JPH0819761A - Supply structure of long-shaped vegentable selector - Google Patents

Abstract

PURPOSE:To provide a cucumber selector which secures a feed action by a suction pad which freely moves vertically and in an oscillating manner, and makes a feed means automatic as well as saves labor significantly under a state that feed work efficiency is improved. CONSTITUTION:A cucumber selector is composed of a cucumber transport conveyor, a feed robot which feeds a cucumber to the start end of the conveyor in a specified position, an image processing means which can recognize the shape of the cucumber on the conveyor, using a charge coupling device(CCD), and a selection means which selects between the cucumber on the conveyor. In addition, a feed means consists of a suction pad 10 which aspirates the surface of the cucumber, a suction pump, and a shift mechanism which shifts the suction pad 10 back and forth from a storage part to the start end of the conveyor. Further, the suction pad 10 is constituted of a diaphragm cylinder or a closed foam rubber with a suction face 14A at the bottom which is freely displaced vertically and in an oscillating manner so that the suction face 14 at the bottom becomes fit to the surface of the cucumber.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sorting machine for sorting and sorting long vegetables such as cucumber (cucumber), loofah (radish), radish, or carrot according to shape and size. The present invention relates to a supply means for transporting long vegetables from the vegetable storage section such as to the start end of the conveyor.

[0002]

2. Description of the Related Art As a sorter for sorting long harvested vegetables into shapes and sizes, there is, for example, a cucumber sorter, in which one cucumber stored in a container is placed at the start end of a conveyor. It depended on human power to supply each by hand.

[0003]

In the above-mentioned prior art, the cucumber is supplied manually, which is labor-intensive, and the manual supply operation must be performed in accordance with the transfer behavior of the transfer conveyor. There is also a face,
There was room for improvement. An object of the present invention is to provide a sorting machine that saves labor by automating the supply means.

[0004]

To achieve the above object, the present invention provides a conveyor for conveying long vegetables, a supply means for supplying long vegetables to the starting end of the conveyor, and a conveyor. It is equipped with a sorting means for sorting and sorting the long vegetables to be conveyed, and the supply means includes a suction pad capable of adsorbing to the surface of the long vegetables, a suction pump for expressing the suction action of this suction pad, and a suction pad. It is characterized in that it is configured by a moving mechanism that can be driven and moved, and that the suction pad is configured in such a state that its suction surface can be vertically displaced and swingable.

The suction pad is a bellows-shaped cylinder made of a flexible material, or the suction pad is made of closed-cell rubber so that the suction surface at the lower end of the suction pad can be vertically displaced and swung. It is convenient if it is done.

Further, the moving mechanism is equipped with an elevating mechanism for driving the suction frame in which the suction pad is vertically movable within a predetermined range, and a spring capable of urging the suction pad downward with respect to the suction frame. And the spring is arranged and set such that the downward biasing force increases as the amount of upward movement of the suction pad with respect to the suction frame increases, and a switch that operates when the upward movement amount reaches a predetermined value is provided. The switch and the elevating mechanism are linked so that the downward movement of the suction frame is stopped when the switch is activated.

[0007]

According to the structure of claim 1, the long vegetables are adsorbed by the adsorbing pad to adsorb the long vegetables and then the moving mechanism is used to carry the long vegetables in the storage portion such as the storage box to the starting end of the conveyor. The supply operation can be automated. And, since the suction surface is freely displaceable to the upper limit and swinging, the suction pad is displaced to the side of the long vegetable during the suction operation of the long vegetable to the suction pad,
Alternatively, even if the vegetable surface has relatively large irregularities, the adsorption surface can be adapted to conform to the surface shape of a long vegetable and the adsorption operation can be performed, and the risk of adsorption error is reduced.

According to the second aspect of the present invention, the suction pad is constituted by the bellows cylinder which is displaceable by the multi-node structure, and the vertical and swinging displacement of the suction surface can be expressed relatively inexpensively. In the structure, the suction pad is made of closed-cell rubber that is easily displaced by a large number of air chambers formed inside, which is advantageous in terms of the degree of adhesion to the vegetable surface having a long suction surface.

