JP7064208B1 - Foreign matter remover for sheet-shaped seaweed - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a foreign matter removing device capable of detecting and reliably removing foreign matter adhering to or squeezed into sheet-shaped seaweed. SOLUTION: The foreign matter removing device 10 of the present invention is a foreign matter removing device for detecting and removing a foreign matter 81 adhering to or squeezed into a sheet-shaped seaweed 80, and has a first foreign matter removing means 52 for removing the foreign matter. The first foreign matter removing suction means 51, which is provided in the vicinity of the first foreign matter removing means and includes the first foreign matter sucking means 54 for sucking the foreign matter removed by the first foreign matter removing means, is provided. 1 The foreign matter removing means includes a brush 56 in which brush bristles 57 are planted, and the foreign matter is scraped off and removed by pressing the brush against the seaweed. [Selection diagram] FIG. 5

Description

The present invention relates to a foreign matter removing device for removing foreign matter adhering to or being squeezed into sheet-shaped seaweed.

Sheet-shaped seaweed such as raw seaweed, grilled seaweed, and dried seaweed (hereinafter, appropriately referred to as "seaweed" and "sheet-shaped seaweed") are produced by straining seaweed such as red algae and blue-green algae and drying them into a sheet. .. In the production process, seaweed has various foreign substances attached to it and squeezed into it.

For example, examples of foreign substances include seaweeds other than the above, shrimp, crabs, fish, insects, straw pieces, wood pieces, metal pieces, paint pieces, fishing line, and hair. Since the seaweed to which these foreign substances have adhered or plowed in is not suitable for food, the foreign substances are removed by inspecting them one by one before shipping.

In Patent Document 1, when a foreign substance of seaweed is detected, the seaweed is sucked and positioned from the back surface side, and the cutting tool is rotated to approach the axis, and the foreign substance adhered or squeezed is removed by cutting together with the surrounding part. ing.

Japanese Patent No. 6728017

However, the foreign matter removed by cutting may be scattered around by the rotational force of the cutting tool and may adhere to the seaweed again.

An object of the present invention is to provide a foreign matter removing device capable of detecting and reliably removing foreign matter adhering to or squeezed into sheet-shaped seaweed.

The foreign matter removing device of the present invention is
A foreign matter removing device that detects and removes foreign matter adhering to or squeezed into sheet-shaped seaweed.
A transport means for transporting the sheet-shaped seaweed one by one, and
A first foreign matter detecting means, which is deployed on the downstream side of the transporting means and detects the position of the foreign matter in the sheet-shaped seaweed,
It is deployed on the downstream side of the first foreign matter detecting means, and is deployed in the vicinity of the first foreign matter removing means for removing the foreign matter at the position detected by the first foreign matter detecting means and the first foreign matter removing means. A first foreign matter removing suction means including a first foreign matter sucking means for sucking the foreign matter removed by the first foreign matter removing means, and a first foreign matter removing suction means.
With
The first foreign matter removing means includes a brush in which brush bristles are planted, and the foreign matter is scraped off and removed by pressing the brush against the seaweed.

A reversing means, which is provided on the downstream side of the first foreign matter removing and sucking means and inverts the sheet-shaped seaweed on the transport transition path.
A second foreign matter detecting means, which is deployed on the downstream side of the reversing means and detects the position of the foreign matter in the sheet-shaped seaweed inverted by the reversing means.
The second foreign matter removing means, which is arranged on the downstream side of the second foreign matter detecting means and removes the foreign matter at the position detected by the second foreign matter detecting means, and the second foreign matter removing means are arranged in the vicinity of the second foreign matter removing means. A second foreign matter removing suction means including a second foreign matter sucking means for sucking the foreign matter removed by the second foreign matter removing means, and a second foreign matter removing suction means.
With
The second foreign matter removing means includes a brush in which brush bristles are planted, and the foreign matter is scraped off and removed by pressing the brush against the seaweed.

The brush is configured such that the brush bristles are planted downward at the tip of the shaft-shaped member and rotate about an axis orthogonal to the seaweed.

The brush has a structure in which the brush bristles are planted on the peripheral surface of a tubular member and rotates about an axis parallel to the seaweed.

The brush is formed by implanting the brush bristles on the lower surface of a sheet-shaped member.
On the upper part of the sheet-shaped member, there is a pushing means for pushing the sheet-shaped member downward toward the position detected by the first foreign matter detecting means.
A reciprocating means for reciprocating or vibrating the sheet-shaped member in the horizontal direction,
To have.

