JP7174948B2 - Fruit and vegetable peeling device and fruit and vegetable peeling method - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) Date: March 5, 2018 Name of meeting: Japan Society of Mechanical Engineers Hokkaido Student Association Graduation Research Presentation Lecture (47th) (2) Date: 2018 March 8 and 9, 2018 Meeting name: Society of Instrument and Control Engineers Hokkaido Branch Scientific Lecture Meeting (50th) (3) Dates: June 2 to June 5, 2018 Meeting name: Robotics Mechatronics Lecture (2018)

The present invention relates to a fruit and vegetable peeling device equipped with a peeler for peeling the epidermis of fruit and vegetables, and a fruit and vegetable peeling method using this fruit and vegetable peeling device.

A conventional fruit vegetable production process comprising a step of rotating at high speed a fruit vegetable such as a pumpkin having a relatively hard, uneven skin and having a large eccentricity, and cutting the skin by pressing a peeler blade against the skin. In the peeling method, a skilled worker manually controls the force of the peeler blade pressing against the skin precisely in order to cut the skin uniformly with a predetermined thickness and continuously without leaving the skin. skills were required. However, it is becoming increasingly difficult to secure workers with such skills, and it is becoming increasingly difficult to peel the epidermis of fruits and vegetables uniformly and continuously to a predetermined thickness, without the need for such skills. There is a need for a viable fruit and vegetable peeler.

Patent Document 1 discloses a skin peeling device for peeling the skin of edible vegetables such as pumpkins, which includes a drive unit for rotating an object to be peeled and a holding device unit for holding the object to be peeled. In the skin peeling device, a shaft mounted and held on a support base, a bearing case rotatably supported by the shaft via a bearing, and a handle mounted via a joint near the outer circumference of the bearing case and having a cutter mounting part mounted thereon. and a stay is provided at an appropriate location on the handle, and a mounting plate is provided on the stay so as to be rotatably held within a certain range. By attaching a cutter with a blade that can rotate freely within a certain range to the mounting plate and providing a cutter mounting part, unlike the peeling device that is generally used, it is mounted near the outer periphery of the disk-shaped bearing case. A technique is disclosed in which a cutter provided on a handle provided with the blade moves in a circular motion around the axis of rotation, so that an appropriate angle can be obtained with respect to the vegetables and the peeling work can be performed efficiently.

Patent Document 2 discloses a pumpkin centering apparatus in which a pumpkin centering process and a pumpkin centering process are performed by providing a knife for peeling, a drive mechanism for rotating the pumpkin, and a mechanism for freely rotating the centering knife. A technique is disclosed that enables the peeling process to be performed by a single apparatus.

Patent Document 3 discloses an automatic vegetable peeling device in which a peeling blade attached to a movable arm member is brought into contact with rotated vegetables, and the proximal end of the movable arm member is perpendicular to the center of the vegetables. By providing a peeling mechanism that circulates in one direction a closed curve formed around the axis of movement of the arm, it is possible to carefully and evenly peel vegetables, and vegetables that vary greatly in variety and shape and size. A technique has been disclosed which is applicable to similar processes, reduces manufacturing costs, and improves the reliability of continuous operation.

Patent Document 4 discloses a frame for peeling vegetables such as pumpkins, which has a hole formed in the center, and the hole is sized to receive the vegetables to be peeled and to allow the vegetables to pass through. , a predetermined number of knives are mounted on the frame so as to be slidable radially toward the center of the hole, and are similarly arranged around the entire circumference of the frame, and vegetables are introduced into the hole and passed through the hole A configuration comprising a spring that pushes a predetermined number of knives toward the center of the hole so that the predetermined number of knives extend inside the hole to the extent that the knife slightly touches the vegetables when the vegetables are peeled. , an oblong or elongated vegetable skin that can be peeled in one or a minimum number of movements.

In Patent Document 5, while a vegetable support mechanism for supporting both longitudinal ends of a vegetable bar is continuously rotated about its axis, a peeling mechanism for the vegetable bar is continuously circulated and rotated by an endless peeler conveying section facing the vegetable bar. and continuously moving the vegetable sticks in the peeling space in the longitudinal direction while the plurality of peeler blades are pressed against the vegetable sticks in the peeling space from both sides. While the shaft is rotated, the bar-shaped vegetables are continuously peeled spirally to peel the whole circumference of the bar-shaped vegetables, and the pair of peelers reciprocate while the bar-shaped vegetables intermittently rotate like the conventional device. A technology has been disclosed in which it is not necessary to repeat the operation of moving, and the peeling time per stick-shaped vegetable is greatly shortened.

JP-A-1-225470 Utility Model Registration No. 3186205 Japanese Utility Model Laid-Open No. 5-53492 Japanese Patent Application Laid-Open No. 2000-201805 JP 2014-97005 A

In conventional fruit and vegetable peeling devices such as those disclosed in Patent Documents 1 to 5, there is no particular consideration for the outer shape of the fruit or vegetable or the geometry of the surface of the fruit or vegetable. Or, assuming that the outer shape of the fruit and vegetable has a specific shape such as a substantially spherical shape or a substantially rod shape, the outer shape of the fruit and vegetable with such a specific shape is designed. The operating mechanism of the peeler is designed so that the peeler is properly adapted to the surface of fruits and vegetables, such as pumpkin, which have relatively hard, highly geometric skins and relatively high eccentricity. It was difficult to peel the skins of fruits and vegetables uniformly and continuously with a predetermined thickness without leaving any residue.

