JP6833940B1 - Potato sprout device and potato sprout removal method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a potato sprout removing device and a potato sprout removing method which can reduce the installation space and prevent cutting chips from accumulating on a table. A gripping mechanism (2) for gripping a potato, a three-dimensional measuring device (3) for detecting a recessed position of the potato P, and a recess cutting mechanism (4) for cutting the recess of the potato P are provided, and the gripping mechanism (2) is a potato P. The chuck 21 includes a plurality of chucks 21 for gripping the chuck 21 and a vertical revolution mechanism 23 for revolving the plurality of chucks 21 in the vertical direction around a revolution shaft 231 along the horizontal direction. The chuck 21 holds the gripped potato P on the rotation shaft 251. A rotation mechanism 25 that rotates as a center is provided, and the recess cutting mechanism 4 includes a cutting device 41, a slide mechanism 42 that slides the cutting device 41 in a direction parallel to the rotation axis 251 and a cutting device 41 toward the potato P. It is provided with an advance / retreat mechanism 43 for advancing / retreating. [Selection diagram] Fig. 3

Description

The present invention relates to a potato sprout removing device and a potato sprout removing method.

<Explanation of background technology>
Conventionally, a potato sprout removing device for removing potato sprouts has been proposed (for example, Patent Documents 1 and 2).

<Explanation of Patent Document 1>
Patent Document 1 describes a truncated cone for fixing a potato or the like by an air or hydraulic cylinder, a cone having a blade spirally cut along the cone from the top of the cone, and a motor for rotating the cone. A sprouting device such as a potato having a rotating device provided and a piercing device having a moving device for moving the rotating device back and forth is described.

<Explanation of Patent Document 2>
Patent Document 2 provides a bud detection device that detects a bud portion of a potato that is held and rotates between a lower holding portion and an upper holding portion by a color difference from another portion, and connects the bud detecting device with the rotating shaft. A rotary drive device that rotates the shaft rod by providing a rotary drill at a position forming a predetermined angle with respect to the line so as to move forward and backward toward the side of the potato, and a shaft rod moving device for moving the shaft rod up and down. , A drill moving device for moving the rotary drill forward and backward toward the side of the potato, a contact sensor for detecting that the rotary drill has come into contact with the potato, and a bud detection signal of the bud detection device during rotation. A device for removing potato buds is described in which a bud portion of a potato is rotated and moved by a predetermined angle to stop at a position in front of the rotary drill, and the rotary drill is advanced to remove the bud portion of the potato.

<Required technology-1>
However, the potato sprouting device of Patent Document 1 has a problem that the work efficiency is inferior because it is not possible to continuously perform the sprouting processing of a plurality of potatoes.

<Required technology-2>
In the potato sprout removing device of Patent Document 2, it is possible to continuously perform a plurality of potato sprout removing processes, but since the table for revolving potatoes rotates around an axis along the vertical direction, it is widely installed. Not only does it require space, but it also has the problem that the removed debris tends to collect on the table.

JP-A-59-227282 Japanese Unexamined Patent Publication No. 7-95870

<Issues of background technology>
Therefore, the present invention has been made in view of such circumstances, and an object of the present invention is to provide a potato sprout removing device and a potato sprout removing method which can reduce the installation space and prevent cutting chips from accumulating on the table. There is.

<Contents of claim 1>
In order to achieve such an object, the present invention is grasped by the following configuration.
(1) The present invention is a potato sprout removing device for removing the skin and buds of a recess of a potato, a gripping mechanism for gripping the potato, and a recess position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism. And a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism, the gripping mechanism includes a plurality of gripping means for gripping the potato and the plurality of gripping means centered on a revolution axis along the horizontal direction. A vertical revolving means for revolving the means in the vertical direction and a revolving position detecting means for detecting the revolving position of the gripping means are provided, and the gripping means rotates an opening / closing means for opening and closing the gripping interval of the potato and rotating the gripped potato. A rotating means for rotating around an axis and a rotating position detecting means for detecting the rotating position of the gripped potato are provided, and the concave cutting mechanism is moved to a position facing the cutting means by the cutting means and the vertical revolution means. when potato is conveyed, and sliding means for pre SL cutting means sliding the, and a moving means for advancing and retracting said cutting means toward potatoes, the vertical revolving means, said revolution shaft, the revolution A revolution servomotor that rotates a shaft and a revolution servomotor that drives the revolution servomotor are provided, and the rotation means drives the rotation shaft, the rotation servomotor that rotates the rotation shaft, and the rotation servomotor. The revolution servomotor and the rotation servomotor are controlled by control means via the revolution servomotor and the rotation servomotor, and the revolution axis is a control unit provided with the control means. It penetrates the partition wall that separates the side and the processing portion side where the concave cutting of the potato is performed, and the through hole of the partition wall is sealed by the sealing means, and the revolution servomotor, the revolution servoamplifier, and the rotation servo are sealed. amplifier is disposed in the control unit side, the rotation shaft and the rotation servo motor is shall be arranged on the machining side.

<Contents of claim 2>
(2) The present invention is a potato sprout removing device for removing the skin and buds of a recess of a potato, and detects a gripping mechanism for gripping the potato and a recessed position of the potato gripped by the gripping mechanism. A recess position detecting means and a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism are provided, and the gripping mechanism is centered on a plurality of gripping means for gripping the potato and a revolution axis along the horizontal direction. A vertical revolving means for revolving the plurality of gripping means in the vertical direction and a revolving position detecting means for detecting the revolving position of the gripping means are provided, and the gripping means includes an opening / closing means for opening and closing the gripping interval of the potato and a gripping means. The recessed cutting mechanism includes a rotating means for rotating the rolled potato around the rotation axis and a rotating position detecting means for detecting the rotating position of the gripped potato, and the concave cutting mechanism faces the cutting means by the cutting means and the revolving means. When the potato is transported to the position to be moved, the cutting means is provided with a sliding means for sliding and moving the cutting means and an advancing / retreating means for moving the cutting means forward and backward toward the potato. The cutting means has a trimmer blade and the trimmer. A cutting motor for rotating the blade and a torque detecting means for detecting the cutting torque acting on the trimmer blade based on the current value flowing through the cutting motor are provided, and the stability after the increase in the cutting torque is obtained. It controls the completion of advancement of the cutting means by the advancing / retreating means.

