JPH08322408A - Treatment of lower leaf of leaf vegetable and apparatus therefor - Google Patents

Abstract

PURPOSE: To provide a method for treating the lower leaf of a leaf vegetable capable of automating the treatment of the lower leaf of leaf vegetable and largely distributing to automation of harvest of the main leaf and provide an apparatus for treating the lower leaf. CONSTITUTION: A culture bar 31 in which a leaf vegetable C is cultured is set to a setting position B and a main leaf E of leaf vegetable arranged at the setting position B is held by a harvesting chuck 88 and either one of the culture bar 31 or the harvesting chuck 88 is raised or lowered in the direction in which either one of the bar 31 becomes more distant from the other to separate main leaf E from the lower leaf F and the root D of the leaf vegetable C is held by a root chuck 75 and the root D is cut and separated together with the lower leaf F from the main leaf in the neighborhood of upper face of the culture bar 31 and either one of the root chuck 75 holding the root D or the culture bar 31 is raised or lowered in the direction in which either one of the chuck 75 or the culture bar 31 becomes more distant from the other to pull out the root having the lower leaf from the culture bar 31 and the root chuck 75 is opened and holding of the root D is released and the root D is dropped to automatically perform the treatment of the lower leaf E.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for treating lower leaves of leafy vegetables by treating lower leaves of leafy vegetables such as salad vegetables which are hydroponically grown in an automatic plant factory, for example, an automatic vegetable factory. And its equipment.

[0002]

2. Description of the Related Art Cultivation bars are used in hydroponics of leafy vegetables having short stems such as salad vegetables. The cultivation bar has cubic storage portions at regular intervals along the longitudinal direction thereof, and each storage portion stores a cubic urethane foam cubic with a + -shaped cut. Leafy vegetables to be planted in the cultivation bar are sowed in cubic cuts and grown by hydroponic cultivation. By this growth, the roots of leafy vegetables penetrate the cubic in the downward direction, and the true leaves to be harvested grow above the cubic.

FIG. 18 shows the configuration of a conventional harvesting facility for harvesting the true leaves of leafy vegetables thus planted in the cultivation bar. In FIG. 18, 1 is a first device frame on which the root receiving box 2 is supported, 3 is a reversing arm, 4 is fingers, and 5 is a cutter. The reversing arm 3, the finger 4, and the cutter 5 are all provided on the device frame 1. Further, in FIG. 18, 6 is a second device frame adjacent to the first device frame 1, 7 is a bar receiver provided on the second device frame 6, and 8 is an extruding unit having a vertically movable extruding rod 8a. This mechanism 8 is provided via a mechanism support 9 and is arranged to face the upper surface of the bar receiver 7.

The harvesting equipment having the above-mentioned configuration carries out the following harvesting method to harvest leafy vegetables. In FIG. 18, the chain double-dashed line indicates the packaging mechanism 10, 11 indicates the cultivation bar, and 1
Reference numeral 2 denotes leaf vegetables planted in the cultivation bar 11.

First, the cultivation bar 11 on which the leafy vegetables 12 that have reached an appropriate harvesting time are planted is taken out from a cultivation bed (not shown) by a carry-in robot (not shown) and set on the horizontal tip of the reversing arm 3. It Next, the finger 4 is moved in the direction of arrow a in FIG. 18, and the cultivation bar 11 is held on the reversing arm 3. With the movement of the fingers 4, the roots of the leafy vegetables 12 are cut by the cutter 5 that is moved together with the fingers 4. After that, the reversing arm 3 holding the cultivation bar 11 is rotated 180 ° in the direction of arrow b in FIG. 18 about the fulcrum 3a. As a result, as shown by the chain double-dashed line in FIG. 18, the cultivation bar 11 is set to the pushing position on the bar receiver 7 in a vertically inverted posture with the leafy vegetables 12 facing downward. Next, the pushing mechanism 8 is operated to push the pushing rod 8 a into the cubic storage portion of the cultivation bar 11. Thereby,
The leafy vegetables 12 are extruded under the cubic storage together with the cubic. The leafy vegetables 12 thus harvested from the cultivation bar 11 fall into the packaging mechanism 10 whose one end is arranged below the bar receiver 7 and are packaged by this mechanism 10.