The transporting means includes a transport table on which the sheet-shaped seaweed is placed one by one, and the sheet-shaped seaweed is transported by rotation of the transport table.

The transport table has a clamping means for clamping and positioning the sheet-shaped seaweed.

On the downstream side of the second foreign matter removing and sucking means, an inspection device for detecting the presence or absence of foreign matter remaining in the sheet-shaped seaweed that has passed through the second foreign matter removing and sucking means, and the presence or absence of holes and tears is provided.

According to the foreign matter removing device for sheet-shaped seaweed of the present invention, the position of the foreign matter in the seaweed is detected, and the foreign matter existing at the position is scraped off by the foreign matter removing means including a brush. Since the foreign matter removed from the seaweed is sucked by the foreign matter suction means, it does not adhere to the seaweed again.

FIG. 1 is a plan view of a foreign matter removing device according to an embodiment of the present invention. FIG. 2 is a plan view of seaweed clamped to a transport table (a), and FIG. 2 (b) is a sectional view taken along line bb. FIG. 3 is an explanatory diagram of the foreign matter detecting means. FIG. 4 is a plan view of the foreign matter detected by the foreign matter detecting means and the seaweed showing the position thereof. FIG. 5 is an explanatory diagram showing a process in which foreign matter is removed from the surface of seaweed and sucked by the foreign matter removing suction means. FIG. 6 is a cross-sectional view of (a) good seaweed and (b) defective seaweed in the final inspection. FIG. 7 is an explanatory diagram of a foreign matter removing suction means according to another embodiment of the present invention. FIG. 8 is an explanatory diagram of a foreign matter removing suction means according to another embodiment of the present invention. FIG. 9 is a diagram illustrating a step of removing foreign matter from seaweed by the foreign matter removing suction means of FIG. FIG. 10 is an explanatory diagram of a foreign matter removing suction means according to another embodiment of the present invention. FIG. 11 is a diagram illustrating a foreign matter removing step of seaweed by the foreign matter removing suction means of FIG. FIG. 12 is a diagram illustrating a foreign matter removing step of seaweed following FIG.

Hereinafter, the foreign matter removing device 10 for sheet-shaped seaweed of the present invention will be described with reference to the drawings.

As the seaweed 80 capable of detecting and removing foreign matter by the foreign matter removing device 10, sheet-shaped seaweed such as raw seaweed, grilled seaweed, and dried seaweed can be exemplified. In the case of general whole seaweed (see FIG. 2), the sheet-shaped seaweed 80 has a length of about 210 mm, a width of about 190 mm, and a thickness of about 0.2 mm. Of course, the length, width, and thickness of the seaweed 80 are not limited to this.

FIG. 1 is a plan view showing the overall configuration of the foreign matter removing device 10 according to the embodiment of the present invention. The foreign matter removing device 10 can be arranged, for example, in the final step of the processing and manufacturing process of seaweed, or in the inspection step of already manufactured seaweed. In the illustrated embodiment, the foreign matter removing device 10 is adopted in the seaweed inspection step.

As a schematic configuration of the foreign matter removing device 10, when viewed from the upstream side of the transport transition path of the seaweed 80, as shown in FIG. 1, the carry-in station 20 into which the seaweed 80 to be inspected is carried in and the seaweed 80 waiting for inspection stand by. Standby station 24, mounting station 35 that puts seaweed 80 one by one on the transport table 31, first foreign matter detection station 40 that detects the position of foreign matter 81 on the surface of seaweed 80, first foreign matter removal that removes and sucks foreign matter 81 The suction station 50, the first reversing station 60 that inverts the seaweed 80, the second foreign matter detecting station 40a that detects the position of the foreign matter 81 of the seaweed 80 that is inverted and the back surface is the front surface, and the second that removes and sucks the foreign matter 81. Foreign matter removal suction station 50a, second reversing station 60a that reverses the seaweed 80 again and returns it to the original front and back, carry-out station 70 that carries out the seaweed 80 from the transport table 31, and the seaweed 80 from which the foreign matter 81 on the front and back has been removed remains. Final inspection station 73 that detects the presence or absence of foreign matter 81, holes and tears, good seaweed accumulation station 77 that collects good seaweed 85 that passed the final inspection station 73, defective seaweed accumulation that collects defective seaweed 86 Includes station 78.

The seaweed 80 moves along the transport transition path between the stations by the transport means 22, 25, 71, 79, the transport means 30, and the distribution means 76, and the foreign matter 81 is detected and removed and sucked.