Therefore, the object of the present invention is to obtain a predetermined shape without leaving the skin of a fruit vegetable such as pumpkin, which has a relatively hard and uneven geometric shape skin and has a relatively large eccentricity. To provide a fruit and vegetable peeling device and a fruit and vegetable peeling method capable of peeling fruits and vegetables uniformly and continuously in thickness.

According to the present invention, a fruit and vegetable peeling device for peeling fruit and vegetables by pressing a peeler against fruit and vegetables rotating about a rotation axis comprises a peeler, an arm supporting the peeler at its tip, and rotating the arm. A drive means and a control means for controlling the rotation of the arm by the drive means are provided. The control means controls the rotation of the arm by the driving means so that the peeler presses the fruit and vegetable with a substantially constant force so that the peeler peels the fruit and vegetable by tracing along the surface of the fruit and vegetable.

The control means controls the rotation of the arm so that the peeler presses the fruit and vegetable with a substantially constant force, so that the peeler performs a tracing motion along the surface of the fruit and vegetable to peel the fruit and vegetable. As a result, even for fruits and vegetables such as pumpkins, which have relatively hard and uneven geometric skins, and which have a relatively large eccentricity, the peeler performs a tracing action along the skins. It can be peeled uniformly and continuously with a predetermined thickness without leaving any residue.

The driving means includes first rotating means for rotating the arm about an axis perpendicular to the above-described rotating shaft, and second rotating means for rotating at least the arm about an axis parallel to the rotating shaft. preferably.

The control means controls the rotation of the arm by the first rotating means and/or the second rotating means so that the peeler is pushed into the fruit and vegetable and sent along the surface of the fruit and vegetable, and the peeler moves to the fruit and vegetable. When the pushing force exceeds a preset value, it is preferable to control the peeler so that it performs a tracing operation by reversing the rotation of the arm by the first rotating means or the second rotating means.

In this case, the peeler includes a blade for peeling, a support that supports the blade and is movable in the direction of the fruit and vegetables, a compression spring that presses the support in the direction of the fruit and vegetables, and a pressing amount of the compression spring. exceeds a predetermined value, and the control means reverses the rotation of the arm by the first rotating means or the second rotating means when the switch is activated. More preferably.

It is also preferred that the peeler is rotatably connected to the arm so that the peeler always faces the surface of the fruit or vegetable.

It is also preferable that the second rotating means is configured to rotate the first rotating means and the arm about an axis parallel to the axis of rotation.

It further comprises a fruit and vegetable gripping part for gripping the fruit and vegetable, and a third rotating means for rotating the fruit and vegetable gripping part around its rotation axis. It is also preferred to have a coaxial hollow cylindrical portion with a thread or helical ridge with a sharp tip.

In this case, it is more preferable that the tip of the cylindrical portion is provided with a perforating portion for cylindrically perforating the central portion of the fruit or vegetable.

It is also preferable that the base of the cylindrical portion is provided with a stop member for stopping the biting of fruits and vegetables.

According to the present invention, the fruit and vegetable peeling method further includes fixing the fruit and vegetable to be peeled to a fruit and vegetable fixing chuck mechanism, rotating the fruit and vegetable fixing chuck mechanism about a rotation axis, and moving the peeler to the tip The arm supported by the part is rotated to bring the peeler into contact with the fruit and vegetable, and the peeler peels the fruit and vegetable by tracing the surface of the fruit and vegetable, so that the pushing force of the peeler against the fruit and vegetable is almost constant. Controls arm rotation.

Since the rotation of the arm is controlled so that the pushing force of the peeler against the fruit and vegetable is substantially constant, the peeler performs a tracing motion along the surface of the fruit and vegetable to peel the fruit and vegetable. As a result, even for fruits and vegetables such as pumpkins, which have relatively hard and uneven geometric skins, and which have a relatively large eccentricity, the peeler performs a tracing action along the skins. It can be peeled uniformly and continuously with a predetermined thickness without leaving any residue.

The rotation of the arm is controlled so that the peeler is pushed into the fruit and vegetables and sent along the surface of the fruit and vegetables, and the arm is rotated when the peeler pushing force into the fruit and vegetables exceeds a preset value. is preferably reversed to control the peeler to perform a tracing operation.

According to the present invention, the peeler performs a tracing motion along the skin of a fruit or vegetable such as pumpkin, which has a relatively hard and uneven geometric skin and has a relatively large eccentricity. , the epidermis can be uniformly and continuously peeled with a predetermined thickness without leaving any residue.