<Contents of claim 3>
(3) The present invention is a potato sprout removing device for removing the skin and buds of a potato recess, which is a gripping mechanism for gripping the potato and a recess position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism. And a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism, the gripping mechanism includes a plurality of gripping means for gripping the potato and the plurality of gripping means centered on a revolution axis along the horizontal direction. A vertical revolving means for revolving the means in the vertical direction and a revolving position detecting means for detecting the revolving position of the gripping means are provided, and the gripping means rotates an opening / closing means for opening and closing the gripping interval of the potato and rotating the gripped potato. A rotating means for rotating around an axis and a rotating position detecting means for detecting the rotating position of the grasped potato are provided, and the recessed cutting mechanism is moved to a position facing the cutting means by the cutting means and the vertical revolving means. A supply / transport mechanism for supplying and transporting potatoes from the outside, including a slide means for sliding and moving the cutting means when the potato is transported, and an advancing / retreating means for moving the cutting means forward and backward toward the potato, and the supply A delivery mechanism for delivering potatoes from the transport mechanism to the gripping mechanism is further provided, and the supply transport mechanism includes a large number of roller members endlessly connected in the transport direction to hold the potatoes between the adjacent roller members. The roller member has a drum shape in which the middle portion of the outer peripheral surface is recessed, and the potato held between the adjacent roller members has a long axis direction of the potato as the transport direction during the transport process. Aligned so as to face orthogonal directions, the feed transport mechanism transports potatoes in a direction substantially parallel to the rotation axis, or the delivery mechanism depends on the angle between the rotation axis and the transport direction. It rotates potatoes.

<Contents of claim 4>
(4) In the configuration of (3), the delivery mechanism is movable in the vertical direction and the horizontal direction, and the delivery means for delivering the potato received from the supply / transport mechanism to the gripping means and the supply means. The delivery means includes a height measuring means for measuring the height of the potato transported by the transport mechanism, and the delivery means causes the gripping means to grip the center position of the potato in the height direction.

<Contents of claim 5>
(5) The present invention is a potato sprouting device that removes the skin and buds of a potato recess, and detects a gripping mechanism for gripping the potato and a recessed position of the potato gripped by the gripping mechanism. A recess position detecting means and a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism are provided, and the gripping mechanism is centered on a plurality of gripping means for gripping the potato and a revolution axis along the horizontal direction. A vertical revolving means for revolving the plurality of gripping means in the vertical direction and a revolving position detecting means for detecting the revolving position of the gripping means are provided, and the gripping means includes an opening / closing means for opening and closing a potato gripping interval and a gripping means. The recessed cutting mechanism includes a rotating means for rotating the potatoes around the rotation axis and a rotating position detecting means for detecting the rotating position of the grasped potatoes, and the recess cutting mechanism faces the cutting means by the cutting means and the revolving means. A supply / transport mechanism for supplying and transporting potatoes from the outside, including a slide means for sliding and moving the cutting means when the potato is transported to the position to be moved, and an advancing / retreating means for moving the cutting means forward and backward toward the potato. Further, a delivery mechanism for delivering potatoes from the supply and transfer mechanism to the gripping mechanism is further provided, and the delivery mechanism is movable in the vertical and horizontal directions, and the potatoes received from the supply and transport mechanism are used as the gripping means. The delivery means includes a delivery means for delivering and a height measuring means for measuring the height of the potato transported by the supply and transfer mechanism, and the delivery means causes the gripping means to grip the center position of the potato in the height direction. ..

<Contents of claim 6>
(6) The present invention is a potato sprout removing device for removing the skin and buds of a recess of a potato, and detects a gripping mechanism for gripping the potato and a recessed position of the potato gripped by the gripping mechanism. A recess position detecting means and a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism are provided, and the gripping mechanism is centered on a plurality of gripping means for gripping the potato and a revolution axis along the horizontal direction. A vertical revolving means for revolving the plurality of gripping means in the vertical direction and a revolving position detecting means for detecting the revolving position of the gripping means are provided, and the gripping means includes an opening / closing means for opening and closing the gripping interval of the potato and a gripping means. The recessed cutting mechanism includes a rotating means for rotating the rolled potato around the rotation axis and a rotating position detecting means for detecting the rotating position of the gripped potato, and the concave cutting mechanism faces the cutting means by the cutting means and the revolving means. When the potato is conveyed to the position to be moved, the cutting means is provided with a sliding means for sliding the cutting means and an advancing / retreating means for moving the cutting means forward / backward toward the potato. The cutting means includes a trimmer blade and the trimmer. A cutting motor that rotates the blade and a suction cap that covers the circumference of the trimmer blade are provided. The suction cap is made of elastic resin and has a tubular shape including a bellows portion. The suction cap is used for cutting. A suction blower that sucks debris is connected.

<Contents of claim 7>
(7) The present invention is a potato sprouting method for removing the skin and buds of the recesses of potatoes using the potato sprouting device according to any one of (1) to (6), and the potato sprouting mechanism is used to remove potatoes. A step of grasping and revolving around the revolution axis, a step of detecting the recess position of the potato at the first revolution position using the recess position detecting means, and a second step of using the recess cutting mechanism. It is a method including a step of cutting a concave portion of a potato at the revolution position of.

