JP6073149B2 - Long crop cutting and preparation equipment - Google Patents

Description

The present invention, for example, relates to a cutting tone made device for cutting the long crops such as yam, more particularly, to cutting adjustment apparatus made to align cut long crops predetermined weight or a predetermined length.

  In general, when making seed potatoes for long crops such as long bamboo shoots, an operator cut the long potatoes into an appropriate size by hand. Since this cutting work requires a lot of labor, mechanization has been desired.

  Conventionally, a feed member for moving a long crop such as burdock in the rotation direction is attached to a rotation shaft provided in the apparatus, and the long crop moved by the feed member is cut by a receiving blade provided at a predetermined interval. A cutting device has been devised (see Patent Document 1).

  Further, a frozen food processing apparatus has been devised that cuts frozen foods such as fish meat by laser light irradiation and camera photography, and calculates and cuts the cutting position by image analysis via a computer program (see Patent Document 2). ).

Japanese Patent No. 3046743 Japanese Patent No. 4072972

  However, the thing of the said patent document 1 can be used only for the thing of a rod shape with few unevenness like a burdock, and cuts a long crop by predetermined length, and grows into various shapes. Agricultural crops could not be trimmed at a predetermined weight.

  Moreover, since the thing of the said patent document 2 performs the shape analysis of frozen food using a several laser light emission part and several cameras, it takes time for analysis, and also makes the frozen food used as a cutting object rotate and slide. Therefore, there is a problem that the processing time per frozen food becomes long and the number of processing per unit time is small.

Therefore, the present invention detects and grasps the overall shape of a long crop, determines the cutting position based on the grasp result and prestored data, and thereby solves the above-described problem of the long crop. to provide a cutting tone-made equipment.

The present invention relates to a length (L) of the long crop from a reference position (B) determined by a predetermined outer diameter of the long crop (W) and a plurality of the long crop (W) at different predetermined positions. A detection unit (7) for detecting an outer diameter dimension;
A control unit (42) for determining the cutting position of the long crop based on the detection result of the detection unit (7) and data stored in advance;
A cutting section (9) for cutting the long crop (W) at the cutting position ,
The cutting section (9) is capable of switching between a cutting posture and a non-cutting posture, and a plurality of cutting blades (26,...) Arranged at predetermined intervals, and among the plurality of cutting blades (26,...) A cutting blade switching unit (32,...) For selectively cutting the cutting blade corresponding to the cutting position .
It is characterized by that.

For example, referring to FIG. 3, the detection unit (7) and the cutting unit (9) are arranged in parallel in the width direction of the long crop (W),
A moving mechanism (17) for moving and dropping the long crop (W) arranged in the detection unit (7) onto the cutting blade (26 ′) in a cutting posture;
A pressing mechanism (37) for pressing the long crop (W) dropped on the cutting blade (26 ′) in the cutting posture from above.
For example, referring to FIG. 4, the control unit (42) includes data storage means (43) for storing statistical data relating to the length and outer diameter of the long crop (W), and the detection unit (7). ) To estimate the shape of the long crop (W) based on the length of the long crop (W) and the detection results of a plurality of external dimensions and the statistical data stored in the data storage means (43), And a cutting position determining means (45) for determining the cutting position based on the estimation result.

  In addition, although the code | symbol in the said parenthesis is for contrast with drawing, it does not limit the structure of this invention at all.

  In the first aspect of the present invention, the length of the long crop and a plurality of outer diameters are detected in the detection unit, and the cutting position is determined based on the detection result of the detection unit and data stored in advance. The time required for shape detection and cutting position determination can be shortened, and the number of processes per unit time can be improved.

  In addition, since the above-mentioned long crops have a predetermined outer diameter dimension as a reference position, the disturbance of the tip portion having a large individual difference is reduced, and a plurality of outer diameter dimensions at a predetermined position different from the length from the reference position are measured. By doing so, the overall shape of the long crop can be grasped with relatively high accuracy, and the cutting position can be accurately determined together with the data.

Moreover, since this invention has the cutting blade switching part which makes the cutting attitude | position selectively the cutting attitude | position corresponding to a cutting position among many cutting blades, the long crop and cutting blade to be cut | disconnected are moved largely Therefore, the long crop can be cut, the cutting time can be shortened, and the apparatus can be downsized.