1 is a perspective view schematically showing the configuration of a fruit and vegetable peeling device according to an embodiment of the present invention; FIG. FIG. 2 is a front view showing the essential parts of the peeler in the fruit and vegetable peeling apparatus of the embodiment of FIG. 1, where (A) shows the case where the peeler is not pressed from the fruit and vegetable surface and the switch is in the OFF state, and (B) shows. This shows the case where the peeler is pressed from the surface of the fruit or vegetable and the switch is in the ON state. 2 is a perspective view schematically showing the configuration of a chuck mechanism for fixing fruit and vegetables in the fruit and vegetable peeling apparatus of the embodiment of FIG. 1; FIG. FIG. 2 is a flow chart explaining the control operation in the fruit and vegetable peeling apparatus of the embodiment of FIG. 1; FIG. 1. It is explanatory drawing explaining a motion of the peeler in the fruit vegetable peeling apparatus of embodiment of FIG.

A fruit and vegetable peeling apparatus 10 according to an embodiment of the present invention includes a peeling mechanism A and a fruit and vegetable fixing chuck mechanism B that fixes and rotates a fruit and vegetable 200, as shown in FIG. The peeling mechanism A and the fruit/vegetable fixing chuck mechanism B are aligned and fixed on a base (not shown). In addition, in this embodiment, the fruit vegetable 200 is assumed to be a pumpkin. Of course, the present invention can be applied to peeling various fruits and vegetables other than pumpkins.

The peeling mechanism A of the fruit and vegetable peeling device 10 has a support base 100 which is fixed in a stationary position and which is supported on the support base 100 and is centered on an axis of rotation parallel to the Z-axis (see FIG. 1). A yaw axis motor 101 (corresponding to the second rotating means of the present invention) for rotating in a direction (yaw direction), and a turntable 102 that rotates parallel to the X axis (see FIG. 1). A roll shaft motor 103 (corresponding to the first rotating means of the present invention) for rotating in a direction (rolling direction) about an axis, and rotating about the rotation axis of the roll shaft motor 103. It has an arm 104 and a peeler 105 attached to the distal end of the lateral member 104b of the arm 104 . The arm 104 has a T-shape composed of a vertical member 104a and a horizontal member 104b provided at the tip of the vertical member 104a. The base of 104a is fixed. The roll axis motor 103 is configured to rotate the arm 104 and the peeler 105 at the tip thereof in the roll direction, and the yaw axis motor 101 rotates the turntable 102, the arm 104 and the peeler 105 in the yaw direction. is configured to

The yaw axis motor 101 and the roll axis motor 103 of the peeling mechanism A are composed of servo motors. As these servomotors, for example, AC servomotors (with 1/11 speed reducer, Σ-V, 200W, SGMAV type) manufactured by Yaskawa Electric Corporation are used. These servomotors 101 and 103 are configured to be driven by motor drivers 301 and 302, respectively. As the motor drivers 301 and 302, for example, a Σ-V servo pack (registered trademark) SGDV-2R1F01 manufactured by Yaskawa Electric Corporation is used. The motor drivers 301 and 302 are connected to a program-controlled computer 304 and configured to drive the servomotors 101 and 103 according to instructions from the computer. As the computer 304, for example, a 16-bit microcomputer H8/3052F manufactured by Renesas Electronics Corporation is used. A chuck rotation switch 306 , a peeling start switch 307 and an emergency stop switch 308 provided on a switch panel 305 are connected to the computer 304 . The chuck rotation switch 306, peeling start switch 307, and emergency stop switch 308 can be configured to be operated by the operator's foot, thereby improving operability.

The peeler 105 of the peeling mechanism A is supported by an L-shaped support member 106, as shown in FIGS. It is rotatably connected to and supported by this lateral member 104b via a pivot shaft 107 coaxial with the lateral member 104b. The peeler 105 itself comprises a peeling blade 108 , a blade support 109 supporting the blade 108 , and a peeler support 110 . Blade support 109 is rotatably connected to peeler support 110 via pivot 111 . A pair of compression springs 112 are provided between the support member 106 and the peeler support 110 , and are configured to press the peeler 105 toward the fruits and vegetables 200 by the compression springs 112 . The peeler support 110 and the support member 106 are connected by a link member 113 . The link member 113 is rotatably connected to the peeler support 110 via a pivot shaft 114 and is rotatably connected to the support member 106 via a pivot shaft 115 . Therefore, the peeler 105 is configured to be able to move toward and away from the support member 106 (vertical direction in FIG. 2). The support member 106 is provided with a touch switch 116 which is a limit switch that is turned on and off by contact and pushing of one end of the link member 113 .

In this embodiment, a coil spring is used as the pressing spring 112 of the peeler 105 because of its low cost and ease of design. Of course, various elastic members known in the art can be used in place of the coil springs.

The touch switch 116 of the peeler 105 is in the OFF state as shown in FIG. When 105 abuts on the surface of fruit and vegetable 200 and is pushed by a predetermined amount or more against the pressing force of push spring 112, it is in the ON state, as shown in FIG. 2(B). A signal indicating the on/off state of touch switch 116 is sent to computer 304 .

The peeling mechanism A includes, although not shown, a yaw axis origin switch which is turned on at the initial yaw angular position of the arm 104 and thus the peeler 105, and an initial angular position of the arm 104 and therefore the peeler 105 in the roll direction. A roll axis origin switch is provided which is actuated to the on state at the . These initial positions are preset origin positions of the yaw axis motor 101 and the roll axis motor 103. In the initial state of the apparatus, the yaw axis and the roll axis are set with the yaw axis origin switch and the roll axis origin switch turned on. waiting at a different position. Signals indicating the ON and OFF states of the yaw axis origin switch and the roll axis origin switch are sent to computer 304 .

