JP4124439B2 - Transfer processing unit - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  This invention measures predetermined items of articles such as crops (including fruit and vegetables) such as mandarin oranges, apples, tomatoes, strawberries, peppers, eggplants, carrots, strawberries, green onions, fishery products, ball balls, foods, parts, etc. The present invention relates to a transfer residual processing apparatus provided in the apparatus.
[0002]
[Prior art]
  Conventionally, as an apparatus for measuring crops in the above-described example, for example, an upstream conveyor apparatus is configured to rotate and move each adsorber of a transfer apparatus disposed between an upstream conveyor apparatus and a downstream conveyor apparatus in the horizontal direction. The crop on the tray to be conveyed is adsorbed and held by an adsorber, and the adsorbed and held crop is transferred to the tray that is conveyed by the downstream conveyor device. In addition, there is an agricultural product sorting apparatus disclosed in Patent Document 1 in which the bottom surface of a crop to be transferred by a transfer device is imaged from below with an imaging camera, and the top surface of the crop is imaged with an imaging camera disposed on one of the conveyor devices.
[0003]
[Patent Document 1]
    Japanese Unexamined Patent Publication No. 2000-140770.
[0004]
[Problems to be solved by the invention]
  However, since the above-described sorting device adsorbs and holds the crop on the tray conveyed by the upstream conveyor device while rotating each adsorber of the transfer device in the horizontal direction, the timing of the crop and the adsorbent Therefore, it is difficult to make the adsorbent closely fit to the outer surface of the crop, and air leakage occurs between the crop and the adsorbent, so that the negative pressure necessary for adsorbing and holding the crop cannot be obtained. In addition, it is not possible to reliably transfer the crop from the tray of the upstream conveyor device to the tray of the downstream conveyor device due to an adsorption mistake caused by the adsorber or crops falling off the adsorber. . In addition, since the crop that falls off the adsorbent falls by its own weight, there is a large impact applied at the time of dropping, and for example, a dent or an abrasion is attached to the outer surface of the crop, so that the commercial value of the crop is impaired. .
[0005]
  In view of the above problems, the present inventionWhen crops are left behind on the placement plate of the article placement unit, the crops released from the placement plate are transferred to the return conveyor and transferred to the tray transfer means.By supplyingcropsTheContainer transport meansFromTray transport meansIt is an object of the present invention to provide an untransferred processing apparatus that can reliably and stably perform the operation of supplying to the apparatus.
[0006]
[Means for Solving the Problems]
  This inventionContainer transport means for transporting containers containing a plurality of crops, tray transport means for transporting trays on which the crops are individually placed, a closing angle at which the crops are placed, and the crops being directed substantially downward A mounting plate that rotates at an opening angle that is released and a receiving plate that is disposed at a lower part on the discharge side of the mounting plate and rotates up and down at a speed slower than the falling speed of the crop,the aboveContainer transport meansFromTray transport meansCan be transferred tocropsAn article placement section for placingIt is equipped with an adsorbent that adsorbs and holds crops, and can be moved horizontally and moved up and down.the aboveContainer transport meansTo the article placement sectioncropsA first transfer means for transferringIt is equipped with an adsorbent that adsorbs and holds crops, and can be moved horizontally and moved up and down.From the article placement sectionTray transport meansAgainstcropsA second transfer means for transferringA return conveyor disposed at the bottom of the backing plate and transporting the crops transferred from the backing plate to the tray transport means;At the time of transfer by the second transfer means,Agricultural products are placed on the mounting plateleft behindIn this case, the above-mentioned mounting plate is opened and the crops with transfer mistakes are discharged substantially downward, and the released crops are lowered while being received by the receiving plate and transferred to the return conveyor.It is a transfer residual processing apparatus.
[0007]
  The above-mentioned articles are composed of crops (including fruit and vegetables) such as mandarin oranges, apples, tomatoes, strawberries, pears, peaches, peppers, eggplants, carrots, strawberries, green onions, seafood, ball balls, foods, parts, etc. can do. In addition, the article placement unit can be configured by a placement plate on which a predetermined number of crops such as one row = 6 pieces, six pieces or less, or more are placed, a concave placement portion, a conveyor, and the like. . Also,Container transport meansCan be composed of, for example, a container transport device and a transport conveyor that transport containers (containers, cardboard boxes, and the like) in which a predetermined number of crops are stored, a transport conveyor that directly transports crops, and the like. Also,Tray transport meansFor example, it may be composed of a tray transporting device and a transport conveyor for transporting a tray on which crops are placed, a device and a conveyor for transporting a tray or bread on which the crops are placed, a transport conveyor for directly transporting the crops, and the like. it can.