In the structure of claim 4, in addition to the vertical displacement of the suction pad itself, the suction pad can be vertically displaced in a state of being urged downward with respect to the suction frame. When there is a marked difference in height or when the surface of the suction pad is so conspicuous that displacement of the suction pad itself does not provide a close contact with the suction surface, the suction pad is pressed firmly against the long vegetables without crushing the long vegetables. As a result, the reliability of the adsorption operation is further improved.

[0010]

As a result, in any of the sorting machines described in claims 1 to 4, the suction pad which can be displaced vertically and oscillatingly ensures the supply operation, and the supply work efficiency is improved, while the supply is performed. The means can be automated and the effort can be reduced. The sorting machine according to the second aspect has an advantage that the supply operation can be ensured at a low cost, and the sorting operation according to the third aspect is further advantageous. Further, the sorting machine according to the fourth aspect has the merit that the reliable feeding operation can be exhibited even in the disadvantageous situation that the adsorbed vegetable group is placed in a disordered state or has a remarkable unevenness.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. Fig. 1 shows a cucumber sorter, where A is the storage box 1.
Supplying means for supplying the cucumber stored in the inside to a starting end portion of a belt conveyor (corresponding to a conveying device) B in a predetermined posture, and C is an image processing for recognizing the shape and size of the cucumber transferred by the belt conveyor B. Means D are sorting means for sorting and sorting the conveyed cucumbers on the belt conveyor B based on the shape recognition information output from the image processing means C. Further, 2 is a sorting chute, 3 to 6 are collection boxes, and 7 is a waste box.

The general operation of this cucumber sorter is as follows.
The supply means A lifts the cucumber in the storage box 1 by suction by suction and supplies the cucumber to the starting end portion of the belt conveyor B in a posture oriented in a direction orthogonal to the longitudinal direction of the conveyor belt 8. Next, the image processing means C recognizes the shape and size of the cucumber conveyed on the conveyor by the CCD camera 9, and based on the shape recognition information output from the image processing means C, on the belt conveyor B. The conveyed cucumber is extruded to the side of the belt and discharged, and the slantingly arranged sorting chute 2 is slid and collected in the collecting boxes 3 to 6. Then, the waste cucumber that is not a commodity such as an immature cucumber that is too thin or too short or an extremely curved cucumber is collected in the waste box 7 arranged at the end of the belt conveyor B.

Next, each device will be briefly described. As shown in FIGS. 1 to 3, the supply device A includes a three-dimensional moving mechanism 12 capable of moving a working body 11 including a plurality (nine) of suction pads 10 back and forth, left and right, and up and down, and each suction pad. Each of the pumps 10 and the suction pump 13 operates independently.
The suction pad 10 is configured by fitting and connecting a bellows cylinder 14 having a suction surface 14A formed at a lower end thereof to the cylindrical rod 10A, and the function of the bellows cylinder 14 causes the suction surface 14A to be vertically displaced with respect to the cylindrical rod 10A and a neck. It can be freely displaced. Each suction pad 10
Are arranged in a zigzag pattern in a plan view, and the suction pumps 13 fixed to the plurality of suction pads 10 are arranged.
And are connected and connected by a flexible group of suction hoses 18 which can be bent.

The three-dimensional moving mechanism 12 includes a vertically moving mechanism 12A for vertically moving the working body 11 in a predetermined range and a vertically moving mechanism 12A for moving the vertically moving mechanism 12A in a front-back direction (conveying direction of the belt conveyor B) within a predetermined range. Front and rear moving mechanism 12B,
The front-rear moving mechanism 12B includes a left-right moving mechanism 12C that is movable in a left-right direction (direction orthogonal to the conveyance direction of the belt conveyor B) within a predetermined range.