All the control of the foreign matter removing device 10 is executed by a control means composed of a memory such as a CPU, RAM, ROM, flash memory, a buffer, etc., and the control is performed by connecting various programs recorded therein. It can be realized. Further, these functions can be realized by one device, or can be a system that is jointly realized by a plurality of systems. Hereinafter, each means will be described individually, but these means are collectively controlled and operated by the above-mentioned control means.

Hereinafter, each station will be described in detail.

<Carry-in station 20>
The carry-in station 20 carries in the seaweed 80 to be inspected and stores it until the inspection. For example, the seaweed 80 is carried into the seaweed stocker 21 in the form of a bundle of several tens to several hundreds of sheets. The seaweed stocker 21 can accommodate a plurality of bundles, and in the present embodiment, the seaweed 80 before the inspection, the good seaweed 85 after the inspection, and the defective seaweed 86 are stored.

The seaweed 80 housed in the seaweed stocker 21 is taken out from the seaweed stocker 21 as a bundle by a transfer means 22 such as a robot hand, a robot arm, a conveyor belt, and an actuator, and is carried to a standby station 24.

<Standby station 24>
At the waiting station 24, the seaweed 80 is piled up and waits for inspection. The seaweed 80 is carried to the loading station 35 one by one by the transport means 25. For example, the transfer means 25 can be configured to provide a suction function to the two-axis Cartesian robot and suck the seaweed 80 located at the top of the stacked robots to be transported to the mounting station 35. Further, the transfer means 25 may be configured to attach a handpiece having a suction function to the robot hand or the robot arm and transfer the seaweed 80 to the loading station 35.

<Transporting means 30, transport table 31>
The seaweed 80 is conveyed by the conveying means 30 from the mounting station 35 to the second foreign matter removing suction station 50a, during which the foreign matter 81 is inspected and removed and sucked. For example, as shown in FIG. 1, the transport means 30 is a disk-shaped transport table 31 that can rotate intermittently in the direction of the arrow R, holds the seaweed 80 on the transport table 31, and transports the seaweed 80 to each station in order. It is a configuration. In the figure, the transfer table 31 arranges stations 35, 40, 50, 60, 40a, 50a, 60a, 70 in an annular shape at intervals of 45 °. A maximum of eight seaweed 80s can be placed on the transport table 31, and inspections, foreign matter removal and suction, etc. are sequentially performed. A conveyor belt may be used instead of the transfer table 31, and the stations may be arranged in a straight line.

<Mounting station 35>
At the loading station 35, the seaweed 80 carried by the transport means 25 from the standby station 24 is placed on the transport table 31 and fixed. In the present embodiment, as will be described later, in order to identify the position of the foreign matter 81 of the seaweed 80 and remove and suck the foreign matter 81 at the position, the seaweed 80 moves between the stations (first and second reversing stations 60, 60a). It is necessary to hold it without shifting the position while moving (excluding). Therefore, the transport table 31 has a clamping means 32 as a positioning mechanism, and the seaweed 80 is fixed to the transport table 31. As a specific embodiment, FIG. 2 is a plan view of the seaweed 80 fixed to the transport table 31 by the clamping means 32. The clamping means 32 can be exemplified as a configuration operated by an actuator, a solenoid, or the like, and clamps the edge portion of the seaweed 80 in a state where the seaweed 80 is stretched without slackening. In the illustrated embodiment, the seaweed 80 clamps the four corners by the clamping means 32, but the number and the clamping positions of the clamping means 32 are not limited to the illustrated example. The positioning mechanism may fix the seaweed 80 to the transport table 31 by suction or the like instead of the clamping means 32.

In the present embodiment, the seaweed 80 is placed and fixed in a direction in which the longitudinal direction is parallel to the diameter of the transport table 31.

FIG. 2 shows the seaweed 80 to which the foreign matter 81 is attached or squeezed, and shows a state in which the foreign matter 81 is attached or squeezed to the front side surface and the back surface side, respectively. The front side surface of the seaweed 80 is generally a glossy and slippery side, and the back side surface is a surface that is rough in contact with the drainboard. In the following description, the front and back surfaces of the seaweed 80 may be referred to, but the front and back surfaces may be reversed. For example, the seaweed 80 is placed on the mounting station 35 with the front side facing upward.

The seaweed 80 fixed to the mounting station 35 is carried to the first foreign matter detection station 40 by the intermittent rotation of the transport table 31.