[0008]
  Further, the first transfer means is constituted by a first transfer device and a transfer unit that transfer, for example, the crops accommodated in the container to the mounting plate, and the second transfer means is mounted on the mounting plate, for example. It is comprised with the 2nd transfer device and transfer unit which transfer agricultural products to the tray which a tray conveyance apparatus conveys. And, for example, it can be constituted by holding means for holding an article such as an adsorber, an arm, and a chuck.The
[0009]
  That meansHoused in a container transported by container transport meansA predetermined number (for example, one row = 6, 6 or less, or more)The agricultural product is sucked and held by the adsorbent of the first transfer means, and transferred from the container transport means to the article placement section.A predetermined number of items placed on the article placement unitThe agricultural product is sucked and held by the adsorbent of the second transfer means, and the tray carrying means from the article placement unitChange to. and,First transfer means andDue to a transfer mistake of the second transfer means, for example, one or twocropsIs the article placement sectionOn the mounting plateIf left behindThe mounting plate is opened to release the crops with the transfer mistakes substantially downward, and the released crops are lowered while being received by the receiving plate and transferred to the return conveyor. The transfer mistaken crop conveyed from the return conveyor to the tray conveying means is replenished to an unmounted tray conveyed by the tray conveying means by, for example, human work and mechanical work. .
[0010]
  As an embodiment, at the time of transfer by the first transfer means,Container transport meansLeft behindcropsThe aboveTray transport meansSecond transfer remaining supply means (for example, a recovery conveyor or a shooter) can be provided.The
[0011]
[Action and effect]
  According to this invention,If the crop is left behind on the placement plate of the article placement section due to a mistake in transfer between the first transfer means and the second transfer means, the crop released from the placement plate is transferred to the return conveyor and transferred to the tray. InBecause we supplycropsThere is no excess or deficiency in the number of transfersMeans for transporting crops in containersFromTray transport meansThe work to supply to can be performed reliably and stably. And discharged from the article placement section.Agricultural crops on a receiving plateDescent while catching,cropsSince the fall speed of the machine is decelerated and attenuated, the impact applied when transferring to the article discharge part is reduced,cropsCan be transferred and supplied while maintaining the commercial value.
[0012]
【Example】
  An embodiment of the present invention will be described in detail with reference to the drawings.
[0013]
  The drawings show a measured object measuring apparatus for measuring a predetermined item of an entire crop as an example of an article and a transfer remaining processing apparatus provided in the apparatus. In FIG. 1 and FIG. The apparatus 10 includes a container transporting device 20 that transports a container B in which a predetermined number (for example, 24) of crops A are accommodated to a supply section a set on the transport path, and a crop A that is taken out from the container B. The transfer remaining processing device 30 once mounted, and the tray transfer device 40 for transferring the number of trays C substantially corresponding to the crops A to the transfer section b set on the transfer path, and the container B are accommodated. The first transfer device 50 for transferring a predetermined number (for example, 6 for one row) of crops A to the transfer remaining processing device 30 and the crop A mounted on the transfer remaining processing device 30 are transferred. Second transfer to transfer to tray C ... conveyed to loading section b A device 60, and a predetermined item of the entire crop A and a measurement and determining items measuring device 70.
[0014]
  As shown in FIG. 11, the above-described container B includes a buffer member Ba having flexibility, and a recess Bb in which various sizes of crops A are stored and held one by one. They are formed at a predetermined interval (for example, 24) with respect to the upper surface of Ba, and are arranged in an array state such as a grid or a staggered pattern.