The up-and-down moving mechanism 12A is composed of an up-and-down cylinder (hydraulic cylinder or electric cylinder).
2B is a base 2 of the vertical movement mechanism 12A that is mounted on the screw shaft 17 and the guide shaft 27 that are laid across the front and rear moving bodies 39 and 37.
The gear motor GM is provided so as to support 8 through and to rotate the screw shaft 17 for rotation. The left and right moving mechanism 12C includes drive units (not shown) provided in the front and rear moving bodies 39 and 37, and is provided with front and rear fixed rails 30 for the wheels 29 driven by these drive units.

The support structure of the suction pad 10 will be described in detail. As shown in FIGS. 3 to 6, the plate body 31 to which the plurality of suction pads 10 are attached is attached to the working body 1 via the descending urging mechanism 32.
It is attached to No. 1 and has a flexibility in the contact area between the suction pad 10 and the cucumber by the downward movement by the elevating cylinder 12A, and the cushion effect at the time of contact is obtained. The descending urging mechanism 32 fits the insertion rod 33 fixed to the plate body 31 into the boss portion 11 a of the working body 11 via the winding spring 34, and the guide rod 35 fixed to the plate body 31 to the working body 11. It is configured to pass through the notch 11b at the end.

A limit switch 42 is attached to the lower end of the boss 11a so that the limit switch 42 operates when the amount of rise of the plate 31 with respect to the working body 11 reaches a predetermined value. When 42 is operated, the lowering movement of the elevating cylinder 12A is stopped. That is, as shown in FIGS. 6A and 6B, an elevating cylinder (in an elevating mechanism) capable of driving and elevating a plate body (corresponding to an adsorption frame) 31 on which the suction pad 10 is vertically movable within a predetermined range. Equivalent) 12A is the moving mechanism 12
And a spring 34 capable of urging the suction pad 10 downwardly with respect to the plate body 31 is provided, and as the amount of upward movement of the suction pad 10 with respect to the plate body 31 increases, the downward urging force becomes stronger. The spring 34 is arranged and set in such a state that the limit switch 42 and the elevating mechanism 12 are linked so that the downward movement of the plate 31 is stopped by the operation of the limit switch 42 that operates when the amount of upward movement reaches a predetermined value. Has been done.

As shown in FIG. 3, the suction pump 13 is a reciprocating piston pump in which a piston 13p reciprocates, and a total of nine suction pumps 13 are provided for each suction pad 10. A drive bar 36 extending over the nine piston rods 13a is provided, and the drive bar 36 is reciprocally driven and moved by a single drive device 37 having a swing arm 38, whereby the linkage transmission mechanism E is formed. It is configured. Limit switches 40 and 41 for determining the front and rear swing limits of the swing arm 38 are provided. When the switch 37 comes into contact with the front switch 40 of the swing arm 38, the drive device 37 reverses to swing the swing arm 38 rearward. Then, when the rear switch 41 is brought into contact with the rear switch 41, the swing arm 38 is linked to swing forward. Therefore, the moving region of the piston pump 13 can be adjusted and set according to the distance between the storage box 1 and the start end of the belt conveyor B, and there is an advantage that waste of reciprocating more than the actually required amount can be eliminated.

Further, as shown in FIG. 3, the parallel pitch L'of the suction pads 10, 10 which are adjacent to each other in the transport direction is smaller than the parallel pitch L of the cucumbers arranged and stored in the storage box 1. , That is, L '<L, and 9
It is arranged that any one of the suction pads 10 sucks on the cucumber without fail.

The belt conveyor B includes front and rear wheels 15,1.
6, a conveyor belt 8 wound around the conveyor belt 6, and a drive source 26 such as an electric motor. By placing and transferring the cucumber on the conveyor belt 8, the cucumber can be conveyed without dropping the warts on the surface of the cucumber. Further, in order to adjust the cucumber posture, it may be convenient to form a ridge orthogonal to the belt moving direction on the belt surface.