<First foreign matter detection station 40>
The first foreign matter detecting station 40 has a first foreign matter detecting means 41, detects the foreign matter 81 of the seaweed 80 on the transport table 31, and identifies the position thereof. As shown in FIG. 1, the first foreign matter detection station 40 is located at a position moved clockwise by 45 ° from the mounting station 35. The first foreign matter detecting means 41 detects the foreign matter 81 by, for example, an optical method. As a specific embodiment, the first foreign matter detecting means 41 can adopt a configuration in which a reflective image processing device and AI (artificial intelligence: not shown) are combined. As shown in FIG. 3, the reflection type image processing apparatus irradiates the seaweed 80 with light L1 from a light source 42 such as an LED, and the reflected light L2 is imaged by the image pickup means 43. In order to avoid the influence of external light, it is desirable to cover the seaweed 80, the light source 42 and the image pickup means 43 with a dome-shaped cover. Then, the obtained image is analyzed by AI (for example, mounted on a control means), and AI determines the presence or absence of the foreign matter 81 and its position from the learning result. As shown in FIG. 4, the position of the foreign matter 81 can be specified by orthogonal coordinates with the center in the longitudinal direction of the seaweed 80 as the Y axis and the center in the width direction as the X axis, as shown in FIG. In FIG. 4, two foreign substances 81 are shown, one coordinate is (x1, y1) and the other coordinate is (x2, y2).

The presence / absence of the foreign matter 81 and its position (coordinates) are transmitted to the first foreign matter removing suction station 50. Further, the transport table 31 is intermittently rotated by 45 ° to move the seaweed 80 from the first foreign matter detection station 40 to the first foreign matter removal suction station 50.

<First foreign matter removal suction station 50>
In the first foreign matter removal suction station 50, the seaweed 80 whose presence / absence and position of the foreign matter 81 are specified is conveyed from the first foreign matter detection station 40, and the detected foreign matter 81 is removed and sucked.

FIG. 5 shows an example of the first foreign matter removing suction means 51. The first foreign matter removing suction means 51 includes a first foreign matter removing means 52 for removing the foreign matter 81 from the seaweed 80 and a first foreign matter sucking means 54 for sucking the removed foreign matter 81. The first foreign matter removing means 52 and the first foreign matter sucking means 54 can be integrally attached to a moving mechanism (not shown) that can move in a plane parallel to the seaweed 80 in a horizontal plane and in three dimensions in the height direction. The moving mechanism is, for example, a 3-axis Cartesian robot, a robot hand, or a robot arm.

As a specific embodiment, the first foreign matter removing means 52 can employ a brush 56 that scrapes the foreign matter 81 from the surface of the seaweed 80. As shown in FIG. 5, the brush 56 is planted with brush bristles 57. In the figure, the brush bristles 57 are planted at the tip of the shaft-shaped member 58a, and the brush bristles 57 are on the lower side. The brush bristles 57 can be made of plastic, PET, nylon or the like. The diameter of the brush bristles 57 is preferably about 0.1 mm to 1 mm.

The shaft-shaped member 58a is arranged above the seaweed 80 in a direction substantially orthogonal to the seaweed 80, and is connected to a rotating means (not shown) including a motor, gears, and the like. The brush 56 preferably has a diameter of about 0.5 mm to 10 mm. In the illustrated embodiment, the brush 56 rotates the shaft-shaped member 58a about an axis substantially orthogonal to the seaweed 80, but it may be rotated diagonally or the like.

The first foreign matter suction means 54 can exemplify a nozzle 55 connected to a suction pump (not shown) or the like via a hose. As shown in FIG. 5, the nozzle 55 is arranged close to the tip of the brush 56 and sucks the foreign matter 81 removed by the brush 56.

The first foreign matter removing / sucking means 51 receives information on the presence / absence of the foreign matter 81 detected by the first foreign matter detection station 40 and its coordinates when the foreign matter 81 is present. When there is no foreign matter 81, the first foreign matter removing suction means 51 does not operate, and the transport table 31 is rotated to wait for the arrival of the next seaweed 80.

The foreign matter removal and suction process when the foreign matter 81 is detected in the seaweed 80 will be described with reference to FIG. As described above, the coordinates of the foreign matter 81 are specified by the first foreign matter detection station 40. In this embodiment, as shown in FIG. 4, there are two foreign objects 81, and their coordinates are (x1, y1) and (x2, y2).

When the seaweed 80 in which the foreign matter 81 is present arrives at the first foreign matter removing suction station 50, as shown by the arrow a in FIG. 5A, the moving mechanism (not shown) is the first foreign matter removing means 52 and the first. The foreign matter suction means 54 is moved in the horizontal plane, and the brush 56 is aligned on the coordinate positions (x1, y1) of the first foreign matter 81.