[0015]
  As shown in FIG. 3, the container transporting device 20 described above contains the transport conveyor 21 that transports the containers B containing the crops A to the supply section a set on the transport path, and the crops A. A transfer device 22 for transferring the containers B transported to the supply section a from the conveyor 21 to the container mounts 23, 23; A replenishment step of transporting the container B from which the crops A ... have been removed to the recovery step and transferring the container B from which the crop A that has been mistakenly transferred to an unmounted tray C transported by the transport conveyor 43 described later. The transfer conveyor processing apparatus which arrange | positions the collection conveyor 24 conveyed to 1 to the lower part of a conveyance path, and is temporarily mounted for 1 row (for example, 12 pieces) of crops A ... which are transferred by the 1st transfer apparatus 50 mentioned later. 30 on the side of the container mounting table 23 It is disposed.
[0016]
  In addition, the transfer device 22 has a standby position where the pusher 22a protruding on the conveyor 21 is abutted against the side surface of the container B conveyed to the supply section a, and the container B is placed on the container mounting table 23. The container B is rotated to a transfer position to be transferred by a rotation device 22b such as an air cylinder or a solenoid, and the container B is horizontally moved in a direction (width direction) substantially orthogonal to the transport direction. It is transferred to the mounting table 23.
[0017]
  In addition, the container mounting table 23 is, for example, an air cylinder or the like at an elevated position that is substantially horizontal with the conveying surface of the upper conveyor 21 and a lowered position that is lowered below the conveying surface of the lower collecting conveyor 24. It moves up and down by a lifting device 23a such as a chain mechanism. In addition, the pair of support plates 23b arranged to face the front and rear end portions of the container B placed on the container mounting table 23 are a closed position where the front and rear end portions of the container B are supported substantially horizontally, and the support positions thereof. For example, an advancing / retreating device 23c such as an air cylinder or a solenoid moves back and forth to the open position where is released.
[0018]
  As shown in FIGS. 4 and 5, the transfer remaining processing device 30 described above has a pair of mounting plates 31 on which a row of crops A held by a first transfer device 50 described later is mounted. Near the side of the above-described container mounting table 23 and disposed substantially in the middle of the container transporting device 20 and the tray transporting device 40, and substantially horizontal with the container B mounted on the above-described container mounting table 23. It is erected at a certain height. In addition, the mounting plates 31, 31 have an opening / closing device 32 such as an air cylinder, a solenoid, or a motor at a closed angle at which the crop A is mounted and an open angle at which the crop A is discharged substantially downward. Rotate in conjunction with.
[0019]
  In addition, when one or two crops A are left behind on the mounting plates 31 and 31 due to the adsorbing element 62a being missed or dropped from the adsorbing member 62a, the mounting plates 31 and 31 A receiving plate 33 for receiving the released crop A is disposed at the lower portion on the discharge side of the mounting plates 31, 31, and the unmounted tray C on which the transfer mistaken crop A is transported by a transport conveyor 43 described later. A return conveyor 34 that is transported to the replenishment process is transferred to the lower part of the receiving plate 33 on the discharge side.
[0020]
  And the receiving plate 33 is between the receiving angle which receives the crop A discharged | emitted from the mounting plates 31 and 31, and the discharge | emission angle which the agricultural product A discharge | releases substantially diagonally downward toward the return conveyor 34, for example, The rotating device 33a having a braking function such as an oil damper or a speed reducer is rotated up and down at a speed slower than the falling speed of the crop A, and the falling speed of the crop A discharged from the mounting plates 31 and 31 is reduced. Attenuating and reducing the impact applied when transferring to the return conveyor 34.
[0021]
  The above-described tray transport device 40 includes a transport conveyor 41 that transports a free tray C on which a crop A to be transferred by a second transfer device 60 described later is placed to a transfer section b set on the transport path, and the crop A. And a transfer conveyor 43 for transferring the tray C on which the crop A is placed to the next process (for example, a sorting process), and transferring the tray C on which the crop A is mounted from the transfer conveyor 41 to the transfer conveyor 43. The device 42 is disposed on the side of the conveyance path. Further, the tray C from which the crop A that has been returned and transported from the sorting step (not shown) is removed substantially corresponds to the transfer operation of the transfer device 42 and the transfer operation of the second transfer device 60. Returned to the top.
[0022]
  In addition, in the transfer section b on the transport conveyor 41, the necessary number of trays C for replenishing the misplaced crops A left on the mounting plates 31, 31, that is, the transfer unit 62 described later. A predetermined number (for example, 1 and 2) is supplied in excess of the number of adsorption (for example, 12) of the crops A ... that are adsorbed and held by the adsorbers 62a.