According to the present invention, it is possible to provide a potato sprout removing device and a potato sprout removing method in which the installation space can be reduced and cutting chips are less likely to accumulate on the table.

It is an overall plan view of the potato sprout removing device which concerns on embodiment of this invention. It is an overall front view of the potato sprout removing device which concerns on embodiment of this invention. It is an overall side view of the potato sprout picking apparatus which concerns on embodiment of this invention. It is a top view which shows the recess cutting mechanism of the potato sprout removal device which concerns on embodiment of this invention. It is a front view which shows the recess cutting mechanism of the potato sprout removal device which concerns on embodiment of this invention. It is a side view which shows the recess cutting mechanism of the potato sprout removal device which concerns on embodiment of this invention. It is a schematic diagram which shows the cyclone type separation apparatus and suction blower connected to the concave cutting mechanism of the potato sprout removal apparatus which concerns on embodiment of this invention. It is a block diagram which shows the electrical connection structure of the potato sprout removal device which concerns on embodiment of this invention.

<Explanation of Embodiment-1>
Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as “embodiments”) will be described in detail with reference to the accompanying drawings. The same elements are designated by the same reference numerals throughout the description of the embodiments.

<Explanation of Embodiment-2>
FIG. 1 is an overall plan view of the potato sprout removing device according to the embodiment of the present invention, FIG. 2 is an overall front view of the potato sprout removing device according to the embodiment of the present invention, and FIG. 3 is an overall front view of the potato sprout removing device. It is an overall side view of the potato bud removing device which concerns on embodiment.

<Structure of potato sprout removing device-1>
As shown in FIGS. 1 to 3, the potato sprouting device 1 according to the embodiment of the present invention is a device for automatically and continuously removing the skins and buds of the recesses of a plurality of potatoes P, and is a potato. A gripping mechanism 2 that grips P, a three-dimensional measuring device 3 (an example of recess position detecting means) that detects the recessed position of the potato P gripped by the gripping mechanism 2, and a recessed portion of the potato P gripped by the gripping mechanism 2. A concave cutting mechanism 4 for cutting the potato P, a supply transport mechanism 5 for supplying and transporting the potato P from the outside, a delivery mechanism 6 for delivering the potato P from the supply transport mechanism 5 to the gripping mechanism 2, and a controller 7 (control) for controlling these. An example of means: see FIG. 8).

<Structure of potato sprout removing device-2>
The potato P to be sprouted by the potato sprout removing device 1 is not limited in variety and size, but the potato P handled in this embodiment has an elliptical shape having a long axis and a short axis, and ends in the long axis direction. It has the characteristic that recesses are easily concentrated on the part side. In the present embodiment, the minor axis (vertical direction) of the potato P is referred to as height.

<Structure of gripping mechanism-1>
The gripping mechanism 2 revolves a plurality of (four in this embodiment) chucks 21 (an example of gripping means) for gripping the potato P and a plurality of chucks 21 in the vertical direction around a revolution shaft 231 along the horizontal direction. It includes a vertical revolution mechanism 23 (an example of a vertical revolution means) and a revolution rotation angle sensor 24 (an example of a revolution position detecting means: see FIG. 8) that detects the revolution position of the chuck 21. As the revolution rotation angle sensor 24, a magnetic rotation type or contact type rotation sensor can be used in addition to an optical rotation angle sensor such as a rotary encoder.

<Structure of gripping mechanism-2>
The chuck 21 detects the pair of chuck arms 211 and 212, the chuck opening / closing cylinder 213 (an example of opening / closing means) that opens / closes the gripping interval of the potato P by the chuck arms 211 and 212, and the opening / closing positions of the chuck arms 211 and 212. The stroke sensor 214, the rotation mechanism 25 (an example of the rotation means) that rotates the grasped potato P around the rotation axis 251 and the rotation rotation angle sensor 26 (the rotation position detection means) that detects the rotation position of the grasped potato P. An example: see FIG. 8). The rotation shaft 251 of the present embodiment is parallel to the revolution shaft 231 but does not have to be parallel.

<Structure of gripping mechanism-3>
The vertical revolution mechanism 23 includes a revolution shaft 231, a vertical turntable 232 that supports a plurality of chucks 21 and rotates in the vertical direction about the revolution shaft 231, and a revolution servomotor 233 that rotates the revolution shaft 231. It includes a revolution servo amplifier 234 that drives a revolution servo motor 233. The revolution servomotor 233 is driven and controlled by the controller 7 connected via the revolution servo amplifier 234.

<Structure of gripping mechanism-4>
The rotation mechanism 25 is rotatably provided on the chuck arms 211 and 212, and has a rotation grip member 253 and 254 that rotatably grips the potato P, a rotation shaft 251 connected to one rotation grip member 253, and a rotation shaft. It includes a rotation servo motor 255 that rotates 251 and a rotation servo amplifier 256 (see FIG. 8) that drives the rotation servo motor 255. The rotation servomotor 255 is driven and controlled by a controller 7 connected via a rotation servo amplifier 256. Further, the rotation servomotor 255 may include a rotation rotation angle sensor 26. In this case, it can be used as the rotation position of the potato P gripping the rotation angle instructed by the rotation servomotor 255.

<Structure of 3D measuring device-1>
The three-dimensional measuring device 3 can be configured by using, for example, a laser type three-dimensional measuring device. When the three-dimensional measuring device 3 detects the concave position of the potato P, the rotation mechanism 25 and the rotation rotation angle sensor 26 are operated to perform three-dimensional measurement of the potato P gripped by the gripping mechanism 2 at a plurality of rotation angles. Do. The concave portion of the potato P may be detected by using a camera that images the potato P in two dimensions. For example, if the potato P is imaged in two dimensions while rotating the potato P by a predetermined angle, it is possible to detect the concave position of the potato P from the contour of the potato P or the like.