The fruit/vegetable fixing chuck mechanism B includes a fruit/vegetable gripping portion 201 that grips the fruit/vegetable 200 and a chuck rotating motor 202 (third embodiment of the present invention) that rotates the fruit/vegetable gripping portion 201 around its rotation axis. corresponding to the rotating means). As shown in detail in FIG. 4 , the fruit and vegetable gripping portion 201 includes a hollow cylindrical portion 204 provided with a screw thread or a spiral protruding blade 203 having a spiral sharp tip on the outer peripheral surface, and a cylindrical portion 204 A perforated portion 205 provided at the tip of the fruit and vegetable 200 for cylindrically perforating a portion including the center of the fruit and vegetable 200, and a stop plate 206 provided at the base of the cylindrical portion 204 and stopping the bite of the fruit and vegetable 200. I have. The perforating portion 205 has a serrated edge formed along the circumferential direction at the tip of the cylindrical portion 205 . The serrated blade may be a vertical pulling blade or a horizontal pulling blade. The stopping plate 206 may be configured so that its area can be adjusted according to the size of the fruit and vegetables 200 .

The chuck rotating motor 202 of the fruit/vegetable fixing chuck mechanism B is composed of a servomotor. As this servomotor, for example, an AC servomotor (with 1/33 speed reducer, Σ-V, 200W, SGMJV type) manufactured by Yaskawa Electric Corporation is used. This servo motor 202 is configured to be driven by a motor driver 303 . As the motor driver 303, for example, a Σ-V servo pack (registered trademark) SGDV-2R1F01 manufactured by Yaskawa Electric Corporation is used. The motor driver 303 is connected to the computer 304 described above, and is configured to drive the servomotor 202 according to its instructions.

In this embodiment, the fruit and vegetables 200 gripped by the fruit and vegetable gripping unit 201 are rotated in a predetermined direction by the chuck rotating motor 202, and the arm 104 is appropriately rotated by the yaw axis motor 101 and the roll axis motor 103. , the blade 108 of the peeler 105 is pressed against the surface of the rotating fruit and vegetable 200 to remove the skin of the fruit and vegetable 200 . When the peeler 105 comes into contact with the rotating fruit or vegetable 200, the supporting member 106 of the peeler 105 is rotatably connected to the lateral member 104b of the arm 104 via a pivot shaft 107 coaxial with the lateral member 104b. Therefore, the peeler 105 is adjusted so that its blade 108 always faces the surface of the fruit vegetable 200 . Further, when the peeler 105 abuts against and is pushed into the rotating fruit and vegetables 200 , the pushing amount of the peeler 105 is controlled by the operation of the touch switch 116 . That is, when the touch switch 116 is off, the yaw-axis motor 101 and/or the roll-axis motor 103 are controlled so that the peeler 105 is displaced in the direction of pressing the surface of the fruit or vegetable 200, and the touch switch 116 is turned on. In this case, the yaw axis motor 101 and/or the roll axis motor 103 are controlled so that the peeler 105 is displaced in the direction away from the surface of the fruit or vegetable 200 . As a result, the displacement of the peeler 105 is controlled so as to trace the type of the fruit and vegetable 200, the uneven state of the surface, and the geometrical shape. It is possible to do 200 good peels.

Furthermore, in this embodiment, since the fruit and vegetable gripping portion 201 of the fruit and vegetable fixing chuck mechanism B has the hollow cylindrical portion 204, when the fruit and vegetable 200 such as pumpkin is pierced, the stem, seeds, and the like are removed. It can be relatively easily discharged to the outside through the inside of the cylindrical portion 204 . In addition, since the outer peripheral surface of the cylindrical portion 204 is provided with a spiral thread having a sharp tip or a spiral protruding blade 203, the bottom portion of the fruit and vegetable 200 is pressed against the perforation portion 205, and the fruit can be By rotating the vegetable gripping part 201 in the forward direction (counterclockwise when viewed from above in FIGS. 1 and 3), the spiral thread on the outer peripheral surface of the cylindrical part 204 or the spiral protruding blade 203 rotates the fruit. The fruit vegetable 200 is fixed to the fruit vegetable grip part 201 by spirally biting into the vegetable 200 . In addition, since the stop plate 206 is provided at the lower end of the fruit and vegetable gripping portion 201, the tip of the fruit and vegetable 200 that has bitten in reaches the base of the cylindrical portion 204 and abuts against the stop plate 206. Stops biting. As a result, the fruits and vegetables 200 are stably and reliably fixed. By configuring the height of the stop plate 206 to be adjustable, it is possible to set the fruit/vegetable gripping part 201 so as not to protrude from the top of the fruit/vegetable 200, and reach the bottom from the top of the fruit/vegetable 200 via the side surface. Up to, it can be peeled reliably.

