,図17,図18に示すように、前
記コンプレッサー67とフィンガー部16の中空部との
間の空気給排経路を形成するに、シリンダチューブ58
と、フィンガー支持部材41の縦パイプ部41Aとの間
に環状の空気収容空隙68を形成し、コンプレッサー6
7と空気収容空隙68とを第1ホース69(第1流路に
相当)を介して連通接続するとともに、各フィンガー部
16の中空部と空気収容空隙68の複数箇所の部分とを
空気分配用の複数本の第2ホース70(第2流路に相
当)を介して各別に連通接続してある。As shown in FIGS. 15, 17, and 18, a cylinder tube 58 is formed to form an air supply / discharge path between the compressor 67 and the hollow portion of the finger portion 16.
And the vertical air pipe portion 41A of the finger support member 41, an annular air storage space 68 is formed, and the compressor 6
7 and the air containing space 68 are connected to each other via a first hose 69 (corresponding to a first flow path), and the hollow portion of each finger portion 16 and a plurality of portions of the air containing space 68 are used for air distribution. Are connected to each other via a plurality of second hoses 70 (corresponding to second flow paths).
【0037】図1〜図3に示すように、ベルトコンベア
5の搬送終端側から包装装置1のレタス受入れ部8にわ
たるロボットハンド9のフィンガー部16の移動空間を
その側方から覆う上部開放の透明のカバー71を、第1
横向き支持フレーム6の上方で主フレーム4に片持ち状
に設けた第3横向き支持フレーム72に設けてある。こ
のカバー71は遊端側に把手73を備えており、第3横
向き支持フレーム72の外側フレーム部分72Aを支点
に、ガススプリング74を介して上方に揺動開放した状
態と閉塞した状態とに揺動切換え可能に構成してある。As shown in FIGS. 1 to 3, the upper open transparent covering the moving space of the finger portion 16 of the robot hand 9 from the side of the conveyor belt 5 to the lettuce receiving portion 8 of the packaging device 1 from the side. Cover 71
It is provided on a third lateral support frame 72 provided on the main frame 4 in a cantilever manner above the lateral support frame 6. The cover 71 is provided with a handle 73 on the free end side. The cover 71 swings upward and downward through a gas spring 74 and closes, with the outer frame portion 72A of the third lateral support frame 72 as a fulcrum. It is configured to be capable of dynamic switching.
【0038】図1,図4に示すように、制御装置3の上
部の傾斜した操作盤3Aに、他の操作スイッチ類ととも
に包装装置1の起動スイッチ75とロボットハンド9の
起動スイッチ76とを設け、カバー71を開放し、か
つ、ロボットハンド9の起動スイッチ76を切った状態
で、作業者がレタスを包装装置1のレタス受入れ部8に
投入し、包装装置1の起動スイッチ75を入れることに
よりレタスを包装可能に構成してある。制御装置3は包
装装置1とは独立して移動させることができるので、ス
イッチ操作しやすい場所に制御装置3を移動させた状態
で作業を行うことができる。As shown in FIG. 1 and FIG. 4, an activation switch 75 of the packaging device 1 and an activation switch 76 of the robot hand 9 are provided on the inclined operation panel 3A at the upper part of the control device 3 together with other operation switches. With the cover 71 opened and the start switch 76 of the robot hand 9 turned off, the worker puts the lettuce into the lettuce receiving portion 8 of the packaging device 1 and turns on the start switch 75 of the packaging device 1. The lettuce is packaged. Since the control device 3 can be moved independently of the packaging device 1, the work can be performed with the control device 3 moved to a place where the switch can be easily operated.
【0039】図1に示すように、各レタス支持部材19
は、所定のレタス支持部材19が前記取出し位置Aに位
置すると、先行する隣のレタス支持部材19がベルトコ
ンベア5の戻り行程の始端側の設定位置に下向き姿勢で
位置するように配置してあり、前記設定位置に下向き姿
勢で位置するレタス支持部材19の前端側の支持部19
Aにより光線が遮断されることで、そのレタス支持部材
19が設定位置に位置したことを検出する位置センサ7
7を設けて、所定のレタス支持部材19が、前記取出し
位置Aに到達したことを検出するよう構成してある。As shown in FIG. 1, each lettuce support member 19
Is arranged such that when a predetermined lettuce support member 19 is located at the take-out position A, the preceding adjacent lettuce support member 19 is positioned in a downward position at a set position on the start end side of the return stroke of the belt conveyor 5. , The front end side support portion 19 of the lettuce support member 19 located at the set position in a downward posture
The position sensor 7 detects that the lettuce support member 19 is located at the set position by blocking the light beam by A.
7 is provided so as to detect that the predetermined lettuce support member 19 has reached the take-out position A.
【0040】また、前記取出し位置Aのレタス支持部材
19にレタスがあるか否かを、光線が遮断されることで
検出する投光部78Aと受光部78Bとから成る存否セ
ンサ78を設け、レタスの存在が存否センサ78で検出
され、かつ、レタスを保持するレタス支持部材19が前
記取出し位置Aに達したことが位置センサ77で検出さ
れると、両センサの検出結果に基づいて、前記制御装置
3がベルトコンベア5を制御して停止させるとともに、
ロボットハンド9を制御してフィンガー部16に取出し
作動させるよう構成してある。ベルトコンベア5はレタ
スが取出されると搬送を再開する。前記投光部78Aと
受光部78Bとはそれらを結ぶ線が平面視で搬送方向に
対して傾斜する状態に配置して、かりに、ロボットハン
ド9がレタスを落下させるようなことがあっても、投光
部78Aや受光部78Bの支持ブラケット等の上に落下
することがないようにして、レタスの損傷を防止してあ
る。Further, a presence / absence sensor 78 comprising a light projecting portion 78A and a light receiving portion 78B for detecting whether or not a lettuce exists in the lettuce support member 19 at the take-out position A by blocking the light beam is provided. Is detected by the presence / absence sensor 78, and when the position sensor 77 detects that the lettuce support member 19 holding the lettuce has reached the take-out position A, the control is performed based on the detection results of both sensors. While the device 3 controls and stops the belt conveyor 5,
The robot hand 9 is controlled so as to be taken out and operated by the finger unit 16. The belt conveyor 5 resumes the conveyance when the lettuce is taken out. Even if the light projecting unit 78A and the light receiving unit 78B are arranged such that the line connecting them is inclined with respect to the transport direction in a plan view, even if the robot hand 9 may drop the lettuce, Damage to the lettuce is prevented by preventing it from dropping onto a support bracket or the like of the light emitting unit 78A or the light receiving unit 78B.
【0041】上記ロボットハンド9の動作について簡単
に説明する(図23〜図28参照)揺動アーム40が前
記取出し位置A側に揺動下降して、初期開放径が大径側
に設定されたフィンガー部16がレタスの周りに位置す
る。レタス押し出し体53は、揺動アーム40の前記揺
動下降に伴なって、逆さ姿勢のレタスの基端部に相対的
に押し上げられる。フィンガー開放径変更調節機構57
が縮径作動して、前述のように、各フィンガー部16が
レタスを抱き込み把持する(図24)。次に揺動アーム
14がレタス送り込み位置B側まで揺動して静止し(図
25)、各フィンガー部16がレタスを把持解除もしく
はほぼ把持解除するとエアーシリンダ54が伸長駆動し
て、レタス押し出し体53がレタスを包装装置1のレタ
ス受入れ部8に押し出す(図26)。レタスは包装シー
ト36ごと包装装置1のゴム製絞り込み部材84に絞り
込まれながら可動台85上に送り込まれる(図27)。
そして可動台85が下降するなど、数工程を経てレタス
が包装され、コンテンナ79に回収される(図28)。
包装シート36の上端側の余分な部分は図外のカッター
で切断されその切断片は袋87(図1参照)に回収され
る。The operation of the robot hand 9 will be briefly described (see FIGS. 23 to 28). The swing arm 40 swings down to the take-out position A and the initial open diameter is set to the large diameter side. Finger portions 16 are located around the lettuce. The lettuce push-out body 53 is pushed up relatively to the base end of the lettuce in an upside-down posture as the swing arm 40 swings down. Finger opening diameter change adjustment mechanism 57
Operates to reduce the diameter, and as described above, each finger portion 16 embraces and holds the lettuce (FIG. 24). Next, the swing arm 14 swings to the lettuce feed position B side and stops (FIG. 25), and when each finger portion 16 releases or substantially releases the lettuce, the air cylinder 54 is driven to extend and the lettuce extruded body is moved. 53 pushes the lettuce into the lettuce receiving section 8 of the packaging device 1 (FIG. 26). The lettuce is sent onto the movable base 85 while being squeezed by the rubber squeezing member 84 of the packaging apparatus 1 together with the wrapping sheet 36 (FIG. 27).
Then, the lettuce is packaged through several steps such as lowering of the movable base 85 and collected by the container 79 (FIG. 28).
An excess portion on the upper end side of the packaging sheet 36 is cut by a cutter (not shown), and the cut pieces are collected in a bag 87 (see FIG. 1).
【0042】〔別実施形態〕前記球状農作物はレタスに
限られるものではなく、キャベツ、その他の野菜や果実
等であってもよい。前記処理装置は、例えば球状農作物
の等級を判別する等級判別装置であってもよい。[Another Embodiment] The spherical crop is not limited to lettuce, but may be cabbage, other vegetables or fruits. The processing device may be, for example, a grade discriminating device that discriminates the grade of the spherical crop.
【図1】レタス包装設備の全体斜視図FIG. 1 is an overall perspective view of a lettuce packaging facility.
【図2】ベルトコンベアの搬送終端側周りの構造を示す
分解斜視図FIG. 2 is an exploded perspective view showing a structure around a conveyance end side of a belt conveyor.
【図3】ベルトコンベアの搬送方向下手側から見たレタ
ス包装設備を示す図FIG. 3 is a diagram showing the lettuce packaging equipment as viewed from a lower side in a conveying direction of the belt conveyor.
【図4】レタス包装設備の平面図FIG. 4 is a plan view of a lettuce packaging facility.
【図5】レタス包装設備の正面図FIG. 5 is a front view of the lettuce packaging equipment.
【図6】主フレームに対するベルトコンベアの平面視で
の向きを180°変更した状態を示す図FIG. 6 is a diagram illustrating a state in which the orientation of the belt conveyor with respect to the main frame in a plan view is changed by 180 °;
【図7】レタス支持部を示す斜視図FIG. 7 is a perspective view showing a lettuce support portion.
【図8】紡錘形のレタスの支持状態を示す縦断面図FIG. 8 is a longitudinal sectional view showing a support state of a spindle-shaped lettuce;
【図9】普通の形状のレタスの支持状態を示す縦断面図FIG. 9 is a longitudinal sectional view showing a support state of a lettuce having a normal shape.
【図10】レタスの拭き取り装置を示す図FIG. 10 is a diagram showing a lettuce wiping device;
【図11】レタスの拭き取り装置を示す平面図FIG. 11 is a plan view showing a lettuce wiping device.
【図12】(イ)レタスの拭き取り装置におけるタオル
の取付け前の状態を示す斜視図 (ロ)レタスの拭き取り装置におけるタオルの取付け後
の状態を示す斜視図FIG. 12 (a) A perspective view showing a state before attaching a towel in a lettuce wiping apparatus. (B) A perspective view showing a state after attaching a towel in a lettuce wiping apparatus.
【図13】(イ)レタスの拭き取り装置におけるレタス
の叩き作動を示す図 (ロ)レタスの拭き取り装置におけるレタスの叩き作動
を示す図13A is a diagram showing a lettuce beating operation of the lettuce wiping device. FIG. 13B is a diagram showing a lettuce beating operation of the lettuce wiping device.
【図14】ロボットハンドの側面図FIG. 14 is a side view of the robot hand.
【図15】ロボットハンドの縦断側面図FIG. 15 is a longitudinal sectional side view of a robot hand.
【図16】ロボットハンドにおける揺動アームが直立下
状態を示す図FIG. 16 is a diagram showing a state in which a swing arm in a robot hand is in an upright state.
【図17】コンプレッサーとフィンガー部の中空部との
間の空気給排経路を示す横断平面図FIG. 17 is a cross-sectional plan view showing an air supply / discharge path between the compressor and the hollow portion of the finger portion.
【図18】コンプレッサーとフィンガー部の中空部との
間の空気給排経路を示す図FIG. 18 is a diagram showing an air supply / discharge path between a compressor and a hollow portion of a finger portion.
【図19】フィンガー部の開放径が大径になった状態に
おけるフィンガー開放径変更調節機構を示す図FIG. 19 is a diagram showing a finger opening diameter change adjusting mechanism in a state where the opening diameter of the finger portion is large.
【図20】フィンガー部の開放径が小径になった状態に
おけるフィンガー開放径変更調節機構を示す図FIG. 20 is a view showing a finger opening diameter change adjusting mechanism in a state where the opening diameter of the finger portion is reduced.
【図21】(イ)フィンガー部の開放径が大径になった
状態におけるフィンガー部と、これに把持される直前の
レタスを示す横断平面図 (ロ)フィンガー部の開放径が小径になった状態におけ
るフィンガー部と、これに把持されたレタスとを示す横
断平面図FIG. 21 (a) is a cross-sectional plan view showing a finger portion in a state where the opening diameter of the finger portion is large and lettuce immediately before being gripped by the finger portion. (B) The opening diameter of the finger portion is small. Cross-sectional plan view showing a finger portion in a state and a lettuce gripped by the finger portion
【図22】フィンガー部と支持パイプとの連結構造を示
す図FIG. 22 is a diagram showing a connection structure between a finger portion and a support pipe.
【図23】ロボットハンドがレタスを把持する前の状態
を示す図FIG. 23 is a diagram showing a state before the robot hand grips the lettuce;
【図24】ロボットハンドが取り出し位置でレタスを把
持した状態を示す図FIG. 24 is a diagram showing a state in which the robot hand grips the lettuce at the removal position.
【図25】ロボットハンドが送り込み位置に位置した状
態を示す図FIG. 25 is a diagram showing a state in which the robot hand is located at a sending position.
【図26】レタス押し出し体でレタスをレタス受入れ部
に押し出した状態を示す図FIG. 26 is a diagram showing a state in which the lettuce is pushed out to the lettuce receiving portion by the lettuce pushing body.
【図27】レタス受入れ部にレタスを受け入れた状態を
示す図FIG. 27 is a diagram showing a state where a lettuce is received by a lettuce receiving unit;
【図28】包装後のレタスがコンテナに回収された状態
を示す図FIG. 28 is a diagram showing a state in which the lettuce after packaging is collected in a container.
1 農作物処理装置 8 農作物受入れ部 16 フィンガー部 41 支持部材 52 ピストンロッド 53 農作物押し出し体 54 流体圧シリンダ 57 フィンガー開放径変更調節機構 58 シリンダチューブ 59 ガイド溝 61 カム体 67 流体供給部 68 流体収容空隙 69 第1流路 70 第2流路 M2 回動駆動部 Q シリンダ軸芯 DESCRIPTION OF SYMBOLS 1 Agricultural product processing device 8 Agricultural product receiving part 16 Finger part 41 Support member 52 Piston rod 53 Agricultural product extruded body 54 Fluid pressure cylinder 57 Finger opening diameter change adjusting mechanism 58 Cylinder tube 59 Guide groove 61 Cam body 67 Fluid supply part 68 Fluid storage space 69 1st flow path 70 2nd flow path M2 rotation drive part Q cylinder axis
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平8−300288(JP,A) 特開 平8−300287(JP,A) 特開 平4−176582(JP,A) 実開 平4−19739(JP,U) 実開 昭61−42285(JP,U) (58)調査した分野(Int.Cl.7,DB名) B25J 15/08 ────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-8-300288 (JP, A) JP-A-8-300287 (JP, A) JP-A-4-176658 (JP, A) 19739 (JP, U) Shokai Sho 61-42285 (JP, U) (58) Fields investigated (Int. Cl. 7 , DB name) B25J 15/08
Claims (3)
体を設けた流体圧シリンダを、球状農作物把持用の複数
本のフィンガー部を支持した位置変更自在な支持部材
に、前記農作物押し出し体が前記複数本のフィンガー部
の基端側に囲まれる支持部材部分から出退するように支
持させて、把持解除もしくはほぼ把持解除された球状農
作物を農作物処理装置の農作物受入れ部側に押し込み可
能に構成し、前記フィンガー部の初期開放径を変更調節
するフィンガー開放径変更調節機構を設け、このフィン
ガー開放径変更調節機構を構成するに、前記流体圧シリ
ンダのシリンダチューブを前記支持部材に対してシリン
ダ軸芯周りに回動自在に構成し、各フィンガー部が前記
支持部材に対してその支持部材の径方向に各別に移動す
るのを許容されるように、前記フィンガー部の基端側
を、前記支持部材に設けた前記径方向に沿うガイド溝に
挿通させ、前記シリンダチューブの回動に伴って回動す
ることにより、前記フィンガー部の基端側を前記径方向
に押引きして、その基端側を前記ガイド溝内で移動させ
るカム体を前記シリンダチューブに設け、前記シリンダ
チューブの回動駆動部を前記シリンダチューブの前記押
し出し体側とは反対側に配設してあるロボットハンド。1. A hydraulic cylinder provided with a crop extruded body at a tip end portion of a piston rod, and a plurality of said crop extruded bodies are attached to a position-changeable supporting member which supports a plurality of fingers for gripping a spherical crop. The support member portion is surrounded and retracted from the support member portion surrounded by the base end side of the finger portion, so that the gripped or almost released gripped spherical crop can be pushed into the crop receiving portion side of the crop processing device, A finger opening diameter change adjusting mechanism for changing and adjusting the initial opening diameter of the finger portion is provided.To configure the finger opening diameter changing adjusting mechanism, the cylinder tube of the fluid pressure cylinder is arranged around the cylinder axis with respect to the support member. It is configured to be rotatable so that each finger portion is allowed to move individually in the radial direction of the support member with respect to the support member. The base end side of the finger portion is inserted by inserting the base end side of the finger portion into the guide groove along the radial direction provided in the support member, and is rotated with the rotation of the cylinder tube. Is provided on the cylinder tube to push and pull in the radial direction and move the base end side in the guide groove, and the rotation drive unit of the cylinder tube is opposite to the extruded body side of the cylinder tube. Robot hand arranged on the side.
前記支持部材とは離れた固定側部材に設けて、前記シリ
ンダチューブの前記押し出し体側とは反対側の端部に連
係してある請求項1記載のロボットハンド。2. The rotation drive unit of the cylinder tube,
2. The robot hand according to claim 1, wherein the robot hand is provided on a fixed-side member separated from the support member, and is linked to an end of the cylinder tube on a side opposite to the extruded body side. 3.
成するとともに、流体供給部からの前記フィンガー部内
への流体の供給圧で前記フィンガー部が把持状態に折曲
変形し、流体の排出で把持解除状態に復元するよう構成
し、前記流体供給部と前記フィンガー部の中空部との間
の流体給排経路を構成するに、前記シリンダチューブ
と、前記支持部材のシリンダチューブ周りの支持部分と
の間に環状の流体収容空隙を形成し、前記流体供給部と
流体収容空隙とを第1流路を介して連通接続するととも
に、各フィンガー部の中空部と流体収容空隙とを流体分
配用の第2流路を介してそれぞれ連通接続してある請求
項1又は2記載のロボットハンド。3. The finger portion is formed of a hollow soft material, and the finger portion is bent and deformed into a gripping state by a supply pressure of a fluid from the fluid supply portion into the finger portion, and is gripped by discharging the fluid. The cylinder tube and the support portion around the cylinder tube of the support member are configured to restore the release state, and to configure a fluid supply / discharge path between the fluid supply portion and the hollow portion of the finger portion. An annular fluid accommodating gap is formed between the fluid supply portions and the fluid accommodating gap through a first flow path, and the hollow portion of each finger portion and the fluid accommodating gap are connected to each other for fluid distribution. 3. The robot hand according to claim 1, wherein the robot hand is connected to each other via two flow paths.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33791196A JP3220399B2 (en) | 1996-12-18 | 1996-12-18 | Robot hand |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33791196A JP3220399B2 (en) | 1996-12-18 | 1996-12-18 | Robot hand |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH10175183A JPH10175183A (en) | 1998-06-30 |
JP3220399B2 true JP3220399B2 (en) | 2001-10-22 |
Family
ID=18313160
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP33791196A Expired - Fee Related JP3220399B2 (en) | 1996-12-18 | 1996-12-18 | Robot hand |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3220399B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104858885A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed palm type flexible mechanical gripper capable of realizing driven enveloping |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6480905B2 (en) * | 2016-12-26 | 2019-03-13 | ファナック株式会社 | Robot hand |
WO2020056254A1 (en) * | 2018-09-14 | 2020-03-19 | The Regents Of The University Of California | Four-dimensional-printed pneumatically actuated flexible robotic joints |
JP2023042240A (en) * | 2021-09-14 | 2023-03-27 | 凸版印刷株式会社 | Transfer device and transfer method |
-
1996
- 1996-12-18 JP JP33791196A patent/JP3220399B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104858885A (en) * | 2015-05-18 | 2015-08-26 | 天津大学 | Fixed palm type flexible mechanical gripper capable of realizing driven enveloping |
Also Published As
Publication number | Publication date |
---|---|
JPH10175183A (en) | 1998-06-30 |
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