[0023]
  In addition, the stoppers 44 and 45 disposed between the conveyors 41 and 43 and the stoppers 46 and 47 disposed before and after the transfer section b are used to convey the tray C on which the crop A is placed from the conveyor 41 to the conveyor. When the tray C that has been transferred and not mounted on the transport belt 43 is transported to the transfer section b on the transport conveyor 41, substantially corresponding to the transfer operation of the transfer device 42 and the transfer operation of the second transfer device 60, for example, It moves in and out by advancing and retracting means such as an air cylinder and solenoid.
[0024]
  In addition, the transfer device 42 waits for the pusher 42a disposed on the side of the transfer conveyor 41 to avoid contact with a predetermined number (for example, 14) of trays C ... which are transferred to the transfer section b. The advancing / retreating device 42 such as an air cylinder or a solenoid, for example, is moved to the position and the transfer position where all the trays C...bAre moved back and forth, and all trays C are horizontally moved in a direction (width direction) substantially perpendicular to the transport direction and are collectively transferred to the transport conveyor 43.
[0025]
  As shown in FIGS. 2 and 6, the first transfer device 50 described above moves the movable frame 51 above the container mounting table 23 of the container transport device 20 and above the mounting plates 31 and 31 of the transfer remaining processing device 30. A pair of transfer units 52 are attached to the lower surface of the movable frame 51 so as to be movable up and down in correspondence with the containers B and B conveyed to the supply section a. Further, a loop-shaped endless belt 53 connected to the movable frame 51 is rotated forward and backward by a motor with a speed reducer (not shown), so that the transfer unit 52 is moved above the container mounting table 23 and the pair of mounting plates 31. Move back and forth.
[0026]
  In addition, the transfer unit 52 moves the elevating cylinder 54 erected on the upper part of the movable frame 51 up and down and rotates the screw shaft 55 forward and backward with a motor 56 with a speed reducer 56 and gears 56a and 56b. The crop A pressed by the upper surface of the crop A in the container B and adsorbed and held by the adsorber 52a is vertically lowered to the height at which the crop A is placed on the placement plates 31 and 31. In addition, when moving above the container mounting table 23 and above the mounting plates 31 and 31, the container B itself and the crop A stored in the container B and the crop A mounted on the mounting plates 31 and 31 Ascends vertically to avoid contact.
[0027]
  In addition, a plurality of adsorbents 52a of the transfer unit 52 are vertically suspended (for example, six) so as to be vertically movable so as to substantially face the row of the crops A accommodated in the container B, and the top surface of the crop A in the container B When the agricultural product A is adsorbed and held by the negative pressure generated by the negative pressure generator, and the agricultural product A is transferred to the placement plates 31 and 31, the adsorption is released.
[0028]
  In addition, the adsorbents 52a are expanded and contracted according to the arrangement state of the crop A accommodated in the container B (for example, a checkered pattern or a zigzag pattern), and one row (for example, six) of crops accommodated in the container B A ... the proximity state pressed against the upper surface and the separated state where the crops A ... are individually placed on the tray C ... transferred to the transfer section b on the transfer conveyor 41. The expansion / contraction operation is performed via an expansion / contraction device 52b such as a solenoid or a screw shaft and a pantograph-type link mechanism 52c.
[0029]
  As shown in FIG. 7, the second transfer device 60 described above can move the movable frame 61 horizontally above the placement plates 31 and 31 of the transfer remaining processing device 30 and above the transport conveyor 41 of the tray transport device 40. The transfer unit 62 is attached to the lower surface of the movable frame 61 so as to be movable up and down. In addition, a loop-shaped endless belt 63 connected to the movable frame 61 is rotated forward and backward by a motor with a reduction gear (not shown), and the transfer unit 62 is reciprocated above the mounting plates 31 and 31 and above the transport conveyor 41. Moving.
[0030]
  In addition, the transfer unit 62 moves up and down a lifting cylinder 64 standing on the upper portion of the movable frame 61 and rotates a screw shaft 65 forward and backward by a motor 66 with a speed reducer and gears 66a and 66b. The crop A that is pressed onto the top surface of the crop A placed on the placement plates 31 and 31 and sucked and held by the adsorbent 62 a vertically descends to the height at which the crop A is placed on the tray C. Further, when moving above the placement plates 31 and 31 and above the transport conveyor 41, it moves horizontally and vertically while maintaining a distance that avoids contact with the imaging camera 71 and the illumination device 72 of the item measuring device 70 described later. .