The operation of the fruit and vegetable peeling device 10 according to this embodiment will be described below. When the fruit and vegetable peeling apparatus 10 is instructed to start operation, the computer 304 starts a predetermined program, and the user operates the peeling start switch 306 and the chuck rotation switch 307 connected to the computer 304. , the chuck rotating motor 202, the yaw axis motor 101, and the roll axis motor 103 are controlled and operated. Signals from the touch switch 116, the yaw axis origin switch and the roll axis origin switch are also used in this control of the computer 304. FIG. Further, it may be configured such that all operations are stopped by operating the emergency stop switch 308 .

When the operation start is instructed, the computer 304 executes the processing shown in FIG. First, a fruit/vegetable attachment mode for attaching the fruit/vegetable 200 is executed (step S1). In this fruit and vegetable attachment mode, the computer 304 slowly rotates the chuck rotating motor 202 in the forward direction (counterclockwise when viewed from above in FIGS. 1 and 3), and slowly rotates the fruit and vegetable gripper 201 in this forward direction. rotate. The operator holds the fruit and vegetable 200 to be peeled in a state in which the vicinity of the center of the bottom surface of the fruit and vegetable 200 is in contact with the perforated portion 205 of the fruit and vegetable gripping portion 201 of the chuck mechanism B for fixing fruit and vegetable. As a result, the helical screw thread or helical ridge blade 203 of the fruit and vegetable gripping part 201 spirally bites into the fruit and vegetable 200 and enters the fruit and vegetable 200 .

Next, the computer 304 determines whether or not the peeling start switch 306 is turned on (step S2), and if it is turned off (NO), the chucking mode continues.

When the operator determines that the fruit/vegetable 200 is fixed to the fruit/vegetable gripping portion 201 in the fruit/vegetable fixing chuck mechanism B, the operator turns on the peeling start switch 306 . When the computer 304 determines that the peeling start switch 306 has been turned on, the computer 304 starts the peeling operation of the fruits and vegetables.

The computer 304 first rotates the chuck rotating motor 202 in the forward direction at a faster speed than in the chucking mode, and rotates the fruit/vegetable gripper 201 in the forward direction (step S3). The rotation speed of the fruit/vegetable gripping unit 201 in this case is set to a speed several times faster than that in the fruit/vegetable attaching operation.

Next, the computer 304 drives the yaw-axis motor 101 and the roll-axis motor 103 in the initial position to rotate the arm 104 so that the peeler 105 moves above the fruit/vegetable gripper 201 (step 4). The yaw-axis motor 101 and the roll-axis motor 103 are stopped at the initial position where the yaw-axis origin switch and the roll-axis origin switch are turned on and are on standby. The arm 104 is rotated from the position (clockwise when viewed from the fruit/vegetable gripping unit 201 side to the roll shaft), and the yaw-axis motor 101 moves the peeler 105 closer to the rotation axis of the fruit/vegetable gripping unit 201 ( At the same time, the fruit and vegetable gripper 201 in FIG. 1 is rotated counterclockwise when viewed from above. In this embodiment, the rotations of the yaw axis motor 101 and the roll axis motor 103 are independently controlled, and target angles are given to each of the yaw axis and the roll axis by a program. The motors 103 operate independently and stop rotating when the target angles are reached, whereby both the yaw axis and roll axis angles reach the target angles. FIG. 5 explains the movement of the peeler 105 in the fruit and vegetable peeling device 10 of this embodiment. As a result of the processing in step S4, the peeler 105 moves above the fruit/vegetable gripper 201 as shown in FIG. 5(A).

As a motor control function prepared in the program for the yaw axis motor 101 and the roll axis motor 103, both the yaw axis and the roll axis are specified as parameters of the rotational angular velocity of the motor and how many rotation angles to rotate from the origin. A function is constructed and used, and the function of the function to stop and wait when reaching the specified rotation angle is used. Also, the yaw axis and roll axis can be independently controlled. In the present embodiment, the peeler 105 moves in an arc as viewed from each axis, but by finely interlocking and controlling the rotation angular velocities of both axes, the peeler 105 can be moved linearly. The trajectory can be approximated to a straight line, which enables efficient operation.

Next, the computer 304 drives the roll shaft motor 103 to rotate the arm 104 so that the peeler 105 comes into contact with the upper surface of the fruit and vegetable gripper 201 and further presses it (step S5). That is, in step S5, the yaw axis motor 101 is not rotated (controlled at an angular velocity of 0), and only the roll axis motor 103 is rotated in the direction in which the arm 105 descends (counterclockwise when the roll axis is viewed from the fruit and vegetable gripper 201 side). rotation) at a constant angular velocity. At this time, the target angle of the roll axis is set to an angle that allows the peeler 105 to come into contact with the top surface of the assumed minimum fruit and vegetable 200 and is further pushed in thereafter. Therefore, the position of peeling start from the central axis changes depending on the height of the attached fruit and vegetable 200 . As a result of the processing in step S5, as shown in FIG. 5B, the peeler 105 comes into contact with the upper surface of the fruit/vegetable gripping portion 201 and is pressed.