When the alignment is completed, the brush 56 is rotated around the axis (arrow b1 in FIG. 5B), and suction is started from the nozzle 55 (arrow b2). The rotation of the brush 56 and the start timing of suction from the nozzle 55 are not limited to this, and may be configured to always operate, for example.

Subsequently, as shown by the arrow b3 in FIG. 5B, the brush 56 is lowered together with the nozzle 55, and the tip of the brush bristles 57 is brought into contact with the foreign matter 81. As a result, as shown in FIG. 5C, the brush bristles 57 scrape the foreign matter 81 on the seaweed 80 and remove it from the seaweed 80. Then, the removed foreign matter 81 is sucked by the nozzles 55 arranged in close proximity to each other as shown by the arrow c in FIG. 5 (c). Since the foreign matter 81 is sucked and removed by the nozzle 55, the foreign matter 81 does not fall or scatter again on the seaweed 80.

After that, as shown by the arrow d in FIG. 5D, the brush 56 and the nozzle 55 are raised, and the next foreign matter 81 (coordinates (x1, y1)) is removed and sucked by a moving mechanism.

With reference to FIG. 5D, it can be seen that the foreign matter 81 and the peripheral portion thereof are removed from the seaweed 80, and a dent 82 is formed in the removed portion. In order to prevent the formation of through holes in the seaweed 80, it is desirable that the brush bristles 57 come into contact with the surface of the seaweed 80.

As described above, the foreign matter 81 on the front surface of the seaweed 80 can be removed by the first foreign matter detection station 40 and the first foreign matter removal suction station 50. Subsequently, the presence or absence of the foreign matter 81 on the back surface of the seaweed 80 is detected, and if the foreign matter 81 is present, the foreign matter 81 is removed.

<First reversal station 60>
At the first reversing station 60, the front and back sides of the seaweed 80 are turned over in order to inspect the back side surface of the seaweed 80 in the subsequent step. Specifically, the fixing of the seaweed 80 fixed to the transport table 31 by the clamping means 32 is released, the front and back sides of the seaweed 80 are turned over, and the seaweed 80 is fixed to the transport table 31 again.

The transport table 31 is intermittently rotated by 45 °, and the seaweed 80 in the first foreign matter removing suction station 50 is moved to the first reversing station 60. Then, first, in the first reversing station 60, the fixing of the seaweed 80 is released from the transport table 31. For example, when the seaweed 80 is fixed by the clamping means 32 (see FIG. 2), the clamp is released.

Subsequently, the seaweed 80 is inverted. As the reversing means of the seaweed 80 (arrow 61 in FIG. 1), a robot hand, a robot arm, or the like is adopted, a suction function is added to these, and a configuration in which the seaweed 80 is inverted in a sucked state can be exemplified.

The inverted seaweed 80 is placed again at the same position on the transport table 31. Then, from this state, the seaweed 80 may be fixed again by the clamping means 32 as shown in FIG. Next, the transport table 31 is intermittently rotated by 45 °, and the front-back inverted seaweed 80 is transported to the second foreign matter detection station 40a.

<Second foreign matter detection station 40a, second foreign matter removal suction station 50a>
On the back surface of the seaweed 80, the presence or absence of the foreign matter 81 is detected, the position thereof is specified, and when the foreign matter 81 is present, the foreign matter 81 is removed and sucked. The second foreign matter detecting station 40a includes a second foreign matter detecting means 41a similar to the first foreign matter detecting means 41 (see FIG. 3). Further, the second foreign matter removing suction station 50a includes a second foreign matter removing suction means 51a including a second foreign matter removing means 52a and a second foreign matter removing suction means 54a, similarly to the first foreign matter removing suction means 51 (FIG. FIG. 5). Therefore, although detailed description thereof will be omitted, the foreign matter 81 on the back surface side of the seaweed 80 can also be removed and removed by suction. After removing the foreign matter by the second foreign matter removing suction station 50a, the seaweed 80 is conveyed to the second inversion station 60a by intermittently rotating the conveying table 31 by 45 °.

<Second reversal station 60a>
Next, the seaweed 80 that has been inverted so that the back side surface faces up is inverted again so that the front side surface faces up. The second reversing station 60a has the same configuration as the first reversing station 60, and the description thereof will be omitted. The seaweed 80 is fixed to the transport table 31 with the front side facing upward by the reversing means (arrow 61a in FIG. 1). After that, the transport table 31 is intermittently rotated by 45 ° to transport the seaweed 80 to the carry-out station 70.