In the present invention according to claim 2 , the long crop is moved and dropped onto the cutting blade which has been cut by the moving mechanism, and the long crop is inserted into the cutting blade and positioned. Agricultural crops are difficult to shift. Furthermore, since the positioned long crop is pressed from above by the pressing mechanism, the cutting position determined by the control unit is not easily shifted from the actual cutting position, and the long crop can be cut with high accuracy. The apparatus itself can be made small.

Plan view of a cutting tone apparatus made long crops according to the present invention. The front view. The partial side view. Control block diagram showing a control unit of the cutting tone apparatus made long crops according to the present invention. Sequence diagram of the cutting operation of the cutting tone apparatus made long crops according to the present invention. The graph which compared and verified the outer diameter estimation result of the workpiece | work W, and the measured value.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Long crops (hereinafter referred to as workpiece W) cutting adjustment made device 1 is, for example, applied as a cutting tone made device for creating a seed potatoes of yam, trimmed to equal weight one yam is for the seed potatoes However, it is not limited to an equal weight, and may be cut by an equal volume or other index. The cutting adjustment made apparatus 1, as shown in FIGS. 1 to 3, has a frame base 3 of movable or fixed rotatably supported by a box shape by casters 2, the upper portion of the frame base 3, the workpiece W A work stage 5 for cutting is disposed. A portal frame 6 is erected on the upper part of the frame base 3 so as to surround the work stage 5.

  The work stage 5 includes a detection unit 7 and a cutting unit 9, and the workpiece W to be processed is detected after the shape is detected by the detection unit 7 and the cutting position is determined. In 9, the cutting process is performed at the cutting position. The detection unit 7 and the cutting unit 9 are arranged in parallel, and the apparatus is configured to be small. Hereinafter, the longitudinal direction of the workpiece W in FIG. 1 is defined as the left-right direction, and the width direction is defined as the front-rear direction.

  The detection unit 7 has a rotation shaft 10 that is rotatably supported by the frame base 3. The rotation shaft 10 has arms 11, 12, 12 arranged at predetermined positions with a predetermined interval. One end of each is slidably and fixedly supported. On the other end of the arms 11, 12, 12, mounting tables 13, 15, 15 for mounting the workpiece W are attached. These mounting tables 13, 15, 15 are end portions of the rotating shaft 10. The swing arm 16 and the air cylinder 17 (moving mechanism) are fixed to each other so as to be swingable. The air cylinder includes an air compressor that sends compressed air and a hose that connects the air compressor and the air cylinder. However, the description thereof is omitted in the present embodiment. The mounting table 15 has a stab shape in which the central portion is depressed so as to hold the workpiece W (see FIG. 3), and the mounting table 13 is formed in a substantially C shape with the rear opened. ing. The inner diameter of the C-shaped portion of the mounting table 13 is set to 25 [mm], for example. In general, long crops such as long bamboo shoots grow so that the outer diameter of the central portion is larger than the end portion in the longitudinal direction, and the workpiece W has a C-shape of the mounting table 13 from the above mounting table 15 side. The reference position B is determined at the position where the table 13 is inserted into the portion and the work table W comes into contact with the work W, and is placed on the tables 15 and 15.

  In other words, long crops such as long bamboo shoots have variations in the length of the tip side with roots and the like, and the overall shape of the long crop with a plurality of outer diameter dimensions and length dimensions can be grasped based on the tip part. Therefore, a substantially C-shaped mounting table 13 is used so that the predetermined thickness portion is a reference position so that the tip portion is deviated from the reference.

  A guide rail 19 fixed to the frame table 3 and extending in the left-right direction is disposed above the mounting tables 13, 15, 15. The guide rail 19 has an outer diameter of the workpiece W. The outer diameter measuring sensors 20 and 20 capable of measuring slidably and fixedly attachable. The outer diameter measuring sensors 20, 20 have air cylinders 21, 21, are fixed immediately above the mounting tables 15, 15, and air is directed toward the workpiece W placed on the mounting tables 13, 15, 15. When the cylinders 21 and 21 are lowered and the tips of the air cylinders 21 and 21 come into contact with the workpiece W, the outer dimensions at the positions of the mounting tables 15 and 15 on the workpiece W can be measured. In the present embodiment, the outer diameter measurement sensor 20, 20 measures the outer diameter of two different places on the workpiece W. However, depending on the type of long crop, for example, in the case of a crop with a complicated shape, 3 You may measure the external dimension of several places more than one place. Further, the positions of the outer diameter measuring sensors 20 and 20 from the reference position B are appropriately determined depending on the type of the long crop.