Peeling is performed by the blade 108 of the peeler 105 when the peeler 105 comes into contact with the rotating fruit and vegetables 200 . After that, the rotation of the roll shaft motor 103 continues, the arm 104 rotates, and when the peeler 105 is further pushed into the fruit vegetable 200 against the push spring 112, the touch switch 116 is turned on. The computer 304 determines whether or not the touch switch 116 is turned on (step S6), and if it is turned off (NO), the processing of steps S5 to S6 is repeated. That is, the peeler 105 presses the rotating fruit and vegetables 200 to peel them. When the computer 304 determines that the touch switch 116 has been turned on (YES), the computer 304 shifts to the next yaw feed mode (step S7). In a modification of the present embodiment, when the peeler 105 is abutted and pushed in step S5, the rotational angular velocities of the yaw axis and the roll axis are finely interlocked and controlled so that the peeler 105 rotates the fruit and vegetable gripping part 201. It can be lowered linearly parallel to the axis, which makes it possible to keep the radius of the unpeeled portion constant even if the size of the fruit or vegetable changes.

Immediately after shifting to the yaw feed mode in step S7, the push spring 112 of the peeler 105 is pushed and the touch switch 116 is in the ON state. When the yaw feed mode is entered in this state, the yaw axis motor 101 rotates at a constant angular velocity. The direction of rotation is the direction in which the arm 104 rotates away from the fruit/vegetable gripping portion 201 (clockwise when viewed from above the fruit/vegetable gripping portion 201 in FIG. 1) (reverse direction). The target rotation angle of the yaw-axis motor 101 at this time is an angle that shifts from the upper surface of the fruit and vegetable 200 to the side when the smallest assumed fruit and vegetable 200 is attached. In the yaw-feed mode, if the touch switch 116 is off, the peeler 105 is urged in the direction toward the fruits and vegetables 200 (the direction in which the pressing amount of the compression spring 112 increases), and if the touch switch 116 is on, the peeler is turned on. 105 is urged in a direction away from the fruit and vegetables 200 (a direction in which the pressing amount of the compression spring 112 is reduced).

Next, the computer 304 determines whether the yaw feed mode has ended (step S8). Whether or not the yaw feed mode is terminated is determined by determining whether or not the rotation angle of the yaw axis motor 101 has reached the target angle. If it is determined that the yaw feed mode has not ended (if NO), the process of steps S7 to S8 is repeated, that is, the yaw feed mode is executed. By the process of step S7, as shown in FIG. 5(C), the peeler 105 peels the fruits and vegetables 200 from the upper surface to the side surface.

In this yaw feed mode, the roll shaft motor 103 moves the peeler 105 away from the fruit and vegetable 200 when the push spring 112 of the peeler 105 is strongly pushed and the touch switch 116 is turned on (the roll shaft is moved from the fruit and vegetable gripping portion 201 side). clockwise, reverse direction when viewed) until the touch switch 116 is turned off (however, the push spring 112 of the peeler 105 is still pushed) to reduce the push amount of the push spring 112. . When the touch switch 116 is turned off, the roll shaft motor 103 rotates the peeler 105 downward to push the push spring 112 of the peeler 105 (counterclockwise and forward rotation when the roll shaft is viewed from the fruit/vegetable gripper 201 side). ), and the push spring 112 is pushed further to lower the peeler 105 until the touch switch 116 is turned on. By repeating the above operations by the roll axis motor 103 and the touch switch 116, the peeler 105 is held at the height of the boundary between whether the touch switch 116 is pressed or not. , the peeler 105 moves along the upper surface of the fruit and vegetables 200 to peel them.

In step S8, when the rotation angle of the yaw axis motor 101 reaches the target angle and it is determined that the yaw feed mode has ended (if YES), the next roll feed mode (step S9) is entered.

In the present embodiment, the timing for switching from the yaw feed mode to the roll feed mode is the timing when the rotation angle of the yaw axis motor 101 reaches the target angle. It is also possible to operate more adaptively according to the size of the fruits and vegetables 200, such as at a timing when the frequency has decreased.

In the roll feed mode, the operation of the roll axis and the operation of the yaw axis are exchanged with respect to the operation in the yaw feed mode, and the roll axis motor 103 rotates in the direction in which the peeler 105 descends (from the side of the fruit and vegetable gripping unit 201 to the roll axis). It rotates at a constant angular velocity (counterclockwise when looking at the axis) to realize the feed operation. On the other hand, the yaw-axis motor 101 rotates in the direction in which the peeler 105 is pushed into the fruit and vegetable 200 (counterclockwise and forward rotation when viewed from above the fruit and vegetable gripper 201 in FIG. 1) when the touch switch 116 is off. It rotates until the push spring 112 is pushed in and the touch switch 116 is turned on. When the touch switch 116 is actuated and turned on, the yaw-axis motor 101 rotates in the direction of pulling the peeler 105 away from the fruit and vegetable 200 (clockwise and reverse when viewed from above the fruit and vegetable gripper 201). The peeler 105 remains in contact with the fruits and vegetables 200, but the pushing amount of the compression spring 112 decreases). This rotation continues until the touch switch 116 is turned off. That is, even in the roll feed mode, if the touch switch 116 is off, the peeler 105 is urged in the direction toward the fruits and vegetables 200 (the direction in which the pressing amount of the compression spring 112 increases), and even if the touch switch 116 is on. For example, the peeler 105 is urged in a direction away from the fruit and vegetables 200 (a direction in which the pressing amount of the compression spring 112 becomes smaller). By repeating the above operations by the yaw axis motor 101 and the touch switch 116, the peeler 105 is held at the border height where the touch switch 116 is pushed or not pushed. , the peeler 105 moves along the sides of the fruits and vegetables 200 to peel them. As a result of the processing in step S9, the peeler 105 peels the side surfaces of the fruit and vegetable 200 as shown in FIG. 5(D).