<Delivery station 70>
At the carry-out station 70, the seaweed 80 from which the foreign matter 81 on the front and back has been removed is carried out from the transport table 31. In the present embodiment, as shown in FIG. 1, the seaweed 80 is carried out to the final inspection station 73. The unloading station 70 has a transporting means 71 similar to the transporting means 25 of the standby station 24, releases the seaweed 80 from being fixed to the transport table 31, and sucks the seaweed 80 by the transporting means 71 to suck the seaweed 80 to the final inspection station 73. Carry to. The transport table 31 from which the seaweed 80 has been carried out is intermittently rotated, and a new seaweed 80 is placed and fixed again at the mounting station 35, and foreign matter 81 is detected and removed and sucked.

<Final inspection station 73>
The final inspection station 73 detects the presence or absence of foreign matter 81 remaining in the seaweed 80, and the presence or absence of penetrating holes 83, tears, chips, and the like. In the above step, the foreign matter 81 adhering to or squeezed into the front and back of the seaweed 80 should have been removed, but there are cases where the foreign matter is large or the foreign matter 81 is entangled with the seaweed 80 and has not been completely removed. be. In addition, foreign matter 81 that cannot be detected from the front and back may be buried in the seaweed 80. Therefore, at the final inspection station 73, as shown in FIG. 1, the inspection device 74 inspects the seaweed 80. The inspection device 74 can be exemplified as a transmission type image processing device. The front side surface of the seaweed 80 is irradiated with infrared light, and the back side surface of the seaweed 80 receives light from an image sensor to receive a foreign substance 81 and a hole 83 penetrating a certain area or more. , Detects the presence or absence of tears, etc. The inspection device used in the final inspection station 73 is not limited to the transmissive image processing device.

<Nori accumulation station 77,78>
However, at the final inspection station 73, as shown in FIG. 6A, the seaweed 80 having no foreign matter 81, penetrating holes 83, tears, etc. is passed and sorted as good seaweed 85, and the robot hand or the robot hand or the seaweed is selected from the final inspection station 73. It is collected in the good seaweed collecting station 77 by a sorting means 76 such as a robot arm. On the other hand, as shown in FIG. 6B, the foreign matter on the front and back is removed to form a dent 82, but the seaweed 80 in which the foreign matter 81 remains inside, or the seaweed 80 having a penetrating hole 83 or a tear is formed. , And it is collected as defective seaweed 86 at the defective seaweed accumulation station 78. The accumulated seaweed 80 is returned to the seaweed stocker 21 by the transfer means shown by the arrow 79 in FIG. 1, while being separated into good products and defective products, and the inspection of the seaweed 80 is completed.

Different embodiments of the foreign matter removing suction means of the present invention will be described. In the following, the first foreign matter removing and sucking means 51 will be given as an example, but the second foreign matter removing and sucking means 51a can also adopt the same configuration.

In FIG. 7, the first foreign matter suction means 54 is formed so as to cover the outer periphery of the brush 56. On the other hand, in the first foreign matter suction means 54, the nozzle 55 is formed in a cylindrical shape, and the brush 56 is arranged inside. The brush 56 rotates in the same manner as in FIG. 5, moves to the coordinate position of the foreign matter 81, and then lowers the brush 56 and the nozzle 55 integrally. Then, the foreign matter 81 and the rotating brush bristles 57 come into contact with each other, and the foreign matter 81 is scraped from the seaweed 80 and removed from the nozzle 55.

FIG. 8 shows an embodiment in which the first foreign matter removing means 52 is a cylindrical brush 56. The brush 56 is configured by planting brush bristles 57 on the peripheral surface of the tubular member 58b, and is rotatable about an axis substantially parallel to the seaweed 80 (arrow e in FIG. 8). The first foreign matter suction means 54 has a cover-shaped nozzle 55 that covers the upper side of the brush 56. Then, while rotating the brush 56, the foreign matter 81 is moved to the coordinate position, and then the brush 56 and the nozzle 55 are lowered toward the seaweed 80 as shown by the arrow f in FIG. 9, so that the brush bristles 57 are formed. It comes into contact with the foreign matter 81 and the foreign matter 81 is scraped off. The scraped foreign matter 81 is sucked from the nozzle 55. By narrowing the width of the tubular member 58b, the foreign matter 81 can be removed pinpointly. On the other hand, by setting the width of the tubular member 58b to be equal to or larger than the width of the seaweed 80, the brush 56 can only move in the x-axis direction or the y-axis direction in the horizontal direction with respect to the seaweed 80.