[0031]
  Further, the adsorbers 62a of the transfer unit 62 are substantially opposite to the crops A placed on the placement plates 31 and 31 and the trays C conveyed to the transfer section b on the conveyor 41. When a plurality of vertical crops A are mounted vertically (for example, twelve) and spaced closely to the upper surface of the crop A mounted on the mounting plates 31, 31, a negative pressure is applied. When the crop A is adsorbed and held by the negative pressure generated by the generator and the crop A is transferred to the tray C, the adsorption is released.
[0032]
  The adsorber 62a is rotated horizontally (for example, approximately 270 degrees) through the gears 62c and 62e and the rack 62d by a rotating device 62b such as a motor, an air cylinder, or a solenoid. Further, the rotation angle of the adsorber 62a may be changed to, for example, an angle of about 270 degrees or more and below.
[0033]
  The aforementioned adsorbers 52a and 62a are connected to a negative pressure generator (not shown) such as an intake blower or a vacuum pump, for example, and are substantially annular restriction frames as viewed from the plane attached to the outer peripheral portions of the adsorbers 52a and 62a. 57 and 67 regulate the adsorbents 52a and 62a on which the crop A is adsorbed and held in a substantially vertical posture to prevent rolling.
[0034]
  The number of adsorbents 52a and 62a may be changed depending on the number of arrangements of the crops A. For example, the crops A may be transferred one by one or in a plurality of rows (for example, two rows before and after). It is also possible to transfer the crops A to the trays C at a time. When transferring five crops A, any one of the adsorbents 52a and 62a is retracted or suspended.
[0035]
  The item measuring device 70 described above includes a first measuring device 70a for measuring predetermined items on the lower surface of the crop A and the entire circumference of the side surface while moving from the upper portion of the transfer remaining processing device 30 to the upper portion of the tray transport device 40, and the upper surface of the crop A. And the second measuring device 70b that measures the predetermined items in the middle of the conveyance, and the measurement information measured by the first measuring device 70a and the second measuring device 70b, the predetermined items of the entire crop A are individually evaluated and determined. It is comprised with the determination control apparatus 77 to perform.
[0036]
  As shown in FIGS. 1 to 3, the first measuring device 70 a described above has an imaging camera 71 that images the outer surface of the crop A that is adsorbed and held by the adsorbers 62 a. A is attached to the central portion of the upper surface of the movable frame 73 disposed substantially below the intermediate portions of the mounting plates 31 and 31 and the transport conveyor 41 at an interval substantially facing A ..., and is a predetermined item with respect to the outer surface of the crop A The illumination device 72 that emits light suitable for detecting the light is attached to both ends of the movable frame 73 so as to face the outer surface of the crop A moved to the imaging range of the imaging camera 71, and the movable frame 73 is mounted on the mounting plate. 31 and 31 and a support shaft 74 that is pivoted substantially below the intermediate portion of the conveyor 41.
[0037]
  Further, the support shaft 74 is rotated up and down (for example, approximately 90 degrees) by a rotating device 75 such as an air cylinder, a solenoid, or a motor, and the imaging camera 71 images the lower surface of the crop A that is adsorbed and held by the adsorber 62a. It rotates to the lower surface measurement posture in the substantially upward state and the side surface measurement posture in the substantially horizontal state in which the crop A side surface is imaged.
[0038]
  The second measuring device 70b described above passes through a weight measuring device (not shown) that measures the weight of the crop A placed on the tray C, an imaging camera (not shown) that images the top surface of the crop A, and the inside of the crop A. An imaging camera (not shown) that images the transmitted light is disposed above and below the conveyance path. In addition, since the method of measuring the weight of the crop A, imaging the upper surface of the crop A, and measuring a predetermined item inside the crop A is configured by a known measurement method, detailed description thereof is omitted. Further, instead of the imaging camera, optical measuring means such as a video camera or a digital camera may be used.
[0039]
  The image processing device 76 converts the measurement information output from the first measurement device 70a and the second measurement device 70b into an information form suitable for evaluating and determining a predetermined item of the crop A (for example, binary). And output to the determination control device 77.