Regarding the removal of the skin on the lower surface of the fruit and vegetable 200, if the peeler 105 is too close to the fruit and vegetable gripping portion 201, the peeler 105 may come into contact with the fruit and vegetable gripping portion 201 and damage it. cannot be done. For this reason, basically, the peeling operation is performed within the range of the fruits and vegetables 200 in which the peeler 105 can follow the surface in the above-described roll feed mode (however, it varies depending on the angular velocity when the peeler 105 is pushed by the yaw-axis motor 101). I do. Specifically, the roll axis and/or the yaw axis are set by providing a marginal angle on the safe side in the range of the yaw axis rotation angle and the roll axis rotation angle in which the peeler 105 does not contact the fruit/vegetable gripping part 201. Exit roll feed mode when reached. Which of the yaw axis and the roll axis first reaches the predetermined angle range depends on the size of the fruit and vegetables 200, so a specific angle cannot be indicated. In this embodiment, the end of the roll feed mode is determined only by the roll axis. That is, in the roll feed mode, the peeler 105 is approached downward from an angle larger than 25 degrees above the origin (the angle at the end of the yaw feed mode), and the roll axis is ( The roll feed mode is terminated when the angle reaches 25 degrees (clockwise when the roll shaft is viewed from the fruit/vegetable gripping portion 201 side). As a result of this process, the peeler 105 peels the lower surface of the fruit and vegetables 200 as shown in FIG. 5(E).

In a modification of the present embodiment, the distance between the peeler 105 and the rotation axis of the fruit/vegetable gripping portion 201 is calculated from the roll axis rotation angle and the yaw axis rotation angle, and the peeler 105 grips the fruit/vegetable after considering the safety factor. The roll feed mode may be terminated when the portion 201 is approached.

Next, the computer 304 determines whether the roll feed mode has ended (step S10). If it is determined that the roll feed mode is not finished (if NO), the processing of steps S9 to S10 is repeated, that is, the roll feed mode is executed.

In step S10, when it is determined that the roll feed mode has ended (if YES), the process proceeds to the next origin return mode (step S11).

In the return-to-origin mode of step S11, the computer 304 rotates the yaw-axis motor 101 and the roll-axis motor 103 to move the peeler 105 to the origin. A yaw axis origin switch and a roll axis origin switch (not shown) are used for the determination of the return to origin. The origin return trajectory of the peeler 105 and thus the arm 104 is set so that the yaw axis origin switch is turned on first. The rotation of the roll shaft motor 103 continues until is turned on. When the roll axis origin switch is turned on, the roll axis motor 103 stops. After that, internal variables relating to the angles of the yaw axis motor 101 and the roll axis motor 103 are initialized, and the return-to-origin mode ends.

Next, the process shifts to a fruit/vegetable removal mode for removing the fruit/vegetable 200 (step S12). In this fruit/vegetable removal mode, the computer 304 rotates the chuck rotating motor 202 in the reverse direction, and rotates the fruit/vegetable gripper 201 in the reverse direction (clockwise when viewed from above in FIGS. 1 and 3). As a result, the fruit/vegetable 200 held by the operator is removed from the fruit/vegetable gripping portion 201 .

Next, the computer 304 determines whether or not the chuck rotation switch 307 has been turned on (step S13). case), the processing of steps S1 to S13 is repeated. If it is determined that the chuck rotation switch 307 is not ON (NO), the processing of steps S12 and S13 is repeated.

As described above, the peeler 105 is driven by the yaw-axis motor 101 and the roll-axis motor 103 to push the fruit and vegetable 200 onto the surface and to feed the peeler 105 along the surface. In this case, the motor (yaw axis motor 101 or roll axis motor 103) that performs the pushing operation of the peeler 105 rotates so as to perform the pushing operation when the touch switch 116 is turned off, but when the touch switch 116 is turned on, It stops pushing and rotates in the opposite direction of pushing. Therefore, by adjusting how far the push spring 112 is pushed to turn on the touch switch 116, the pushing force of the peeler 105 against the fruit and vegetables 200 can be adjusted appropriately. That is, since the pressing amount of the pressing spring 112 is maintained in a state where the touch switch 116 responds or not, (spring constant)×(controlled spring pressing amount)=(pressing force (peeler pressing force)). Thus, the pressing force of the peeler 105, that is, the spring pressing amount (substantially equivalent to the peeler pressing force) is maintained in a substantially constant state. The peeler 105 can be traced along the surface of the fruits and vegetables 200 by simultaneously performing the operation of maintaining the pressing force or spring pressing amount of the peeler 105 and the feeding operation.

As a result, the blade 108 of the peeler 105 is constantly pressed with a predetermined force against the fruit vegetables 200 such as pumpkin having a relatively hard, uneven, and geometrically shaped skin with a large eccentricity, thereby peeling the skin of the skin. Peeling can be automatically and uniformly performed at a predetermined thickness.