<Structure of 3D measuring device-2>
It is desirable that the three-dimensional measuring device 3 not only detects the concave position of the potato P gripped by the gripping mechanism 2, but also detects and specifies the convex position of the potato P. In this way, when cutting a plurality of recesses of one potato P while rotating the potato P and sliding and advancing the trimmer blade 411 (see FIG. 4) of the recess cutting mechanism 4, the convex portion is at the very limit. Since it can be avoided, it is possible to suppress unnecessary retreat of the trimmer blade 411 and improve the efficiency of the recess cutting process.

<Structure of recess cutting mechanism-1>
FIG. 4 is a plan view showing a recess cutting mechanism of the potato sprouting device according to the embodiment of the present invention, and FIG. 5 is a front view showing a recess cutting mechanism of the potato sprouting device according to the embodiment of the present invention. FIG. 6 is a side view showing a recess cutting mechanism of the potato sprouting device according to the embodiment of the present invention, and FIG. 7 is connected to the recess cutting mechanism of the potato sprouting device according to the embodiment of the present invention. It is a schematic diagram which shows the cyclone type separation device and the suction blower.

<Structure of recess cutting mechanism-2>
As shown in FIGS. 4 to 6, in the concave cutting mechanism 4, the cutting device 41 (an example of cutting means) for cutting the concave portion of the potato P and the potato P are positioned at positions facing the cutting device 41 by the vertical revolving mechanism 23. A slide mechanism 42 (an example of a slide means) that slides and moves the cutting device 41 in a direction parallel to the rotation shaft 251 when being conveyed, and an advance / retreat mechanism 43 (advance / retreat means) that moves the cutting device 41 forward and backward toward the potato P. (Example)). When cutting the recess of the potato P with the recess cutting mechanism 4, the trimmer blade 411 of the recess cutting mechanism 4 is positioned in the recess of the potato P based on the control of the rotation mechanism 25, the rotation rotation angle sensor 26 and the slide mechanism 42. At the same time, the recess of the potato P is cut according to the forward movement of the trimmer blade 411 by the advancing / retreating mechanism 43. Such a recess cutting process is executed a plurality of times for one potato P until all the detected recesses are cut. In the present embodiment, the recess cutting mechanism 4 is one, but a plurality of recess cutting mechanisms 4 are used, or when the turntable 232 finishes one rotation, the potato P is held by 90 ° and the turntable 232 is rotated one more time. When the recess cutting mechanism 4 is used a plurality of times, the efficiency of the recess cutting process may be improved by appropriately classifying the detected recesses.

<Structure of recess cutting mechanism-3>
The cutting device 41 is a torque sensor 413 (torque detecting means) that detects the cutting torque acting on the trimmer blade 411 based on the trimmer blade 411, the cutting motor 412 that rotates the trimmer blade 411, and the current value flowing through the cutting motor 412. An example: see FIG. 8). If such a torque sensor 413 is provided, the amount of advance of the cutting device 41 by the advancing / retreating mechanism 43 can be appropriately controlled based on the fluctuation of the cutting torque. For example, based on the increase in cutting torque, it can be determined that the trimmer blade 411 has come into contact with the skin of potato P, and based on the subsequent stability of cutting torque, it can be determined that the skin has penetrated and the cutting is completed. it can.

<Structure of recess cutting mechanism-4>
As shown in FIGS. 4 to 7, the cutting device 41 includes a tubular suction cap 414 that covers the periphery of the trimmer blade 411 and a joint box 415 that supports the suction cap 414 and forms a suction path for cutting chips. Be prepared. A suction blower 416 is connected to the suction cap 414 via a joint box 415. The suction blower 416 sucks the cutting chips cut by the trimmer blade 411 through the suction cap 414 and the joint box 415. According to such a configuration, since it is possible to prevent the scattering of cutting chips, it is possible to suppress the contamination in the potato sprout removing device 1. Further, even if all the cutting chips cannot be sucked and some of the cutting chips are scattered on the turntable 232 side, the cutting chips do not collect on the turntable 232 because the turntable 232 is a vertical type.

<Structure of recess cutting mechanism-5>
The suction cap 414 of the present embodiment is made of elastic resin and has a tubular shape including a bellows portion. According to such a configuration, when the cutting device 41 advances and cuts the recess of the potato P with the trimmer blade 411, the suction cap 414 comes into contact with the potato P while being appropriately elastically deformed, so that the front end of the suction cap 414 It is possible to reduce the gap between the portion and the potato P and prevent the scattering of cutting chips.

<Structure of recess cutting mechanism-6>
Between the suction cap 414 (joint box 415) and the suction blower 416, a cyclone type separation device 417 that separates cutting chips and air and collects cutting chips is provided. According to such a configuration, it is possible to prevent the cutting chips from being sucked by the suction blower 416 and prevent the suction blower 416 from being damaged.

<Structure of recess cutting mechanism-7>
At the lower part of the cyclone type separator 417, a cutting waste container 417a for collecting cutting chips is provided separately by an impeller type vacuum separator. The cutting waste container 417a includes a discharge port (not shown) that can be opened and closed. Further, the connecting pipe 418 (exemplified in FIG. 7) for connecting the suction cap 414 (joint box 415) and the suction blower 416, or the joint box 415 includes a water injection unit 419 for guiding water into the pipe. According to such a configuration, simply by opening the discharge port of the cutting waste container 417a and injecting water from the water injection unit 419, the cutting waste accumulated in the cutting waste container 417a is discharged, and the cyclone is discharged from the joint box 415 via the connecting pipe 418. It becomes possible to clean up to the separation device 417.