[0040]
  In addition, the determination control device 77 (for example, a device including a personal computer, a CPU, a ROM, and a RAM) receives measurement information output from the first measurement device 70a and the second measurement device 70b and reference information stored in advance. Comparing and calculating, a predetermined item of the entire crop A (for example, hue, damage, maturity, size, shape, height, width, volume, flatness, degree of decay, condition of floating skin, non-standard class, etc. The sugar acidity) is comprehensively determined individually, and the determination information is recorded in the RAM in the order of measurement and updated as needed.
[0041]
  In addition, for example, a discharge nozzle 79 connected to an air supply source such as an air supply blower or a compressor is attached to the movable frame 73 so as to face the lens surface of the imaging camera 71, and a foreign matter attached to the lens surface of the imaging camera 71 (For example, crop skin and oil, juice or paper waste, dust, dust, etc.) are removed with a gas (for example, air, gas, volatile liquid, etc.) discharged from the discharge nozzle 79.
[0042]
  On the other hand, FIG. 12 shows a control circuit block diagram of the DUT 10, and the CPU built in the determination control device 77 (for example, a personal computer) follows a program stored in the ROM (or PROM), Controls driving and stopping of the container transport device 20, the transfer remaining processing device 30, the tray transport device 40, the first transfer device 50, the second transfer device 60, the item measurement device 70, and the information communication device 78. In the RAM, the sorting information and the nonconformity information determined based on a predetermined determination criterion are recorded in the order of measurement or address.
[0043]
  In the above-described RAM, image information and weight information output from the item measuring device 70, identification information for each adsorber 62a that is set in advance, and each tray C that is transported to the transfer section b on the transport conveyor 41 are stored. Is stored in correspondence with the identification information. The determination result determined based on the image information output from the imaging camera 71 is stored in association with the identification information (or unique information) of the tray C read by the information communication device 78 described later.
[0044]
  The information communication device 78 disposed below the conveyor 41 is opposed to the recording medium Ca of the tray C conveyed by the tray conveying device 40, and the determination result (sorting information) by the above-described determination control device 77 is recorded on the recording medium Ca. To be readable and writable. Further, instead of the above-described recording medium Ca, for example, barcode information attached to the tray C may be read, or a time lag until the tray C is conveyed to the sorting section corresponding to the determination may be measured.
[0045]
  The illustrated embodiment is configured as described above, and a method for measuring predetermined items of the entire crop A by the measured object measuring apparatus 10 will be described below.
[0046]
  First, as shown in FIGS. 1 and 3, the container transport device 20 is driven to transport the containers B, B containing the crops A... To the supply section a on the transport conveyor 21 and then to the transfer device 22. Then, they are moved horizontally in a direction substantially orthogonal to the transport direction, transferred to the container mounting tables 23 and 23, and held by a pair of support plates 23b. After the transfer is completed, the next containers B and B are transported to the supply section a on the transport conveyor 21. On the other hand, the tray transfer device 40 is driven to transfer the unmounted trays C placed on the transfer conveyor 41 to the transfer section b.
[0047]
  Next, as shown in FIGS. 2 and 6, the first row (for example, six) crops A... Accommodated in the containers B and B are attracted by the transfer unit 52 constituting the first transfer device 50. From the upper side of the container mounting table 23 to the upper side of the mounting plates 31 and 31 while being separated from the trays C that are sucked and held by the children 52a. It moves and transfers to the mounting plates 31 and 31 of the transfer remaining processing apparatus 30. After the transfer is completed, the transfer unit 52 is returned to the upper side of the container mounting table 23.
[0048]
  In addition, the crops A on the placement plates 31, 31 are sucked and held by the adsorbers 62 a of the transfer unit 62 constituting the second transfer device 60 and are transported to the transfer section b on the transport conveyor 41. Tray C ... moved upward. In the same manner as described above, the transfer units 52 and 62 are alternately reciprocated, and the second to fourth rows of crops A ... accommodated in the container B are transferred to the mounting plate 31 of the transfer remaining processing device 30. The operation of transferring one row at a time to 31 and the operation of transferring the crops A placed on the loading plates 31, 31 one by one to the trays C conveyed to the transfer section b are continuously performed. .