INDUSTRIAL APPLICABILITY As described above, according to the present invention, a peeler for peeling the skin of fruit and vegetables is controlled and displaced in the yaw direction and the roll direction according to the geometric shape of the skin of the fruit and vegetable, and the peeler is Since the blade is always pressed with a predetermined force to peel the skin, the vegetables and fruits have relatively hard skins with many geometric shapes, and moreover, the eccentricity is relatively large and the sizes are uneven. It is possible to uniformly peel the epidermis with a predetermined thickness even if it is a material.

All of the above-described embodiments are illustrative of the present invention and not restrictive, and the present invention can be implemented in various other variations and modifications. Accordingly, the scope of the present invention is defined only by the scope of the claims and their equivalents.

REFERENCE SIGNS LIST 10 fruit and vegetable peeling device 100 support base 101 yaw axis motor 102 turntable 103 roll axis motor 104 arm 104a longitudinal member 104b lateral member 105 peeler 106 support member 107, 111, 114, 115 pivot shaft 108 blade 109 blade support Body 110 Peeler support 112 Push spring 113 Link member 116 Touch switch 200 Fruit and vegetable 201 Fruit and vegetable gripping part 202 Chuck rotation motor 203 Screw thread or convex blade 204 Cylindrical part 205 Perforating part 206 Stop plate 301, 302, 303 Motor driver 304 Computer 305 Switch Panel 306 Peeling Start Switch 307 Chuck Rotation Switch 308 Emergency Stop Switch A Peeling Mechanism B Chuck Mechanism for Fixing Fruits and Vegetables

Claims (9)

A fruit and vegetable peeling device for peeling fruit and vegetables by pressing a peeler against fruit and vegetables rotating about a rotation axis,
The peeler, an arm that supports the peeler at its tip, driving means for rotating the arm, and control means for controlling the rotation of the arm by the driving means,
The control means rotates the arm by the drive means such that the peeler peels the skin by tracing the surface of the fruit and vegetables so that the pushing force of the peeler against the fruit and vegetables is substantially constant. to controlis configured as
The driving means includes first rotating means for rotating the arm about an axis perpendicular to the rotating shaft, and second rotating means for rotating at least the arm about an axis parallel to the rotating shaft. and A fruit and vegetable peeling device characterized by: The control means controls rotation of the arm by the first rotating means and/or the second rotating means such that the peeler is pushed into the fruit and vegetable and sent along the surface of the fruit and vegetable. In addition, by reversing the rotation of the arm by the first rotating means or the second rotating means when the pushing force of the peeler into the fruit and vegetables exceeds a preset value, the peeler 2. The device for peeling fruits and vegetables according to claim 1 , wherein the peeling operation is controlled by the . The peeler comprises a blade for peeling, a support that supports the blade and is movable in the direction of the fruit and vegetables, a compression spring that presses the support in the direction of the fruit and vegetables, and a compression of the compression spring. and a switch actuated when the amount exceeds a predetermined value, said control means controlling rotation of said arm by said first rotating means or said second rotating means when said switch is actuated. 3. A fruit and vegetable peeling machine according to claim 2 , characterized in that it is adapted for reversing motion. 4. The fruit vegetable according to any one of claims 1 to 3 , wherein the peeler is rotatably connected to the arm so that the peeler always faces the surface of the fruit vegetable. peeling device. 5. The apparatus according to any one of claims 1 to 4, wherein said second rotating means rotates said first rotating means and said arm around an axis parallel to said rotating shaft. 2. A fruit and vegetable peeling device according to claim 1. It further comprises a fruit and vegetable gripping portion for gripping the fruit and vegetable, and a third rotating means for rotating the fruit and vegetable gripping portion around its rotation axis,
5. The fruit and vegetable gripping portion is coaxially provided with a hollow cylindrical portion having a screw thread with a sharp tip or a spiral protruding blade on its outer peripheral surface. A fruit and vegetable peeling device according to any one of the preceding claims. 7. The fruit and vegetable peeling apparatus according to claim 6 , wherein a perforation portion for perforating a central portion of the fruit and vegetable in a cylindrical shape is provided at a distal end portion of the cylindrical portion. 8. The fruit and vegetable peeling apparatus according to claim 6 , further comprising a stop member for stopping the biting of the fruit and vegetables at the base of the cylindrical portion. fixing the fruits and vegetables to be peeled to the chuck mechanism for fixing fruits and vegetables,
Rotating the chuck mechanism for fixing fruit and vegetables around the rotation axis,
rotating an arm that supports the peeler at its tip to bring the peeler into contact with the fruit and vegetable;
In order for the peeler to peel the fruits and vegetables by tracing along the surface of the fruits and vegetables, the rotation of the arm is controlled so that the pressing force of the peeler on the fruits and vegetables is substantially constant, and the peeler moves the fruits and vegetables. controlling the rotation of the arm so that it is pushed into the vegetables and sent along the surface of the fruit and vegetables, and when the pushing force of the peeler into the fruit and vegetables exceeds a preset value, A fruit and vegetable peeling method characterized by controlling the peeler to perform the tracing motion by reversing rotation .

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