<Structure of supply and transport mechanism-1>
As shown in FIGS. 1 and 3, the supply conveyor 5 operates a conveyor 51 and a conveyor 51 that convey the potato P from the outside in a direction parallel to the revolving shaft 231 (direction orthogonal to the turntable 232). It includes a conveyor motor 52 (see FIG. 8) to be operated, and a conveyor position sensor 53 (see FIG. 8) that detects the operating position of the conveyor 51.

<Structure of supply and transport mechanism-2>
The transport conveyor 51 includes a large number of roller members 511 that are endlessly connected in the transport direction, and transports the potato P while holding the potato P between adjacent roller members 511. The roller member 511 has a drum shape in which the center of the roller faces in a direction orthogonal to the transport direction and the middle portion of the outer peripheral surface is recessed. According to such a conveyor 51, the potatoes P held between the adjacent roller members 511 are aligned so that the long axis direction of the potatoes P faces the direction orthogonal to the transport direction in the transport process.

<Structure of delivery mechanism-1>
The delivery mechanism 6 is movable in the vertical direction and the horizontal direction, and has a height measurement sensor 62 (an example of height measuring means) for measuring the height of the potato P conveyed by the supply transfer mechanism 5, and a supply transfer mechanism. A pickup device 61 (an example of delivery means) that receives the potato P from 5 and delivers it to the chuck 21 is provided. Further, the horizontal direction in which the delivery mechanism 6 can be moved can be shortened when the potato P is transported in a direction perpendicular to the rotation axis.

<Structure of delivery mechanism-2>
The pickup device 61 includes a holding portion 611 such as a suction pad for holding the potato P, an elevating cylinder 612 for raising and lowering the holding portion 611, and a slide mechanism 613 for sliding the holding portion 611 in the horizontal direction. Further, the pickup device 61 may be provided with a delivery rotation mechanism (not shown) that rotates the potato P according to the angle formed by the rotation shaft 251 and the transport direction when the rotation shaft 251 and the transport direction are not parallel. According to such a pickup device 61, the supply / transport mechanism 5 picks up the potatoes P aligned so that the major axis direction faces the direction orthogonal to the revolution axis 231 and the rotation axis 251 and maintains the posture. Can be passed to the chuck 21. Therefore, the chuck 21 can grip both ends of the potato P in the short axis direction between the pair of chuck arms 211 and 212 (rotational gripping members 253 and 254). That is, since the chuck 21 grips the potato P while avoiding both ends in the long axis direction in which the recesses are concentrated, the detection of the recesses by the three-dimensional measuring device 3 and the cutting of the recesses by the recess cutting mechanism 4 become easy.

<Structure of delivery mechanism-3>
The height measurement sensor 62 measures the height of the potato P when receiving the potato P from the supply / transport mechanism 5. For example, the holding portion 611 is configured to be vertically expandable and contractible, and the height measurement sensor 62 is configured by the stroke sensor 214 that detects the expansion and contraction length of the holding portion 611. According to such a configuration, when the pick-up device 61 receives the potato P from the supply / transport mechanism 5, if the lowering stroke of the elevating cylinder 612 is made constant, the expansion / contraction length of the holding portion 611 according to the height of the potato P. Therefore, it becomes possible to measure the height of the potato P based on the detected value of the stroke sensor 214.

<Structure of delivery mechanism-4>
Further, for example, the elevating cylinder 612 can be used as a robo cylinder, and a phototube can be installed at the tip of the holding portion 611 as a height measuring sensor 62. According to such a configuration, when the pickup device 61 receives the potato P from the supply / transport mechanism 5, the position where the height measurement sensor 62 which is a phototube is blocked is obtained from the position of the elevating cylinder 612 which is a robo cylinder, and the potato. It becomes possible to measure the height of P.

<Structure of delivery mechanism-5>
When the pick-up device 61 passes the potato P to the chuck 21, it is desirable that the chuck 21 grips the center position of the potato P in the height direction based on the measurement height of the height measurement sensor 62. In this way, not only can the chuck 21 stably grip the potato P, but also the rotation operation of the potato P can be smoothly performed.

<Arrangement configuration of controllers, etc.-1>
As shown in FIGS. 1 and 2, the potato sprout removing device 1 includes a control unit side A in which a controller 7 and the like are provided via a partition wall 8 and a processing unit side B in which a recess cutting process of the potato P is performed. Is partitioned. The revolution shaft 231 penetrates the partition wall 8, and the through hole 81 of the partition wall 8 is sealed by a sealing means (not shown). A revolution servomotor 233, a revolution servo amplifier 234, and a rotation servo amplifier 256 are arranged on the control unit side A, and a rotation shaft 251 and a rotation servomotor 255 are arranged on the processing unit side B. According to such an arrangement configuration, when cleaning the processing unit side B, it is possible to prevent water from splashing on the controller 7, the revolution servomotor 233, the revolution servo amplifier 234, the rotation servo amplifier 256, etc. provided on the control unit side A. it can.

<Electrical connection configuration of controller-1>
FIG. 8 is a block diagram showing an electrical connection configuration of the potato sprout removing device according to the embodiment of the present invention.

<Electrical connection configuration of controller-2>
As shown in FIG. 8, the controller 7 is electrically connected to various detection devices and actuators, and controls the actuator in response to a detection signal from the detection device. However, electric devices such as the chuck opening / closing cylinder 213, the stroke sensor 214, the rotation rotation angle sensor 26, and the rotation servomotor 255 provided on the revolving gripping mechanism 2 side cannot be directly connected to the controller 7 provided on the fixed side. The signal lines are electrically connected to the controller 7 via the slip ring 9 connected to the revolution shaft 231 or only the power supply line via the slip ring 9 and the other signal lines via the radio 9a.