[0049]
  Further, when the last row of crops A contained in the container B is picked up and held by the adsorbers 52a of the transfer unit 52 and lifted, the support by the support plates 23b and 23b is released, and the container mounting tables 23 and 23 are released. , And the containers B, B from which all the crops A ... have been removed are transferred to the collection conveyor 24 and conveyed to the collection process. And after the completion of unloading, the next containers B and B waiting in the supply section a on the transport conveyor 21 are moved horizontally by the transfer device 22 and transferred to the container mounting tables 23 and 23 and held by the pair of support plates 23b. To do.
[0050]
  Next, at the time of transfer by the first transfer device 50, the adsorbent 52a of the transfer unit 52 is mistakenly adsorbed or dropped from the adsorbent 52a, so that one or two crops A are placed in the container B. If left behind, the container B placed on the recovery conveyor 24 is transported to the replenishment process, and the crop A left in the container B, the unmounted tray C transported by the transport conveyor 43, and the artificial work and machine Transfer or replenish with manual work.
[0051]
  Next, at the time of transfer by the second transfer device 60, as shown in FIG. 8, one or two adsorbents 62a of the transfer unit 62 are mistakenly adsorbed or dropped from the adsorbent 62a. When the crop A is left behind on the placement plates 31 and 31, as shown in FIG. 9, the placement plates 31 and 31 are opened, and the crop A with a transfer mistake is released substantially downward, The discharged crop A is slowly lowered downward while being received by the receiving plate 33 and transferred to the return conveyor 34.
[0052]
  In addition, the crop A transferred to the return conveyor 34 is transported to the replenishment step, and the unmounted tray C transported by the transport conveyor 43 is transferred or supplemented by human work and mechanical work. After the completion of the discharge, as shown in FIG. 10, the placing plates 31 and 31 and the receiving plate 33 are returned to the initial positions, and the work of transferring the crop A with the wrong transfer to the tray C not yet placed is continuously performed. . It should be noted that the predetermined item of the crop A that has been mistakenly transferred is measured in another item measurement step (not shown).
[0053]
  On the other hand, when the crops A ... adsorbed and held by the adsorbers 62a ... of the transfer unit 62 are moved from above the placement plates 31, 31 to above the transport conveyor 41, as shown in FIGS. The lower surface is imaged from substantially below by the imaging camera 71 of the first measuring device 70a constituting the item measuring device 70.
[0054]
  In addition, when the crop A is moved above the tray C transported to the transfer section b on the transport conveyor 41, the imaging camera 71 is rotated in a direction opposite to the side of the crop A held by the adsorbent 62a. Then, the crop A that is adsorbed and held by the adsorbent 62a is horizontally rotated by approximately 270 degrees, and the entire side surface of the crop A (for example, front and rear and left and right four sides) is imaged. In addition, the image information of the upper surface of the crop A and the entire circumference of the side surface is output and stored in the determination control device 77 in association with the identification information of the adsorbent 62a and the tray C.
[0055]
  Next, as shown in FIGS. 5 and 7, a predetermined number (for example, 12 pieces) of crops A that are attracted and held by the adsorbers 62 a of the transfer unit 62 are collectively put on a tray C on the conveyor 41. After the transfer, the tray C on which the crop A is placed and the unmounted tray C are horizontally moved by the transfer device 44 in a direction substantially perpendicular to the transport direction and are collectively transferred to the transport conveyor 43, It is transported into the measurement area of the second measuring device 70b.
[0056]
  Next, predetermined items such as the upper surface, the inside, and the weight of the crop A placed on the tray C transported by the transport conveyor 43 were measured by the second measuring device 70b, and the measurement information was read by the information communication device 78. The information is output and stored in the determination control device 77 in association with the identification information of the tray C.
[0057]
  On the other hand, based on the measurement information output from the first measurement device 70a and the second measurement device 70b, predetermined items of the entire crop A are individually comprehensively determined by the determination control device 77, and the information communication device 78 is recorded on the tray C. The determination result (sorting information) by the determination control device 77 is recorded on the determination control device 77 and the recording medium Ca in opposition to the medium Ca.
[0058]
  In addition, the tray C on which the crop A transported by the transport conveyor 43 is placed is sorted by item based on the sorting control device 77 and the sorting information recorded on the recording medium Ca of the tray C, and the crop A is machined. Boxing by manual and human work. On the other hand, the tray C from which the crop A that has been returned and transported from the sorting step is removed is supplied to the transport conveyor 41. In the same manner, the operation of transferring the crop A from the container B to the tray C and the operation of measuring the predetermined items of the entire crop A are continuously performed, and the crop A is sorted by item.