The first foreign matter removing suction means 51 of FIGS. 10 to 12 is configured to vibrate while partially pressing the sheet-shaped brush 56 against the foreign matter 81 to scrape off the foreign matter 81. The brush 56 has brush bristles 57 planted on the lower surface of a sheet-like member 58c having flexibility and / or elasticity. The sheet-shaped member 58c is attached to a frame body whose outer periphery is not shown, and it is desirable that the sheet-shaped member 58c is in a stretched state without loosening. The sheet-shaped member 58c is formed to have the same size as the seaweed 80 or larger than the seaweed 80, and is arranged so as to face the entire surface of the seaweed 80. The sheet-shaped member 58c is provided with suction holes 55a penetrating at a plurality of locations. The suction hole 55a serves as a nozzle 55 in other embodiments.

The frame is provided with a reciprocating means for reciprocating or vibrating the brush 56 in a plane parallel to the seaweed 80, that is, in a horizontal plane. Examples of the reciprocating means include an actuator including a cam mechanism and a link mechanism that vibrate the frame. By the reciprocating means, the brush 56 reciprocates in the direction of the arrow i in FIG.

At the top of the brush 56, one or more pressing means 59 are arranged. The pushing means 59 pushes the sheet-shaped member 58c downward to bring the brush bristles 57 into contact with the seaweed 80. For example, as shown in FIG. 10 and the like, the pushing means 59 includes a rod-shaped member 59a whose tip is chamfered. The rod-shaped member 59a is connected to a moving mechanism such as a three-axis orthogonal robot, a robot hand, or a robot arm to form a pushing means 59. The rod-shaped member 59a can be moved in the horizontal plane (arrow h in FIG. 11) and in the vertical direction (arrow j in FIG. 12) on the upper side of the brush 56 by the moving mechanism. In the illustrated embodiment, three rod-shaped members 59a are arranged, but at least one rod-shaped member 59a may be arranged.

Further, the upper surface side of the brush 56 has a negative pressure by a suction means such as a pump, and the air on the lower surface side of the brush 56 is sucked up through the suction hole 55a of the sheet-shaped member 58c as shown by an arrow g.

Therefore, in the first foreign matter removing suction means 51 according to the present embodiment, the suction means is operated. As a result, as shown in FIG. 10, air on the lower surface side of the brush 56 is sucked up from the suction hole 55a of the sheet-shaped member 58c in the direction of the arrow g.

In this state, the seaweed 80 whose coordinates of the foreign matter 81 are specified in the first foreign matter detection station 40 is conveyed to the first foreign matter removal suction station 50 (FIG. 10).

When the seaweed 80 to which the foreign matter 81 is attached arrives at the first foreign matter removing suction station 50, the rod-shaped member 59a of the pushing means 59 is moved to the upper side of the coordinate position of the foreign matter 81 as shown by the arrow h in FIG. In the illustrated embodiment, since the foreign matter 81 is two and the pushing means 59 has three rod-shaped members 59a, the two foreign matter 81 close to the foreign matter 81 move to the upper side of the coordinate position of the foreign matter 81.

Then, as shown in FIG. 12, the brush 56 is reciprocated or vibrated in the horizontal plane by the reciprocating means (arrow i), and the rod-shaped member 59a that has moved to the upper side of the foreign matter 81 is moved downward. As a result, the rod-shaped member 59a pushes the sheet-shaped member 58c of the brush 56 downward, and the foreign matter 81 and the brush bristles 57 come into contact with each other. Since the brush 56 reciprocates or vibrates, the brush bristles 57 scrape the foreign matter 81 from the seaweed 80. The scraped foreign matter 81 is sucked into the suction hole 55a and can be removed.

When the number of foreign matter 81 is larger than the number of rod-shaped members 59a, the above operation may be repeated a plurality of times to remove the foreign matter 81.

Instead of the brush 56, the rod-shaped member 59a may be vibrated in a horizontal plane.

The description of the above embodiments is for the purpose of explaining the present invention, and should not be understood as limiting or reducing the scope of the invention described in the claims. Further, the configuration of each part of the present invention is not limited to the above embodiment, and it goes without saying that various modifications can be made within the technical scope described in the claims.

For example, in the above embodiment, two foreign matter detection stations, two foreign matter removal suction stations, and two inversion stations are provided, but only one may pass through each station twice on the front side surface and the back side surface. ..

Further, when the seaweed 80 is carried out to the final inspection station 73 with the back side surface facing upward, the second reversing station 60a is unnecessary.