<Potato sprout removal method-1>
Next, a potato bud removing method for removing the skin and buds of the recesses of the potato P using the potato bud removing device 1 will be described with reference to FIGS. 1 to 3.

<Potato sprout removal method-2>
The potato sprouting method includes a supply and transport step of supplying and transporting potato P from the outside using a supply and transport mechanism 5, and a delivery and delivery of potato P from the supply and transport mechanism 5 to a gripping mechanism 2 using a delivery mechanism 6. The first revolution process in which the potato P is revolved to the first revolution position facing the three-dimensional measuring device 3 using the gripping mechanism 2 and the first revolution position using the three-dimensional measuring device 3. A recess position detection step for detecting the recess position of the potato P, a second revolution step for revolving the potato P to a second revolution position facing the recess cutting mechanism 4 by using the gripping mechanism 2, and a recess cutting mechanism 4. The recess cutting step of cutting the recess of the potato P at the second revolution position, the third revolution step of revolving the potato P to the third revolution position using the gripping mechanism 2, and the gripping mechanism 2 are used. A discharge step of discharging the potato P toward the discharge chute 10 at the third revolution position is included.

<Effect of Embodiment-1>
The effects of the described embodiments will be described above.
The potato sprouting device 1 of the embodiment includes a gripping mechanism 2 for gripping the potato, a three-dimensional measuring device 3 for detecting the concave position of the potato P gripped by the gripping mechanism 2, and a potato P gripped by the gripping mechanism 2. The gripping mechanism 2 includes a recessed cutting mechanism 4 for cutting the recesses of the potato P, and the gripping mechanism 2 vertically revolves the plurality of chucks 21 for gripping the potato P and the plurality of chucks 21 around the revolving shaft 231 along the horizontal direction. A revolving mechanism 23 and a revolving rotation angle sensor 24 for detecting the revolving position of the chuck 21 are provided. The chuck 21 has a chuck opening / closing cylinder 213 that opens and closes the gripping interval of the potato P, and the gripped potato P is centered on the rotation shaft 251. A rotation mechanism 25 for rotating the potato P and a rotation rotation angle sensor 26 for detecting the rotation position of the grasped potato P are provided, and the concave cutting mechanism 4 is a position facing the cutting device 41 by the cutting device 41 and the vertical revolution mechanism 23. A slide mechanism 42 that slides and moves the cutting device 41 in a direction parallel to the rotation axis 251 when the potato P is conveyed to the potato P, and an advancing / retreating mechanism 43 that moves the cutting device 41 forward and backward toward the potato P. The sprouting treatment of a plurality of potatoes P can be continuously performed. Further, since the chuck 21 that grips the potato P revolves in the vertical direction around the revolution axis 231 along the horizontal direction, it revolves in the horizontal direction around the revolution axis along the vertical direction, as compared with the conventional potato sprout removing device. , The installation space can be reduced. Further, since the turntable 232 that supports the chuck 21 is vertical, it is possible to prevent cutting chips from accumulating on the turntable 232.

<Effect of Embodiment-2>
The vertical revolution mechanism 23 includes a revolution shaft 231, a revolution servomotor 233 that rotates the revolution shaft 231 and a revolution servo amplifier 234 that drives the revolution servomotor 233, and the rotation mechanism 25 includes a rotation shaft 251 and a rotation shaft. A rotation servomotor 255 for rotating 251 and a rotation servomotor 256 for driving the rotation servomotor 255 are provided, and the rotation servomotor 233 and the rotation servomotor 255 are controlled by a controller 7 via a rotation servomotor 234 and a rotation servomotor 256. The revolving shaft 231 penetrates the partition wall 8 that separates the control unit side A on which the controller 7 is provided and the processing unit side B on which the recess cutting of the potato P is performed, and the through hole 81 of the partition wall 8 penetrates. Is sealed by the sealing means, the revolving servomotor 233, the revolving servomotor 234, and the rotating servomotor 256 are arranged on the control unit side A, and the rotating shaft 251 and the rotating servomotor 255 are arranged on the processing unit side B. When cleaning the processed portion side B, it is possible to prevent water from splashing on the controller 7, the revolving servomotor 233, the revolving servo amplifier 234, the rotating servo amplifier 256, etc. provided on the control portion side A.

<Effect of Embodiment-3>
Since the three-dimensional measuring device 3 performs three-dimensional measurement of the potato P gripped by the gripping mechanism 2, the concave position of the potato P can be detected three-dimensionally with high accuracy.

<Effect of Embodiment-4>
In the potato sprout removing device 1, the amount of retreat of the cutting device 41 by the advancing / retreating mechanism 43 is controlled based on the position of the convex portion of the potato P specified by the three-dimensional measurement, so that the cutting device 41 is moved forward / backward and slid. When cutting a plurality of concave portions of one potato P, the convex portions can be avoided at the last minute, and as a result, unnecessary retreat of the cutting device 41 can be suppressed and the efficiency of the concave portion cutting process can be improved.

<Effect of Embodiment-5>
The cutting device 41 includes a trimmer blade 411, a cutting motor 412 that rotates the trimmer blade 411, and a torque sensor 413 that detects the cutting torque acting on the trimmer blade 411 based on the current value flowing through the cutting motor 412. , The state of the cutting device 41 can be recognized with high accuracy based on the cutting torque.

<Effect of Embodiment-6>
In the potato sprouting device 1, the advancing amount of the cutting device 41 is controlled by the advancing / retreating mechanism 43 based on the fluctuation of the cutting torque. Therefore, for example, the trimmer blade 411 comes into contact with the skin of the potato P based on the increase in the cutting torque. Not only can it be determined that the cutting has been performed, but the penetration of the skin can be determined based on the stability of the cutting torque thereafter, and the cutting can be completed.