[0059]
  As described above, when transferring the crops A contained in the container B transported by the container transport device 20 to the trays C transported by the tray transport device 40, the first transfer device 50 and the second transfer device 60 When one or two crops A are left inside the container B of the container transport device 20 and the placement plates 31 and 31 of the transfer remaining processing device 30 due to a transfer mistake, the container B in which the crop A is left behind Is transferred to the return conveyor 34 and transported to the replenishment process, and is not transported by the transport conveyor 43. The trays C are replenished by human and mechanical work, so that the number of transfers of the crop A can be transferred from the container B to which the container transport device 20 transports a predetermined number of crops A without causing excess or deficiency. Dress 40 tray C ... to transfer and supply operations to convey it performed reliably and stably.
[0060]
  Further, the crop A discharged from the placement plates 31 and 31 of the transfer residual processing apparatus 30 is slowly lowered downward while being received by the receiving plate 33, and the fall speed of the crop A is decelerated and attenuated. Therefore, the impact applied when transferring to the return conveyor 34 is reduced, and transfer and supply can be performed while maintaining the commercial value of the crop A.
[Brief description of the drawings]
FIG. 1 is a plan view showing the overall configuration of an object measuring apparatus.
FIG. 2 is a side view showing a method for measuring crops by an object measuring apparatus.
FIG. 3 is a plan view showing a conveyance path for agricultural products, containers, and trays.
FIG. 4 is a side view showing the measurement operation of the bottom surface of the crop by the item measuring device.
FIG. 5 is a side view showing an operation for measuring the side face of a crop by the item measuring device.
FIG. 6 is a front view showing a crop expansion / contraction operation by the first transfer device.
FIG. 7 is a front view showing a transfer operation of agricultural products by the second transfer device.
FIG. 8 is a side view showing a mounted state of crops left in the transfer remaining processing device.
FIG. 9 is a side view showing a discharge operation of the crop left behind on the mounting plate.
FIG. 10 is a side view showing a state in which the farm products left on the mounting plate are released.
FIG. 11 is a perspective view showing a container in which crops are aligned and stored.
FIG. 12 is a control circuit block diagram of the device under test measurement apparatus.
[Explanation of symbols]
  A ... Agricultural crops
  B ... Container
  C ... Tray
  10. Measurement object measuring device
  20 ... Container transfer device
  30. Transfer remaining processing device
  31 ... Mounting plate
  33 ... backing plate
  34 ... Return conveyor
  40 ... Tray transfer device
  41, 43 ... Conveyor
  50. First transfer device
  60. Second transfer device
  52, 62 ... transfer unit
  52a, 62a ... Adsorbent

Claims (2)

Container transport means for transporting a container containing a plurality of crops;
Tray conveying means for conveying a tray on which the crops are individually placed;
It is arranged at the closing angle at which the crop is placed, the mounting plate that is rotated at the opening angle at which the crop is released substantially downward, and the lower side of the placement plate on the discharge side, and from the fall speed of the crop A receiving plate that rotates up and down at a slow speed, and an article placement section for placing a crop that is transferred from the container transport means to the tray transport means ,
An adsorber for adsorbing and holding the crop, provided so as to be horizontally movable and vertically movable, and a first transfer means for transferring the crop from the container transport means to the article placement section;
An adsorbent for adsorbing and holding the crop, provided so as to be horizontally movable and vertically movable, and a second transfer means for transferring the crop from the article placement unit to the tray transport means ;
A return conveyor disposed at the bottom of the backing plate and transporting the crops transferred from the backing plate to the tray transport means;
At the time of transfer by the second transfer means, if crops are left behind on the mounting plate of the article mounting unit , the above-mentioned mounting plate is opened, and the crops with transfer mistakes are released substantially downward, The transfer remaining processing apparatus , wherein the discharged crop is lowered while being received by the receiving plate and transferred to the return conveyor . During transfer by the first transfer means, transfer remaining processing apparatus according to claim 1, wherein the crop left behind in the vessel conveying hand stage with a second transfer remaining supply means for supplying to said tray transfer means.

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