The image processing means C is constructed by disposing a CCD (charge coupled device) camera 9 on an overhang portion of a support tower 19 provided at an intermediate position in the conveying direction of the belt conveyor B, and on the conveyor. The cucumber is photographed from above and its shape and size are recognized.

The sorting means D is constructed by arranging four sorting actuators 20 to 23 (extendable cylinders or the like) in parallel in the longitudinal direction of the belt at a position near the side of the belt conveyor B. The first cylinder 20 that extrudes a cucumber that is linear and has a predetermined length or more, the second cylinder 21 that extrudes a cucumber that is linear and has a predetermined length or less, and the curved shape has a predetermined length The third cylinder 22 for extruding the above-mentioned cucumber and the fourth cylinder 23 for extruding a cucumber having a curved shape and having a predetermined length or less are configured.

Then, the supply device A, the drive source 26 of the belt conveyor B, the image processing means C, and the cylinders 20-2.
Each of the control valve groups 24 for 3 is electrically connected to the control device 25. As a result, when the sorter is driven, the cucumbers in the storage box 1 are automatically sorted into four types of collection cucumbers and waste cucumbers without manual labor, and are collected in the respective collection boxes 3 to 6 and the waste box 7. Is done.

[Other Embodiment] As shown in FIGS. 7 and 8, instead of the bellows cylinder 14, the suction pad 10 may be formed of a closed-cell rubber 14 having a large number of bubbles 43 formed therein. . In this case, the lower end of the cylindrical rod 10A is formed in a rectangular shape so that the elliptic ring-shaped closed-cell rubber 14 can be fitted and connected without a gap. Further, the suction pad 10 having the suction surface 14A having a spherical bearing structure may be used.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic structure of a cucumber sorter.

[Figure 2] Plan view of the cucumber sorter

FIG. 3 is a side view showing a suction pad support structure and a suction pump.

FIG. 4 is a bottom view showing an arrangement state of suction pads.

FIG. 5 is a sectional view of a suction pad.

FIG. 6 is an operation diagram showing a suction operation by a suction pad.

FIG. 7 is a sectional view showing another structure of the suction pad.

8 is a partial side view of a perspective view of a lower portion of the suction pad shown in FIG.

[Explanation of symbols]

 A supply means B transport conveyor D selection means 10 suction pad 12 moving mechanism 12A vertical moving mechanism 13 suction pump 14A suction surface 31 suction frame 34 spring 42 switch

Claims (4)

[Claims] 1. A conveyor (B) for conveying long vegetables, a supply means (A) for supplying long vegetables to the starting end of the conveyor (B), and a conveyor for conveying the vegetables. A suction pad (10) capable of adsorbing the supply means (A) on the surface of the long vegetables, and a suction function of the suction pad (10). And a moving mechanism (12) capable of driving and moving the suction pad (10), and the suction surface (14A) of the suction pad (10) is vertically displaced. Also, a long vegetable sorter supply structure configured to be swingable. 2. The suction pad (10) is formed as a bellows-shaped tubular body made of a flexible material, so that the suction surface (14A) at the lower end is configured to be vertically displaceable and swingable. The supply structure of the long vegetable sorter described in 1. 3. The long vegetable sort according to claim 1, wherein the suction pad (10) is made of closed-cell rubber so that the suction surface (14A) at the lower end can be vertically displaced and swung. Machine supply structure. 4. The moving mechanism (12) is equipped with a lifting mechanism (12A) capable of driving and lifting a suction frame (31) on which the suction pad (10) is movably supported in a predetermined range, and A spring (34) capable of urging the suction pad (10) downward with respect to the suction frame (31) is provided, and as the amount of upward movement of the suction pad (10) with respect to the suction frame (31) increases. The spring (34) is arranged and set such that the downward biasing force becomes stronger, and a switch (42) is provided which is activated when the amount of upward movement reaches a predetermined value. When the switch (42) is activated, The switch (42) and the elevating mechanism (12) so that the downward movement of the suction frame (31) is stopped.
The supply structure for a long vegetable sorter according to any one of claims 1 to 3, wherein: