JP3901264B2 - Fruit and vegetable sorter - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a fruit and vegetable sorting apparatus used for sorting fruits and vegetables such as mandarin oranges, apples, kiwis, pears, persimmons, peaches, or peppers, eggplants, carrots, ginger, etc., by class.
[0002]
[Prior art]
  Conventionally, as an apparatus for sorting fruits and vegetables such as the above-mentioned examples by equal class, for example, each of a plurality of fruits and vegetables is sequentially placed on each placing portion constituting the sorting conveyor and conveyed in the feeding direction, Each vegetable product placed on each placement unit is imaged by the imaging camera, and based on the image data captured by the imaging camera, the equal class of each vegetable product is individually determined by the determination device. When each placement part is moved to each sorting position corresponding to the determination, each vegetable product placed on each placement part is discharged downward or sideward, and a large number of fruit vegetables are classified into equal classes. There is a device for sorting.
[0003]
[Problems to be solved by the invention]
  However, the sorting conveyor described above rotates the chain stretched between the sprockets in the feed direction by the driving force of the feed motor, and circulates a large number of mounting parts installed on the chain in the feed direction. Let At the same time, the rotation amount of the sprocket is detected by a detector such as a rotary encoder, and the movement distance of the chain is calculated based on the detection signal output from the detector. When it is determined that the movement distance to each sorting position stored in the determination device in advance and the movement distance of the chain are the same, the chain is placed on the placement unit for each sorting position corresponding to the determination. Fruits and vegetables are released, but the movement distance is displaced by the gap generated in the meshing part between the sprocket and the chain, and the longer the conveying distance of the sorting conveyor, the longer the chain extends, and the calculation is based on detection by the detector. Since an error occurs between the movement distance and the movement distance of the chain, the fruit and vegetables placed on each placement section may be erroneously released immediately before or after the passage of each sorting position. It is difficult to accurately release fruits and vegetables to each corresponding sorting position, and there are problems that many sorting errors occur.
[0004]
  Also, when calculating the length of chain length that occurs in the unit length and measuring the proper movement distance until the fruits and vegetables arrive at each sorting position, it takes time to process the data, so when reaching each sorting position At the same time, each vegetable product cannot be released immediately. If the feeding speed by the sorting conveyor is increased, the above-described sorting error occurs, and there is a problem that the sorting capability is limited.
[0005]
  In view of the above problems, the present invention counts the number of movements of each mounting portion moved to each position based on detection by the head detection means and the movement detection means, and counts movement number data at the inspection position and each sorting position. The purpose of the present invention is to provide a fruit and vegetable sorting apparatus that does not cause a sorting error and can accurately and quickly sort fruits and vegetables by equal class. .
[0006]
[Means for Solving the Problems]
  According to the first aspect of the present invention, each vegetable product placed on each placement part of the transport band is inspected by the inspection means at the inspection position, and the equal class of each vegetable product is classified based on the inspection data thus inspected. A fruit vegetable sorting apparatus that sorts each vegetable vegetable that has been moved to each sorting position at the subsequent stage of the inspection position, according to a class,A plurality of the above-mentioned placement sections are provided in the transport band along the transport direction of the transport band, and the leading detection body detected by the leading detection means is used as the transport band or the leading placement section corresponding to the leading placement section. In correspondence with each of the placement units, a movement detection body detected by the movement detection means is provided in the transport band or each placement unit,The inspection position and each sorting position are provided with a leading detection means for detecting the leading placement portion and a movement detection means for detecting each placement portion, and based on the detection by the leading detection means and the movement detection means, Counting means for counting the number of movements of the mounting portion is provided, the inspection data inspected by the inspection means and the movement number data counted by the counting means are stored in correspondence with each other, and counted at the inspection position and each sorting position. The fruit sorting which provided the judgment means which compares and determines movement number data, and provided the sorting means which sorts each vegetable vegetable moved to each sorting position based on the judgment by the above-mentioned judging means in each above-mentioned sorting position according to equal class It is a device.
[0007]
  The invention described in claim 2 is combined with the configuration described in claim 1 above,The inspection position is provided with article detection means for detecting the fruits and vegetables placed on each placement portion corresponding to the detection by the head detection means and the movement detection means, and based on the detection by the article detection means A storage means for storing inspection data inspected by the inspection means is provided.It is a fruit and vegetable sorter.
[0008]
  The invention according to claim 3 is combined with the structure according to claim 1 or 2,A plurality of rotating bodies are installed on the conveying side edge of an endless belt installed on one side of the conveying path so as to be vertically swingable perpendicularly to the feeding direction. Separating the fruit and vegetables between each rotating body Arranged in the feed directionIt is a fruit and vegetable sorter.
[0009]
[Action]
  The fruit and vegetable sorting apparatus according to claim 1 inspects each fruit and vegetable mounted on each mounting portion of the transport band at an inspection position by an inspection means (for example, an imaging camera and an operator's visual inspection). Based on the inspected inspection data, the equivalence class of each vegetable product is determined by the determining means. at the same time,For example, by a leading detection means and a movement detection means composed of an optical detection means, an electrical detection means, a mechanical detection means, etc., provided on the transport band or the leading placement portion corresponding to the leading placement portion. The head detection body and each movement detection body provided in the transport band or each placement portion corresponding to each remaining placement portion are detected.Based on the detection by the head detecting means and the movement detecting means, the moving number of each rotating body is counted by the counting means, and the inspection data and the moving number data are associated with each other and stored in the determining means. At each sorting position, the movement number data counted by the counting means based on the detection by the head detection means and the movement detection means is compared with the movement number data stored in the determination means, and corresponds to the equal class. When it is determined that the movement number data of the placement unit moved to the sorting position is the same as the movement number data stored in the determination unit, each vegetable vegetable moved to each sorting position is received by each sorting unit. Since it sorts by equal class, the operation | work which sorts each fruit and vegetable by equal class can be performed correctly and rapidly.
[0010]
  The fruit and vegetable sorter according to claim 2 is combined with the action of claim 1 above.Fruit vegetables placed on the placement unit corresponding to the detection by the head detection means and the movement detection means are detected by the article detection means, and the fruit vegetables placed on the placement part corresponding to the detection by the article detection means Since the inspection data is stored in the storage means, the movement number data of the placement unit on which the fruits and vegetables are placed and the inspection data of the fruits and vegetables are stored in coincidence, Data can be accurately compared by the determining means, and the sorting position can be determined accurately.
[0011]
  The fruit and vegetable sorter according to claim 3 is combined with the action according to claim 1 or claim 2,Based on the determination by the determination means, only the rotating bodies on which the fruits and vegetables are placed are swung up and down, and only the fruits of the same class corresponding to the determination are discharged, so that they are placed on the front and rear rotating bodies. Thus, it is possible to prevent the placement posture of the fruit and vegetables and the other rotating bodies from malfunctioning, and the fruit and vegetables can be accurately sorted.
[0012]
【The invention's effect】
  According to this invention, the movement number data of each mounting unit counted by the counting unit based on the detection by the head detection unit and the movement detection unit and the inspection data inspected by the inspection unit are stored in the determination unit in association with each other. When the movement number data of the placement unit moved to the sorting position corresponding to the equal class and the movement number data stored in the determination means are determined to be the same, each fruit vegetable moved to each sorting position Since objects are sorted by class, data processing is performed to calculate the time and distance until fruit vegetables are moved to each sorting position based on detection by a rotary encoder, address reader, etc., as in the conventional example. Is unnecessary, and the operation time required for data processing is short and can be easily processed. Since fruit vegetables are immediately released when moving to each sorting position corresponding to the determination by the equal class judging means, it is possible to reliably prevent the fruit vegetables from being erroneously released immediately before or after each sorting position, The operation of sorting the fruits and vegetables by equal class can be performed accurately and quickly, and the sorting ability can be improved.
[0013]
  In addition, since the leading detection unit corresponding to the leading placement unit is detected by the leading detection unit, and each movement detection unit corresponding to each loading unit is detected by each movement detection unit, the inspection position and each sorting position are detected. Thus, each placement part can be detected reliably. In addition, the number of movements of each placement unit can be accurately counted based on the detection, and the sorting of each vegetable product can be performed accurately.
[0014]
  Further, inspecting the fruits and vegetables placed on the mounting portion in response to the detection by the article detection means by the inspection means, the movement number data counted based on the detection by the head detection means and the movement detection means, and the inspection means Since the inspected inspection data is stored in the storage means, the movement number data of the placement unit on which the fruits and vegetables are placed and the inspection data of the fruits and vegetables are stored in coincidence, and the comparison of the data by the determination means is performed. Accurate and accurate determination of sorting position. Furthermore, since only the rotating bodies on which the fruits and vegetables are placed are swung up and down and released, only the fruits and vegetables of the same class corresponding to the judgment can be surely released, and the fruits and vegetables placed before and after It is possible to prevent the object mounting posture from being displaced and the other rotating bodies from malfunctioning, so that the vegetable vegetable sorting operation can be performed accurately.
[0015]
【Example】
  The drawing shows a fruit and vegetable sorting apparatus used for sorting a large number of fruits and vegetables into equal classes. In FIGS. 1 and 2, the fruit and vegetable sorting apparatus 1 shows a transport case C brought from a producer. Each of the fruits and vegetables A ... put into the carrying case C is discharged to the dispersing conveyor 2 by being turned over or reversed. Each fruit vegetable A ... discharged to the dispersing conveyor 2 is conveyed while being evenly distributed and distributed to each aligning conveyor 3 ..., and each fruit vegetable A ... distributed to each aligning conveyor 3 ... is arranged in one row. Are transferred to each supply conveyor 4. The fruits and vegetables A conveyed by the supply conveyors 4 are sequentially transferred one by one to the sorting conveyors 5. The equal class determining device 6 disposed at the inspection position a on the sorting conveyor 5 determines the equal class of each fruit and vegetable A ..., and on the basis of the determination, each class position b to f on the sorting conveyor 5 is determined. The fruits and vegetables A are discharged to the distribution conveyors 7 arranged in the same class, and the non-standard fruit vegetables A are discharged to the collection conveyor 8 disposed at the sorting position g. .
[0016]
  As shown in FIGS. 3 and 4, the sorting conveyor 5 described above includes, for example, endless belts 18 and 18 made of, for example, chains, belts, and the like on the lower side of the conveyance path. It is stretched between the sprockets 19 and 19 that are pivotally supported on the part, and the shaft ends of the sprockets 19 and 19 are fixed to the center of rotation of the return plates 20 and 20, and is provided with a speed reducer disposed at the lower part on the start side The endless belts 18 and 18 and the return plates 20 and 20 are rotated in the feed direction via the sprockets 22 and 23 and the drive chain 24 by the driving force of the motor 21. In addition, each of the rotating bodies 25, which will be described later, circulates in the feed direction faster than the feed speed of the supply conveyor 4, and is set between the feed-side starting end and the test position a and in the test position a. It is rotated back and forth by a rotating machine 56 disposed between the two. The outer peripheral edge portions of the return plates 20 and 20 are formed to have an outer diameter dimension that allows rotation bodies 25 to be described later to be rotated and returned to a horizontal posture, and between the upper edge portions of the endless belts 18 and 18, each of which will be described later. The attachment members 26 are fixed at regular intervals in the feed direction.
[0017]
  The lower end portion of each pivot support member 27 is pivotally attached in the direction orthogonal to the feeding direction to the lower end portion on the conveyance side of each mounting member 26 described above, and the upper end portion of each pivot support member 27. The base end side shaft portion of each of the support shafts 28 is fixed in a direction orthogonal to the feed direction, and each of the free end side shaft portions of the support shafts 28. The bearings are arranged so as to be freely rotatable, and a large number of rotating bodies 25 are arranged at intervals in the front-rear direction in which the fruits and vegetables A are placed with respect to the feed direction, and are also moved up and down in a direction perpendicular to the feed direction. It is pivotally attached.
[0018]
  In addition, a central portion of the locking lever 29 is pivotally attached to the conveyance-side upper end portion of the mounting member 26 so as to be pivotable back and forth, and the spring member 30 is compressed and loaded between the opposing surfaces of the mounting member 26 and the locking lever 29. Due to this elasticity, the locking shaft 31 fixed to the upper end portion of the shaft support member 27 is rotationally biased in the direction in which the locking claw 32 formed at the distal end portion of the locking lever 29 is locked, and the mounting member 26 The support member 27 and the locking lever 29 are brought into contact with the restriction shaft 33 fixed to the upper end of the shaft, and the rotation is restricted to the position where the locking shaft 31 and the locking claw 32 are locked. By locking and unlocking the locking shaft 31 and the locking claw 32, the rotating body 25 is swung up and down between the horizontal posture on which the fruit vegetables A are placed and the discharging posture to be released. . The regulating protrusion 34 projecting from the lower end portion of the shaft support member 27 and the synthetic rubber contact member 35 fixed to the transport-side front end portion of the attachment member 26 are brought into contact with each other, so that the rotating body 25 is released obliquely downward. To swing. Only by changing the angle of the restricting protrusion 34 and the thickness of the contact member 35, the rotation angle of the rotating body 25 is changed.
[0019]
  On the support shaft 27 a that supports the shaft support member 27, the base end portions of the lifting members 36, 36 formed in a long shape are pivotally attached so as to be swingable up and down, and one lifting member 36 has a short shape. The lifting member 36 formed in the above is connected. Each lifting member 36 is formed of, for example, a material such as synthetic resin, metal, wood, ceramics, and the like, and the fruit and vegetables A are supported in a horizontal posture at an interval allowed to appear and move between the rotating bodies 25. Are integrally formed or connected to each other at a predetermined interval. And the part which contacts fruit vegetables A may be coat | covered with members, such as a synthetic rubber, soft resin, leather, and cloth, for example.
[0020]
  As shown in FIG. 5, the lower edge of each lifting member 36 is engaged with the lower part of the feed-side starting end part and the lower and front guide members 39 installed in the front and rear inspection areas of the inspection position a. When the members 36 are engaged with the guide members 39, the upper edge portions of the lifting members 36 are slightly protruded upward from between the rotary members 25 in the horizontal posture, and are mounted between the rotary members 25. It is the height at which the placed vegetable product A is pushed up, and is swing-guided to a projecting position that causes at least a part or all of the vegetable product A to float in a non-contact state from the outer peripheral surface of each rotating body 25.
[0021]
  When each lifting member 36 is detached from the guide member 39, as shown in FIG. 6, the base edge side upper edge portion of each lifting member 36 is brought into contact with the support shaft 29a that pivotally supports the locking lever 29, The upper edge portions of the lifting members 36 are slightly protruded upward from between the rotary bodies 25 in the horizontal posture and between the rotary bodies 25 in the discharge posture. The height is such that the fruit and vegetable product A placed between the rotating bodies 25 is pushed up, and the height and inclination at which the fruit and vegetable product A is discharged toward the discharge direction. Rotation is restricted. The guide member 39 is constructed so that an intermediate portion corresponding to the front and rear inspection areas is horizontally leveled in the feed direction, the start end side is obliquely set so as to gradually become higher in the feed direction, and the rear end side is It is obliquely installed so as to become gradually lower in the feed direction.
[0022]
  The rotating body 25 described above is formed of, for example, a material such as synthetic resin, metal, wood, ceramics, and the outer peripheral surface of the rotating body 25 has a shape that increases in diameter from the outer peripheral surface of the central portion toward the outer peripheral surface of both ends. Yes. By forming or covering the outer peripheral surface of the rotator 25 with a member (not shown) having a large contact resistance such as synthetic rubber or soft resin, the contact resistance is increased and placed between the rotators 25. Thus, it is possible to prevent the fruit and vegetable product A from being reliably rotated and to prevent the position and posture of the fruit and vegetable product A from being displaced and from being damaged. Further, by forming a plurality or a plurality of protrusions such as stripes, lattices, meshes, etc. on the outer peripheral surface of the rotating body 25, the contact resistance is increased in the same manner as described above, and the fruit and vegetables A is surely obtained. It is rotated. In addition, you may form the outer peripheral surface of the rotary body 25 in the shape which becomes the same outer diameter toward the other end side outer peripheral surface from the one end side outer peripheral surface.
[0023]
  As shown in FIGS. 2 and 7, the isoclass determination device 6 described above surrounds the entire inspection position a set on the sorting conveyor 5 with the light shielding box 40 and also in the front inspection area inside the light shielding box 40. Are provided with light shielding covers 41 and 42, and light shielding covers 43 and 44 are provided in the rear inspection region. The imaging camera 45 is disposed to face the upper peripheral surface of the fruit vegetable A carried into the light shielding cover 41, the imaging camera 46 is disposed to face the left peripheral surface, and the imaging camera 47. Is arranged opposite to the upper peripheral surface of the fruit and vegetable A conveyed in the light shielding cover 42. The imaging camera 48 is disposed to face the upper peripheral surface of the fruit vegetable A conveyed in the light shielding cover 43, and the imaging camera 49 is disposed to face the right peripheral surface thereof. Is arranged opposite to the upper peripheral surface of the fruit and vegetable product A conveyed in the light shielding cover 44.
[0024]
  The above-described imaging cameras 45 to 50 are configured by imaging means such as a CCD camera and an image element (CCD), for example, and the apparatus main body 51 for determining the equal class of the fruit vegetables A and the image of the fruit vegetables A. Connected to the monitor 52 for copying, the article detection sensor S1, head detection sensor S2, movement detection sensor S3 disposed at the inspection position a, head detection sensor S2 disposed at the sorting positions b to f, movement detection The sensor S3 and the unlocking device 55 are connected to the apparatus main body 51. The vegetable products A moved into the light shielding covers 41 and 43 are illuminated by, for example, the illuminators 53... Constituted by halogen lamps, and the fruit vegetables A moved into the light shielding covers 42 and 44 are, for example, ultraviolet rays. Illuminated by illuminators 54... Composed of lamps or the like.
[0025]
  As shown in FIG. 3, the image pickup positions of the image pickup cameras 45 and 46 and the image pickup camera 47 and the image pickup positions of the image pickup cameras 48 and 49 and the image pickup camera 50 are detected by the article detection sensor S1 and the head detection. A sensor S2 and a movement detection sensor S3 are provided, and a head detection sensor S2 and a movement detection sensor S3 are provided at each of the sorting positions b to f as shown in FIG. Each of the sensors S1, S2, S3 is composed of optical detection means such as a light projection type sensor or a reflection type sensor composed of a light projector and a light receiver, and the article detection sensor S1 is mounted between the rotary bodies 25. The head detection sensor S2 detects the movement of the head vegetable 26A fixed to the rear edge of the mounting member 26 in correspondence with the head rotary body 25 and moves. The detection sensor S3 detects the movement of each movement detection body 26b... Projecting from the lower surface side of the mounting member 26 corresponding to each rotation body 25.
[0026]
  FIG. 10 shows a control circuit block diagram of the apparatus main body 51, and the CPU 61 follows the programs stored in the ROM 62 with each of the imaging cameras 45 to 50, the article detection sensor S1, the head detection sensor S2, and the movement detection sensor. In addition to controlling the operation of S3 and each of the unlocking devices 55, a necessary calculation process is executed, and the RAM 63 stores data necessary for the sorting operation.
[0027]
  Based on the detection signal output when the article detection sensor S1 detects the fruit and vegetables A placed between the rotating bodies 25 at the inspection position a, the CPU 61 determines the interval between the rotating bodies 25. The outer peripheral surface of the fruits and vegetables A placed is imaged by each of the imaging cameras 45 to 50, the equal class is inspected based on the image data captured by the cameras 45, 46, 48, and 49, and the cameras 47 and 50 are Corrosion is inspected based on the image data picked up in (1). That is, the equal class data stored in the ROM 62 and the image data are compared, and the equal class (for example, color, sugar content, scratches, decay, outer diameter, shape, height, width, volume, flatness, maturity, Non-standard) that does not fall under the same class).
[0028]
  The built-in counter is updated or initialized based on the detection signal output when the head detection sensor S2 detects the head detector 26a corresponding to the head rotor 25. Based on the detection signal output when the movement detection sensor S3 detects each movement detection body 26b corresponding to each rotation body 25 ..., the number of movements of each rotation body 25 ... is counted by a counter, and each rotation thereof is counted. The movement number data of the bodies 25 and the image data captured by the imaging cameras 45 to 50 are stored in the RAM 63 in association with each other. At each sorting position b to f, the counter is updated or initialized based on the detection signal output from the head detection sensor S2, and each rotating body 25... Based on the detection signal output from the movement detection sensor S3. The number of movements is counted with a counter.
[0029]
  The CPU 61 compares the movement number data of the rotating body 25 counted at each sorting position b to f with the movement number data stored in the RAM 63 corresponding to the image data, and each sorting position b corresponding to the equal class. When the CPU 61 determines that the rotating body 25 moved to ~ f and the movement number data stored in the RAM 63 are the same, the respective lock releasers 55... By operating independently, only the rotating bodies 25 on which the fruits and vegetables A are placed are swung to the discharge posture. On the other hand, when the movement number data is different, the respective lock releasers 55 are not operated, and the respective rotary bodies 25 are moved around in a horizontal posture.
[0030]
  The above-described lock release device 55 is provided with a lock release device 55 formed of, for example, an electromagnetic solenoid, an air cylinder, or the like at one side of the sorting positions b to f. Based on this, the unlocking device 55 is independently operated, and the rear end portion of the locking lever 29 is continuously pressed by the releasing member 55a, so that the locking shaft 31 of the shaft support member 27 and the locking claw 32 of the locking lever 29 are brought together. The lock is released, and the rotary bodies 25 on which the fruits and vegetables A are placed are swung to the discharge posture. On the other hand, the rotating bodies 25 and the lifting members 36 are rotated while being engaged with the outer peripheral edges of the return plates 20 and 20, and the locking shaft 31 and the locking claws 32 are locked to rotate each rotation. The body 25 is rotated and returned to the horizontal posture, and the lower edge portion of each lifting member 36 is engaged with the guide member 39 to return to the substantially horizontal posture. The rotating bodies 25 may be rotated and returned by return means such as their own weight or a spring.
[0031]
  As shown in FIG. 8, the rotating machine 56 described above is disposed at the front lower portion of the inspection position a and the intermediate lower portion of the front and rear inspection regions, and is pressed against the free end side lower peripheral surface of each rotating body 25. For example, a rotation imparting belt 57 formed of an elastic member having a large contact resistance such as synthetic rubber, soft resin, leather or the like is stretched in parallel to the feed direction at the height and position, and the rotation grant belt 57 is fed. It is stretched between drum rolls 58 and 58 that are pivotally supported at the side start end and the feed end, and is driven at high speed in a direction that coincides with the rotating direction of each rotating body 25 by the driving force of the rotation motor 59 with a reduction gear. By rotating (more than the feeding speed) or rotating at low speed in the direction opposite to the rotation direction or stopping the rotation, and rotating each rotating body 25... Pressed against the rotation applying belt 57 while rotating in the arrow direction. , Small diameter side peripheral surface portion of each rotary body 25. The peripheral speed difference generated each time the large-diameter peripheral surface, it can be reversed in the longitudinal direction of the fruit vegetables product A large and small placed between the rollers 25 in the same region (e.g., 180 degrees). Since the free end side of each of the rotating bodies 25 is slightly lifted and rotated while being inclined to one side, the fruit or vegetable A that is inclined or stands up is tilted to a horizontal posture. As another rotating method, as shown in FIG. 9, each rotating body 25 is moved in a circular manner while being pressed against a rotation applying pad 60 formed of the same member as the rotation applying belt 57. The fruits and vegetables A placed between the rotating bodies 25 are rotated in the front-rear direction.
[0032]
  The illustrated embodiment is configured as described above, and the operation when a large number of fruit vegetables A... Are sorted by equal class by the fruit vegetable sorting apparatus 1 will be described below.
  First, as shown in FIG. 1, a transport case C brought in from a producer is turned over or reversed, and a large number of fruit vegetables A... Put into the transport case C are discharged to the dispersing conveyor 2. Each fruit vegetable A ... discharged to the dispersing conveyor 2 is conveyed while being evenly distributed and distributed to each aligning conveyor 3 ..., and each fruit vegetable A ... distributed to each aligning conveyor 3 ... is arranged in one row. Are transferred to each supply conveyor 4. Each vegetable product A ... conveyed by each supply conveyor 4 ... is transferred to each sorting conveyor 5 ... one by one.
[0033]
  Next, as shown in FIG. 8, the rotating bodies 25 of the sorting conveyor 5 are rotated by a rotating machine 56, and the vegetable products A placed between the rotating bodies 25 are rotated in the front-rear direction. Each of the rotating bodies 25 is slightly tilted, and the fruit or vegetable A that is tilted or stands upside down is transported in the same direction and posture. Subsequently, as shown in FIG. 5, the lifting members 36 are projected slightly above the spaces between the rotating bodies 25, and part or all of the fruit and vegetables A is lifted from the outer peripheral surface of the rotating bodies 25. The large and small fruit vegetables A that are trapped between the rotating bodies 25 or are conveyed obliquely or in an upright state are corrected in a horizontal posture and conveyed.
[0034]
  Next, when the fruits and vegetables A... Are moved to the inspection position a, as shown in FIG. 3, the fruits and vegetables corrected in the horizontal posture by the lifting members 36 based on the detection by the article detection sensor S1. The front peripheral surface and the left peripheral surface of A are imaged by the imaging cameras 45 and 46, and when the leading rotating body 25 passes, the leading detection body 26a corresponding to the rotating body 25 is detected by the leading detection sensor S2. Based on the detection signal, the counter of the CPU 61 is initialized. Subsequently, the movement detectors 26b of the rotary bodies 25 are detected by the movement detection sensor S3, and the number of movements of the rotary bodies 25 is counted by a counter based on the detection signal. At the same time, the image data captured by the imaging cameras 45 and 46 and the movement number data of each rotating body 25 are associated with each other and stored in the RAM 63 of the apparatus main body 51. Immediately thereafter, the front peripheral surface of the fruit vegetable A is imaged by the imaging camera 47 based on the detection by the article detection sensor S1, and the image data captured by the imaging camera 47 based on the detection by each of the detection sensors S2 and S3. Are stored in the RAM 63 in association with the movement number data of each of the rotating bodies 25.
[0035]
  Next, the lifting members 36 are temporarily immersed, and the fruits and vegetables A whose direction has been corrected are placed between the rotating bodies 25 and conveyed. Immediately after the front inspection area, as described above, the rotating bodies 25 are rotated by a rotating machine 56, and the fruit and vegetables A placed between the rotating bodies 25 are rotated in the front-rear direction to be turned upside down. To do. After the reversal, the lifting members 36... Are protruded, and the vegetable products A placed between the rotary bodies 25 are once lifted to correct the vegetable products A in a horizontal posture.
[0036]
  Next, in the rear inspection area, based on the detection by the article detection sensor S1, the back side peripheral surface and the right peripheral surface of the fruit vegetable A are imaged by the imaging cameras 48, 49, and the top detection sensors S2,. Based on the detection in S3, the number of movements of each rotating body 25 is counted by a counter. At the same time, the image data captured by the imaging cameras 48 and 49 and the movement number data of each rotating body 25 are associated with each other and stored in the RAM 63. Immediately after that, based on the detection by the article detection sensor S1, the rear peripheral surface of the fruit vegetable A is imaged by the imaging camera 50, and the image data captured by the imaging camera 50 based on the detection by the detection sensors S2 and S3. Are stored in the RAM 63 in association with the movement number data of each of the rotating bodies 25.
[0037]
  Next, the lifting members 36 are immersed, and the fruit and vegetable A corrected in the horizontal posture is placed between the rotating bodies 25 and transported while maintaining the posture. Comparing the image data captured by each of the imaging cameras 45 to 50 and the equal class data stored in the ROM 62 of the apparatus main body 51, for example, color, sugar content, scratches, rot, outer diameter, shape, height, Overall judgment is made on width, volume, flatness, maturity, etc.
[0038]
  Next, when each vegetable product A... Is moved to each sorting position b to f, as shown in FIG. 6, the head detecting body 26a corresponding to the head rotating body 25 is detected by the head detecting sensor S2, and Based on the detection signal, the counter of the CPU 61 is initialized. Subsequently, the movement detectors 26b of the rotary bodies 25 are detected by the movement detection sensor S3, and the number of movements of the rotary bodies 25 is counted by a counter based on the detection signal. When the CPU 61 determines that the movement number data of the rotating body 25 moved to the respective sorting positions b to f corresponding to the equal class and the movement number data stored in the RAM 63 are the same, the movement number data is assigned to the sorting position b. The provided unlocking device 55 is operated, and only the rotating bodies 25... On which the fruits and vegetables A are placed are swung to the discharge posture and released. Similarly, based on the determination by the CPU 61, the fruits and vegetables A... That are moved to the sorting positions c to f are discharged by equal class.
[0039]
  When the rotary bodies 25 are swung to the discharge posture, the fruits and vegetables A placed between the rotary bodies 25 are lifted by the swing posture in advance. It is pushed up from below by the members 36 and is forcibly discharged. The inclination of each lifting member 36 is more gradual than that of each rotating body 25. Therefore, the vegetable products A are discharged obliquely downward along the upper edge of each lifting member 36. Can be prevented. Sorting by equal classEtEach of the fruits and vegetables A ... is discharged to the distribution conveyors 7 arranged at the sorting positions b to f and boxed by man-made work or mechanical work. Each of the non-standard fruits and vegetables A ... is discharged to the collection conveyor 8 at the sorting position g and collected.
[0040]
  As described above, the movement number data of each rotating body 25... Counted based on the detection by the head detection sensor S2 and the movement detection sensor S3 is associated with the image data captured by each of the imaging cameras 45-50. When the CPU 61 determines that the movement number data of the rotating body 25 stored in the RAM 63 and moved to the respective sorting positions b to f corresponding to the equal class is the same as the movement number data stored in the RAM 63, Since only the rotary bodies 25... On which the fruit vegetables A are placed are swung into the discharge posture and sorted, the sorting positions b to are based on detection by a rotary encoder, an address reading reader or the like as in the conventional example. Data processing for calculating the time and distance until the fruit vegetable A is moved to f is unnecessary, and the operation time required for data processing can be shortened and processed accurately. The Since the vegetable products A are released immediately when moving to the respective sorting positions b to f corresponding to the determination by the equal class judging device 6, the vegetable products A are erroneously released immediately before or after each of the sorting positions b to f. Can be surely prevented, and the operation of sorting the fruits and vegetables A ... by equal class can be performed accurately and quickly, and the sorting ability can be improved.
[0041]
  Moreover, since the head detection body 26a is detected by the head detection sensor S2, and each movement detection body 26b is detected by the movement detection sensor S3, the movement of each rotary body 25 is reliably detected at each position a to f. can do. In addition, the number of movements of the rotating bodies 25 can be accurately counted based on the detection, and the sorting operation of the fruits and vegetables A can be performed accurately.
[0042]
  Furthermore, the number of movements counted on the basis of the detection by each of the detection means S2 and S3 after the fruit and vegetables A placed on the rotating body 25 corresponding to the detection by the article detection sensor S1 is imaged by the respective imaging cameras 45 to 50. Since the data and the captured image data are stored in the RAM 63, the movement number data of the rotator 25 on which the fruit vegetables A are placed and the image data of the fruit vegetables A are stored in agreement with each other by the CPU 61. Data can be compared accurately and sorting positions can be determined accurately. Furthermore, since only the rotary bodies 25 on which the fruit vegetables A are placed are swung up and down, only the fruit vegetables A of the same class corresponding to the determination can be reliably discharged, and placed in front and back. It is possible to prevent the placed posture of the fruit and vegetable product A from being displaced and the other rotating bodies 25 to be erroneously operated, and the fruit and vegetable product A can be accurately sorted.
[0043]
  In the correspondence between the configuration of the present invention and the above-described embodiment,
  The equal class determining means of the present invention corresponds to the equal class determining device 6 of the embodiment,
  Similarly,
  The transport band corresponds to the sorting conveyor 5 of the embodiment,
  The placement unit corresponds to the rotating body 25,
  The inspection means corresponds to the imaging cameras 45 to 50,
  The inspection data of the inspection means corresponds to the image data of the imaging cameras 45 to 50,
  The determination means corresponds to the apparatus main body 51 and the CPU 61,
  The sorting means corresponds to the unlocking device 55,
  The counting means corresponds to the CPU 61 and its arithmetic processing or counter,
  The head detection means corresponds to the head detection sensor S2 and the head detection switch T2,
  The movement detection means corresponds to the movement detection sensor S3 and the movement detection switch T3.
  The present invention is not limited to the configuration of the above-described embodiment.
[0044]
  In the embodiment described above, each of the detection sensors S1, S2, S3 is constituted by an optical detection means of a light projection type sensor or a reflection type sensor, but instead of each of the detection sensors S2, S3, for example, FIG. As shown in FIG. 4, the head detection body 26a fixed to the rear edge of the mounting member 26 corresponding to the head rotation body 25 is detected by the proximity switch type head detection switch T2, and corresponding to each rotation body 25. The movement detection bodies 26b... Projecting from the lower surface side of the mounting member 26 may be detected by a proximity switch type movement detection switch T3, and the movement of the head detection body 26a and the movement detection body 26b is detected without contact. Therefore, it is possible to perform a high-frequency sorting operation and improve the ability. Further, the head detection body 26a and the movement detection body 26b may be detected by mechanical detection means such as a limit switch, and a detection operation equivalent to the embodiment can be performed.
[Brief description of the drawings]
FIG. 1 is a plan view showing an overall configuration of a fruit and vegetable sorting apparatus.
FIG. 2 is a side view showing a conveying operation by a sorting conveyor.
FIG. 3 is a rear view showing a mounting state of a rotating body and a detection state of each detection sensor.
FIG. 4 is a plan view showing a mounting state of a rotating body and each detecting body.
FIG. 5 is a rear view showing the lifting and lowering operation of the lifting member.
FIG. 6 is a rear view showing a state in which a rotating body and a lifting member are swung in a discharge posture.
FIG. 7 is a perspective view showing an inspection method using an equal class inspection device.
FIG. 8 is a side view showing a pressure contact state of a rotation imparting belt constituting the rotating machine.
FIG. 9 is a side view showing a pressure contact state of a rotation imparting pad.
FIG. 10 is a control circuit block diagram showing the configuration of the apparatus main body.
FIG. 11 is a rear view showing another detection state by each detection switch.
[Explanation of symbols]
  A ... Fruits and vegetables
  a ... Inspection position
  b to g: Sorting position
  S1 ... Article detection sensor
  S2 ... Lead detection sensor
  S3: Movement detection sensor
  T2 ... Lead detection switch
  T3 ... Movement detection switch
  1 ... Fruit and vegetable sorter
  2 ... Dispersion conveyor
  3 ... Conveyor for alignment
  4 ... Conveyor for supply
  5 ... Sorting conveyor
  6 ... Equal class judging device
  7 ... Distribution conveyor
  8 ... Conveyor for collection
  18 ... Endless belt
  25 ... Rotating body
  26: Mounting member
  26a ... Lead detection body
  26b ... Movement detector
  45-50 ... Imaging camera
  51 ... Device body
  55 ... Unlocker
  56 ... Rotating machine
  61 ... CPU
  62 ... ROM
  63 ... RAM

Claims (3)

Each fruit vegetable placed on each loading part of the transport band is inspected by the inspection means at the inspection position, and based on the inspection data inspected, the equal class of each vegetable vegetable is determined by the equal class determining means, and the inspection is performed. A fruit and vegetable sorting device that sorts each vegetable and vegetable moved to each sorting position in the subsequent stage according to equal classes,
A plurality of the above-mentioned placement sections are provided in the transport band along the transport direction of the transport band, and the leading detection body detected by the leading detecting means is used as the transport band or the leading placement section corresponding to the leading placement section. Provided in
Corresponding to each of the placement units, a movement detection body detected by the movement detection means is provided in the transport band or each placement unit,
Provided at the inspection position and each sorting position are a leading detection means for detecting the leading placement portion, and a movement detection means for detecting each placement portion,
Provided with a counting means for counting the number of movements of each placement unit based on the detection by the head detection means and the movement detection means;
The inspection data inspected by the inspection means and the movement number data counted by the counting means are stored in association with each other, and a determination means for comparing and determining the movement number data counted at the inspection position and each sorting position is provided.
A fruit and vegetable sorting apparatus in which each sorting position is provided with sorting means that sorts each vegetable and vegetable moved to each sorting position based on the determination by the determining means into equal classes. Provided at the inspection position is an article detection means for detecting fruit and vegetables placed on each placement portion in correspondence with the detection by the head detection means and the movement detection means,
The fruit and vegetable sorting apparatus according to claim 1, further comprising storage means for storing inspection data inspected by the inspection means based on detection by the article detection means . The above-mentioned placement part is installed on the conveyance side edge part of the endless belt constructed on one side part of the conveyance path so as to be able to swing up and down perpendicularly to the feeding direction.
The fruit and vegetable sorting apparatus according to claim 1 or 2 , wherein each of the rotating bodies is configured in the feeding direction at intervals between the rotating bodies where fruit and vegetables are placed .

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