<Effect of Embodiment-7>
The potato sprouting device 1 further includes a supply and transport mechanism 5 that supplies and transports the potato P from the outside, and a delivery mechanism 6 that delivers the potato P from the supply and transport mechanism 5 to the gripping mechanism 2. The supply and transport mechanism 5 transports the potato P. A large number of roller members 511 that are endlessly connected in the direction are provided, and the potato P is conveyed while being held between the adjacent roller members 511. The roller member 511 has a drum shape in which the middle portion of the outer peripheral surface is recessed and is adjacent to each other. The potatoes P held between the roller members 511 are aligned so that the long axis direction of the potatoes P faces the direction orthogonal to the transport direction during the transport process, and the supply transport mechanism 5 is substantially parallel to the rotation shaft 251. The potato P is transported in the direction, or the delivery mechanism 6 rotates the potato P according to the angle formed by the rotation shaft 251 and the transport direction, so that the potato P is gripped in the major axis direction and the minor axis direction. Can be supplied to 2.

<Effect of Embodiment-8>
The delivery mechanism 6 is movable in the vertical direction and the horizontal direction, and measures the heights of the pick-up device 61 that delivers the potato P conveyed by the supply and transfer mechanism 5 to the chuck 21 and the potato P received from the supply and transfer mechanism 5. Since the pickup device 61 is provided with the height measuring sensor 62 and causes the chuck 21 to grip the center position of the potato P in the height direction, the chuck 21 can not only stably grip the potato P but also rotate the potato P. It can be done smoothly.

<Effect of Embodiment-9>
The cutting device 41 includes a trimmer blade 411, a cutting motor 412 that rotates the trimmer blade 411, and a suction cap 414 that covers the periphery of the trimmer blade 411. The suction cap 414 includes a suction blower 416 that sucks cutting chips. Since it is connected, it is possible to prevent the scattering of cutting chips and suppress the dirt in the potato sprouting device 1.

Although the present invention has been described above using the embodiments, it goes without saying that the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. Further, it is clear from the description of the scope of claims that such a modified or improved form may be included in the technical scope of the present invention.

1 Potato sprout removal device 2 Gripping mechanism 21 Chuck 211, 212 Chuck arm 213 Chuck opening / closing cylinder 214 Stroke sensor 23 Vertical revolution mechanism 231 Revolution shaft 232 Turntable 233 Revolution servo motor 234 Revolution servo amplifier 24 Revolution rotation angle sensor 25 Rotation mechanism 251 Rotation Shaft 253, 254 Rotation grip member 255 Rotation servo motor 256 Rotation servo amplifier 26 Rotation rotation angle sensor 3 Three-dimensional measuring device 4 Concave cutting mechanism 41 Cutting device 411 Trimmer blade 412 Cutting motor 413 Torque sensor 414 Suction cap 415 Joint box 416 Suction blower 417 Cyclone type separator 417a Cutting waste container 418 Connection pipe 419 Water injection part 42 Slide mechanism 43 Advance / retreat mechanism 5 Supply transfer mechanism 51 Conveyance conveyor 511 Roller member 52 Conveyor motor 53 Conveyor position sensor 6 Delivery mechanism 61 Pickup device 611 Holding part 612 Lifting cylinder 613 Slide mechanism 62 Height measurement sensor 7 Controller 8 Partition wall 81 Through hole 9 Slip ring 10 Discharge chute

Claims (7)