  A guide rail 22 is disposed directly below the mounting tables 13, 15, and 15 in parallel with the rotary shaft 10, and an optical full length measuring sensor 23 is not shown on the guide rail 22. It is slidably attached by. The full length measurement sensor 23 has a contact plate 25 at its tip, and the portal frame 6 is in a position where the contact plate 25 slides toward the workpiece W and contacts the end of the workpiece W. The length L of the workpiece W from the reference position B can be calculated by measuring the distance to the bracket 24 provided on the right wall.

  The cutting section 9 has a large number of cutting blades 26 arranged in parallel at a predetermined interval, and these cutting blades 26 are rotatably supported by a shaft 27 attached to the frame base 3. The cutting posture in which the workpiece W is cut in the lying state and the non-cutting posture in the upright state can be switched freely. Further, on the same axis as the shaft 27, there are disposed rotating shafts 29 and 29 that are rotatably supported by the frame base 3 via bearings. A magnet holder 31 is attached through 30 and 30 and parallel to the cutting blades 26. The magnet holder 31 is provided with the same number of electromagnets 32,... (Cutting blade switching portion) at equal intervals to the cutting blades 26,..., And the rotary shafts 29, 29 are swing arms 33, 33 and an air cylinder. By being rotated by 35, 35, it is configured to be swingable. The cutting blade 26 has a blade portion 26a disposed on one end side, and a magnet portion 26b disposed on the other end, and the magnet portion 26b includes a number of the electromagnets 32,. The cutting blades 26,... And the electromagnets 32,. The cutting blades 26,... Are energized by exciting the predetermined electromagnets 32 of the electromagnets 32,... And moving the air cylinders 35, 35 back and forth so that the magnet holder 31 swings. The cutting blade 26 corresponding to the electromagnet 32 is selectively in a cutting posture (see, for example, 26 ′ in FIG. 1 or FIG. 3). A fixed cutting blade 28 that is always in a cutting posture is fixed to the left side of the cutting blade 26 ′ in the cutting posture and at the same position in the left-right direction as the mounting table 13.

A horizontal frame 36 supported on the frame base 3 is disposed above the shaft 27, and a pressing mechanism 37 is attached to the horizontal frame 36. The pressing mechanism 37 includes an air cylinder 39 that is movable back and forth in the vertical direction, and a pressing plate 40 that is disposed at the lower end of the air cylinder 39. The pressing plate 40 is configured to cut the cutting posture. It is located above the blade portion of the blade 26 '. Below the above the cutting blade 26 of the pressing mechanism 37 and the cutting position ', is arranged a box-shaped collecting box 41 which opens upward, the collecting box 41 is substantially the entire width of the cutting adjustment apparatus made 1 In addition, a partition plate (not shown) is provided so that it can be sorted and stored by the portion of the workpiece W cut out.

Figure 4 shows a control block diagram of the present embodiment, the cutting adjustment made device 1, the microcomputer composed (CPU, ROM, including RAM, etc.), the control unit 42 constituting the control block diagram I have. On the input side of the control unit 42, the outer diameter measuring sensors 20 and 20 that measure the outer diameters of the two predetermined positions of the workpiece W, and the full length measuring sensor that measures the length of the workpiece W from the reference position B are provided. 23 are connected. The control unit 42 includes data storage means 43 for storing statistical data of the outer diameters of two arbitrary workpieces W obtained by the investigation and the length from the reference position B, and the outer diameter measuring sensor 20. , 20 and the detection result of the full length measurement sensor 23 and the statistical data stored in the data storage means 43, the shape and weight of the workpiece W are estimated, and the workpiece W is aligned to the set predetermined weight. Cutting position determination means 45 for determining the cutting position of the workpiece W. On the output side of the control unit 42, excitation means 46 for exciting the electromagnets 32 at positions corresponding to the cutting positions determined by the cutting position determination means 45, and air for swinging the magnet holder 31 described above. The cylinders 35 and 35 are connected to an air cylinder 39 that moves up and down the pressing plate 40 of the pressing mechanism 37.