It should be understood that the above-mentioned configuration of the transfer means and the like of each station is an example, and the present invention can be realized by other mechanisms.

For example, the brush 56 may be a toothbrush in which brush bristles are implanted laterally at the tip of the handle. In this case, the brush 56 can remove the foreign matter 81 by reciprocating or vibrating instead of rotating.

10 Foreign matter removing device 20 Carrying-in station 24 Standby station 30 Transporting means 31 Transporting table 32 Clamping means 35 Mounting station 40 First foreign matter detecting station 40a Second foreign matter detecting station 41 First foreign matter detecting means 41a Second foreign matter detecting means 50 First Foreign matter removal suction station 50a Second foreign matter removal suction station 51 First foreign matter removal suction means 51a Second foreign matter removal suction means 52 First foreign matter removal means 52a Second foreign matter removal means 54 First foreign matter suction means 54a Second foreign matter suction means 60 1st reversing station 60a 2nd reversing station 70 Carrying out station 73 Final inspection station 77 Good product seaweed accumulation station 78 Defective product seaweed accumulation station 80 Seaweed 81 Foreign matter

Claims (8)

A foreign matter removing device that detects and removes foreign matter adhering to or squeezed into sheet-shaped seaweed.
A transport means for transporting the sheet-shaped seaweed one by one, and
A first foreign matter detecting means, which is deployed on the downstream side of the transporting means and detects the position of the foreign matter in the sheet-shaped seaweed,
It is deployed on the downstream side of the first foreign matter detecting means, and is deployed in the vicinity of the first foreign matter removing means for removing the foreign matter at the position detected by the first foreign matter detecting means and the first foreign matter removing means. A first foreign matter removing suction means including a first foreign matter sucking means for sucking the foreign matter removed by the first foreign matter removing means, and a first foreign matter removing suction means.
With
The first foreign matter removing means includes a brush in which brush bristles are planted, and the foreign matter is scraped off and removed by pressing the brush against the seaweed.
Foreign matter removal device for sheet-shaped seaweed. A reversing means, which is provided on the downstream side of the first foreign matter removing and sucking means and inverts the sheet-shaped seaweed on the transport transition path.
A second foreign matter detecting means, which is deployed on the downstream side of the reversing means and detects the position of the foreign matter in the sheet-shaped seaweed inverted by the reversing means.
The second foreign matter removing means, which is arranged on the downstream side of the second foreign matter detecting means and removes the foreign matter at the position detected by the second foreign matter detecting means, and the second foreign matter removing means are arranged in the vicinity of the second foreign matter removing means. A second foreign matter removing suction means including a second foreign matter sucking means for sucking the foreign matter removed by the second foreign matter removing means, and a second foreign matter removing suction means.
With
The second foreign matter removing means includes a brush in which brush bristles are planted, and the foreign matter is scraped off and removed by pressing the brush against the seaweed.
The foreign matter removing device for sheet-shaped seaweed according to claim 1. The brush is formed by planting the brush bristles downward at the tip of the shaft-shaped member, and rotates about an axis orthogonal to the seaweed.
The foreign matter removing device for sheet-shaped seaweed according to claim 1 or 2. The brush has the brush bristles planted on the peripheral surface of the tubular member and rotates about an axis parallel to the seaweed.
The foreign matter removing device for sheet-shaped seaweed according to claim 1 or 2. The brush is formed by implanting the brush bristles on the lower surface of a sheet-shaped member.
On the upper part of the sheet-shaped member, there is a pushing means for pushing the sheet-shaped member downward toward the position detected by the first foreign matter detecting means.
A reciprocating means for reciprocating or vibrating the sheet-shaped member in the horizontal direction,
To have
The foreign matter removing device for sheet-shaped seaweed according to claim 1 or 2. The transporting means includes a transport table on which the sheet-shaped seaweed is placed one by one, and the sheet-shaped seaweed is transported by rotation of the transport table.
The foreign matter removing device for sheet-shaped seaweed according to any one of claims 1 to 5. The transport table has a clamping means for clamping and positioning the sheet-shaped seaweed.
The foreign matter removing device for sheet-shaped seaweed according to claim 6. On the downstream side of the second foreign matter removing and sucking means, an inspection device for detecting the presence or absence of foreign matter remaining in the sheet-shaped seaweed that has passed through the second foreign matter removing and sucking means, and the presence or absence of holes and tears is provided.
The foreign matter removing device for sheet-shaped seaweed according to claim 2.

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