A potato sprout remover that removes the skin and buds of the potato recesses.
A gripping mechanism that grips potatoes,
Recessed position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism, and
It is provided with a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism.
The gripping mechanism
Multiple gripping means for gripping potatoes,
A vertical revolving means that revolves the plurality of gripping means in the vertical direction around a revolving axis along the horizontal direction, and
A revolution position detecting means for detecting the revolution position of the gripping means is provided.
The gripping means
Opening and closing means to open and close the potato gripping interval,
A rotation means for rotating the grasped potato around the rotation axis,
It is equipped with a rotation position detecting means for detecting the rotation position of the grasped potato.
The recess cutting mechanism is
Cutting means and
When the potato is conveyed to a position facing the cutting means by the vertical revolution means, the sliding means that slides the cutting means in a direction parallel to the rotation axis and the cutting means that moves forward and backward toward the potato. Equipped with a means of advancing and retreating
The vertical revolution means
The revolution axis and
A revolution servo motor that rotates the revolution axis and
It is equipped with a revolution servo amplifier that drives the revolution servo motor.
The rotation means
With the rotation axis
A rotation servomotor that rotates the rotation axis and
It is equipped with a rotation servo amplifier that drives the rotation servo motor.
The revolution servomotor and the rotation servomotor are controlled by the control means via the revolution servo amplifier and the rotation servo amplifier.
The revolution shaft penetrates a partition wall that separates the control unit side where the control means is provided and the processing unit side where the potato recess cutting process is performed.
The through hole of the partition wall is sealed by the sealing means.
The revolution servomotor, the revolution servo amplifier, and the rotation servo amplifier are arranged on the control unit side.
A potato sprout removing device in which the rotation shaft and the rotation servomotor are arranged on the processing portion side. A potato sprout remover that removes the skin and buds of the potato recesses.
A gripping mechanism that grips potatoes,
Recessed position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism, and
It is provided with a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism.
The gripping mechanism
Multiple gripping means for gripping potatoes,
A vertical revolving means that revolves the plurality of gripping means in the vertical direction around a revolving axis along the horizontal direction, and
A revolution position detecting means for detecting the revolution position of the gripping means is provided.
The gripping means
Opening and closing means to open and close the potato gripping interval,
A rotation means for rotating the grasped potato around the rotation axis,
It is equipped with a rotation position detecting means for detecting the rotation position of the grasped potato.
The recess cutting mechanism is
Cutting means and
When the potato is conveyed to a position facing the cutting means by the revolving means, the sliding means for sliding the cutting means and the advancing / retreating means for moving the cutting means forward and backward toward the potato are provided.
The cutting means
With a trimmer blade
A cutting motor that rotates the trimmer blade and
A torque detecting means for detecting a cutting torque acting on the trimmer blade based on a current value flowing through the cutting motor is provided.
Controlling the completion of advancement of the cutting means by the advancing / retreating means based on the stability after the increase of the cutting torque.
Potato sprout remover. A potato sprout remover that removes the skin and buds of the potato recesses.
A gripping mechanism that grips potatoes,
Recessed position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism, and
It is provided with a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism.
The gripping mechanism
Multiple gripping means for gripping potatoes,
A vertical revolving means that revolves the plurality of gripping means in the vertical direction around a revolving axis along the horizontal direction, and
A revolution position detecting means for detecting the revolution position of the gripping means is provided.
The gripping means
Opening and closing means to open and close the potato gripping interval,
A rotation means for rotating the grasped potato around the rotation axis,
It is equipped with a rotation position detecting means for detecting the rotation position of the grasped potato.
The recess cutting mechanism is
Cutting means and
When the potato is conveyed to a position facing the cutting means by the vertical revolution means, the sliding means that slides the cutting means in a direction parallel to the rotation axis and the cutting means that moves forward and backward toward the potato. Equipped with a means of advancing and retreating
A supply and transportation mechanism that supplies and conveys potatoes from the outside,
A delivery mechanism for delivering potatoes from the supply / transport mechanism to the gripping mechanism is further provided.
The supply and transport mechanism includes a large number of roller members endlessly connected in the transport direction, and transports potatoes while holding them between adjacent roller members.
The roller member has a drum shape in which the middle portion of the outer peripheral surface is recessed, and the potato held between the adjacent roller members has a direction in which the long axis direction of the potato is orthogonal to the transport direction during the transport process. Aligned to face,
The supply transport mechanism transports potatoes in a direction substantially parallel to the rotation axis, or the delivery mechanism rotates potatoes according to an angle formed by the rotation shaft and the transport direction.
Potato sprout remover. The delivery mechanism is
A delivery means that is movable in the vertical and horizontal directions and delivers the potatoes received from the supply and transport mechanism to the gripping means.
It is provided with a height measuring means for measuring the height of the potatoes conveyed by the supply and conveying mechanism.
The potato sprout removing device according to claim 3 , wherein the delivery means causes the gripping means to grip the center position of the potato in the height direction. A potato sprout remover that removes the skin and buds of the potato recesses.
A gripping mechanism that grips potatoes,
Recessed position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism, and
It is provided with a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism.
The gripping mechanism
Multiple gripping means for gripping potatoes,
A vertical revolving means that revolves the plurality of gripping means in the vertical direction around a revolving axis along the horizontal direction, and
A revolution position detecting means for detecting the revolution position of the gripping means is provided.
The gripping means
Opening and closing means to open and close the potato gripping interval,
A rotation means for rotating the grasped potato around the rotation axis,
It is equipped with a rotation position detecting means for detecting the rotation position of the grasped potato.
The recess cutting mechanism is
Cutting means and
When the potato is conveyed to a position facing the cutting means by the revolving means, the sliding means for sliding the cutting means and the advancing / retreating means for moving the cutting means forward and backward toward the potato are provided.
A supply and transportation mechanism that supplies and conveys potatoes from the outside,
A delivery mechanism for delivering potatoes from the supply / transport mechanism to the gripping mechanism is further provided.
The delivery mechanism is
A delivery means that is movable in the vertical direction and the horizontal direction and delivers the potatoes received from the supply and transport mechanism to the gripping means.
It is provided with a height measuring means for measuring the height of the potatoes conveyed by the supply and conveying mechanism.
The delivery means causes the gripping means to grip the center position of the potato in the height direction.
Potato sprout remover. A potato sprout remover that removes the skin and buds of the potato recesses.
A gripping mechanism that grips potatoes,
Recessed position detecting means for detecting the recessed position of the potato gripped by the gripping mechanism, and
It is provided with a recess cutting mechanism for cutting the recess of the potato gripped by the gripping mechanism.
The gripping mechanism
Multiple gripping means for gripping potatoes,
A vertical revolving means that revolves the plurality of gripping means in the vertical direction around a revolving axis along the horizontal direction, and
A revolution position detecting means for detecting the revolution position of the gripping means is provided.
The gripping means
Opening and closing means to open and close the potato gripping interval,
A rotation means for rotating the grasped potato around the rotation axis,
It is equipped with a rotation position detecting means for detecting the rotation position of the grasped potato.
The recess cutting mechanism is
Cutting means and
When the potato is conveyed to a position facing the cutting means by the revolving means, the sliding means for sliding the cutting means and the advancing / retreating means for moving the cutting means forward and backward toward the potato are provided.
The cutting means
With a trimmer blade
A cutting motor that rotates the trimmer blade and
A suction cap that covers the circumference of the trimmer blade is provided.
The suction cap is made of elastic resin and has a tubular shape including a bellows portion.
A suction blower for sucking cutting chips is connected to the suction cap.
Potato sprout remover. A method for removing buds and skins of recesses of potatoes using the potato bud removing device according to any one of claims 1 to 6.
A step of gripping a potato using the gripping mechanism and revolving around the revolution axis,
A step of detecting the concave position of the potato at the first revolution position by using the concave position detecting means, and
A method for removing potato buds, which comprises a step of cutting a potato recess at a second revolution position using the recess cutting mechanism.