Since the present embodiment is configured as described above, an operator manually inserts the workpiece W into the C-shaped portion of the mounting table 13 from the above-described mounting table 15 side so as to make a long crop. It is placed on the mounting table 13,15,15 of cutting tone made device 1. At this time, the reference position B is determined by the predetermined outer diameter dimension at the position where the mounting table 13 and the work W come into contact, that is, the position of the mounting table 13 of the work W.

Then, when the operator actuates the cutting adjustment made device 1, as in the sequence diagram shown in FIG. 5, first, an outer diameter measurement of the workpiece W is started. That is, the air cylinders 21 and 21 are lowered, the tips of the air cylinders 21 and 21 are brought into contact with the workpiece W, and the outer diameter measuring sensors 20 and 20 are external shapes of the workpiece W at the positions of the mounting tables 15 and 15. Measure the dimensions.

  Next, the length of the workpiece W from the reference position B is measured. The full length measurement sensor 23 and the contact plate 25 are slid toward the workpiece W along the guide rail 22 by an air cylinder (not shown). . When the contact plate 25 contacts the end of the workpiece W, the optical full length measurement sensor 23 measures the distance to the bracket 24, and the workpiece W on the side opposite to the mounting table 13 from the reference position B of the workpiece W is measured. The length L to the end is calculated.

  Then, while the outer diameter measurement sensors 20 and 20 and the full length measurement sensor 23 return to the origin, the cutting position determination means 45 of the control unit 42 detects the detection results of the outer diameter measurement sensors 20 and 20 and the full length measurement sensor 23, and Based on the statistical data stored in advance in the data storage means 43, the cutting position of the workpiece W is determined.

For example, in the statistical data of the present embodiment, the following two variables regression model to derive the outer diameter measuring position D of any two locations a diameter d _j of the workpiece W in increments j (x) and by D (z) It was constructed.
d _j (x, z) = a _j + b _j · D (x) + c _j · D (z)
Here, j = 1, 2,.
Based on this, the cutting position determination means 45 estimates the outer diameter of the work W for each step j when the length L of the work W from the reference position B is divided into 100. As a result of verifying the adaptability of the above model by testing an unobserved sample, a generally appropriate estimation result was obtained as shown in FIG. The graph of FIG. 6 shows, for example, the measurement results of the outer diameter measurement sensors 20 and 20 at the two positions D (x) = 250 [mm] and D (z) = 100 [mm] from the reference position B, and the full length measurement sensor 23. The result calculated by the above model based on the measurement result and the actually measured value of the outer diameter of the workpiece W are compared and verified.

  Next, the excitation means 46 excites the electromagnets 32 corresponding to the cutting position, and the magnet holder 31 is swung by the air cylinders 35 and 35. As the magnet holder 31 swings, the cutting blades 26,... Corresponding to the excited electromagnets 32,.

  Next, when the air cylinder 17 is extended and the swing arm 16 is rotated, the mounting tables 13, 15, 15 are swung around the rotary shaft 10, and the cutting blade 26 ′ and the fixed cutting blade 28 in the cutting posture are swung. The workpiece W moves and falls on the top. At this time, since the mounting table 13 is formed in a C-shape with the rear opened, there is a hindrance to the movement of the workpiece W in the direction of the cutting blades 26,... Arranged behind the mounting tables 13, 15, 15. Absent. In addition, since the workpiece W that has been moved and dropped is inserted into the cutting blade 26 ′ and the fixed cutting blade 28 in the cutting posture and positioned, the cutting blade 26 ′ and the workpiece W are not easily displaced.

Next, when the air cylinder 39 of the pressing mechanism 37 is extended, the pressing plate 40 presses the workpiece W stuck in the cutting blade 26 'and the cutting blade 28 in the cutting posture from above, and the workpiece W is cut, The workpiece W cut into the collection box 41 is collected. At this time, the end portion of the work W that is less than the inner diameter dimension of the C-shaped portion of the mounting table 13 that is cut by the fixed cutting blade 28 is sorted in the collection box 41. when using the cutting adjustment apparatus made 1 to create the potatoes, since the end portion is less than the predetermined diameter are not suitable for seed potatoes, sorting the end portions by setting the inner diameter of the table 13 mounting the said predetermined diameter it can. Then, the air cylinder 39 and the pressing plate 40 of the pressing mechanism 37 are returned to the origin, and the cutting operation for one workpiece W is completed.

  In the present embodiment, the workpiece W is cut by the detection result of the outer diameter measurement and the total length measurement from the reference position B of the workpiece W at the detection unit 7 and the data stored in advance in the control unit. The time required for the position determination can be shortened. For example, in the test, as shown in FIG. 5, the measurement from the measurement of the outer dimensions to the setting of the cutting blade can be performed at about 8.5 [s]. Further, since the cutting blade 26 ′ corresponding to the cutting position is set in a cutting posture by the electromagnet 32, the work W is moved and dropped onto the cutting blade 26 ′ in the cutting posture, so that the cutting blade 26,. Therefore, the apparatus can be reduced in size and the time required for cutting the workpiece W can be shortened. For example, in the test, as shown in FIG. 5, it was possible to perform the test in about 5 [s] from the moving and dropping of the workpiece onto the cutting blade until the pressing plate 40 pressed and cut the workpiece W. As a result, a series of operations from the measurement of the outer diameter of the workpiece W to the return of the pressing plate 40 to the origin could be completed in about 15.5 [s].

  In this embodiment, the cutting position of the workpiece W is determined so that the workpiece W can be cut with an equal weight. However, in order to increase the yield, the cutting is performed with a uniform weight close to the set weight and without generating a surplus portion. The position may be determined.

  Further, all the air cylinders of the present embodiment may be any actuator that performs a reciprocating motion, and may be, for example, a hydraulic actuator, a solenoid, or a servo motor. In addition, various motors, chains, belts, and the like may be used for the portion that realizes the rotational movement by the air cylinder and the arm.

  Further, in the present embodiment, the cutting blades 26,... Are switched by the electromagnet 32 between the cutting posture and the non-cutting posture, but only the cutting blade corresponding to the cutting position is cut out of the many cutting blades 26,. Any device can be used as long as it can be switched to the posture. For example, a clamping mechanism that clamps only the cutting blade corresponding to the cutting position may be used.

  Further, the position and number of the mounting tables 13, 15, 15 and the outer diameter measuring sensors 20, 20 and the statistical data stored in the data storage means 43 and the algorithm of the cutting position determination means 45 are changed depending on the type of the long crop. In this way, various types of long crops can be trimmed to a predetermined weight or a predetermined length.

Switching換刃32 cutting blade switching unit 1 long crop cutting tone made device 7 detecting unit 9 cuts 17 moving mechanism 26 cutting blade 26 'cutting position (electromagnet)
37 Pressing mechanism 42 Control unit B Reference position L Length W Long crop (work)

Claims (3)

A detection unit for detecting a length of the long crop from a reference position determined by a predetermined outer diameter of the long crop and a plurality of outer diameters of the long crop at different predetermined positions;
A control unit that determines the cutting position of the long crop based on the detection result of the detection unit and data stored in advance;
E Bei and a cutting unit for cutting the long crop in the cutting position,
The cutting unit selectively cuts a cutting blade corresponding to the cutting position among a large number of cutting blades that are switchable between a cutting posture and a non-cutting posture and arranged at a predetermined interval. A cutting blade switching part to be,
An apparatus for cutting and preparing long agricultural products. The detection unit and the cutting unit are arranged in parallel in the width direction of the long crop,
A moving mechanism for moving and dropping the long crops arranged in the detection unit onto the cutting blade in a cutting posture;
A pressing mechanism that presses the long crops dropped on the cutting blade in a cutting posture from above.
The apparatus for preparing and cutting a long crop according to claim 1 .   The control unit includes a data storage unit that stores statistical data relating to the length and outer diameter of the long crop, a detection result of the length and a plurality of external dimensions of the long crop by the detection unit, and the data storage unit. Cutting position judgment means for estimating the shape of the long crop based on the statistical data stored in and determining the cutting position based on the estimation result,
  The apparatus for cutting and preparing a long agricultural product according to claim 1 or 2.

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