[0006] The cultivation bar 11 in which the true leaves, which are the harvesting portions of the leafy vegetables 12, are harvested and emptied by the above-mentioned steps is shown in FIG.
After being returned to the set position shown by the solid line, the bar is recovered from the set position by a bar recovery mechanism (not shown). The above steps are operated according to a predetermined operation sequence program set in a control device such as a microcomputer (not shown).

[0007]

The conventional leaf vegetable harvesting method and equipment described above have the following problems.

[0008] Since the root of the leafy vegetables 12 is cut by moving the cutter 5 at a position below the cubic storage portion of the cultivation bar 11, a part of the root located inside the cubic remains. Will be harvested. In addition, the old leaves, which are usually called lower leaves in leafy vegetables 12, are easily withered or damaged, but as mentioned above, a part of the root growth side remains. Therefore, such lower leaves are harvested. Therefore, the harvested true leaves had many unnecessary parts when eating them, and the quality of the true leaves was not good. Thus, in the past, the lower lobe could not be automatically processed.

Therefore, in actuality, in order to remove the lower leaves and the like from the true leaves to be harvested to improve the quality, the above-mentioned harvesting equipment is not used, and the cultivation bar 11 is manually operated. After pulling out leafy vegetables, the lower leaves are peeled off and finally the whole roots are harvested by cutting the whole roots with a pair of scissors.

As described above, since the lower leaves are manually processed and the true leaves are harvested, it takes a lot of time and labor, and there is a problem that the working efficiency is very poor. In addition, there is a problem that automation of harvesting of leaf vegetables to be hydroponically cultivated is obstructed because such manual lower leaf processing work is forced.

It is an object of the present invention to obtain a lower leaf treatment method for leafy vegetables and an apparatus thereof which can automate lower leaf treatment of leafy vegetables and can greatly contribute to the automation of harvesting of true leaves.

[0012]

In order to achieve the above-mentioned object, the method for treating the lower leaves of leaf vegetables according to claim 1 is such that a cultivation bar on which leaf vegetables are planted is placed at a set position of a lower leaf processing apparatus. Set, the true leaf consisting of the upper part of the root of the leafy vegetables arranged at the set position is gripped by the harvesting chuck of the harvesting part chuck mechanism provided in the lower leaf processing device, and the cultivation bar or the harvesting chuck is provided. One of the leaves is raised or lowered in a direction away from the other to separate the true leaves and the lower leaves of the leafy vegetables, and the root of the leafy vegetables is a root chuck provided in the lower leaf processing apparatus. Grasping with the root chuck of the mechanism, by cutting and separating the root together with the lower leaf with respect to the true leaves at the vicinity of the upper surface of the cultivation bar by the cutter mechanism provided in the lower leaf processing device, the cultivation bar or the root. Grip After pulling out the root portion with the lower leaf from the cultivation bar by raising or lowering one of the root chucks in a direction away from the other, the root chuck is opened to release the grip of the root, and It is characterized in that the root is dropped to treat the lower leaf.

In order to achieve the same purpose, a lower leaf processing apparatus for leafy vegetables according to claim 2 has a set position to which a cultivation bar in which leafy vegetables are planted is supplied, and
A bar support that detachably engages with both ends of the cultivation bar in the longitudinal direction to support the cultivation bar, and a bar set mechanism having a bar elevating means for elevating the bar support, and the leaf arranged at the setting position. Having a harvesting chuck that can be opened and closed and that holds the true leaf consisting of the upper part of the root of the vegetables and vegetables, and a chuck opening and closing means that opens and closes this chuck, and a harvesting section chuck mechanism that has a chuck elevating means that raises and lowers the harvesting chuck, A root chuck mechanism that is provided in the bar setting mechanism and has a root chuck that grips the root, a first root chuck driving unit that moves the chuck, and a second root chuck driving unit that moves the root chuck up and down, and the root chuck mechanism. Provided in the bar set mechanism located near the upper side of the chuck mechanism, near the upper surface of the cultivation bar and It is obtained by including a cutter for separating the lower lobe each root to the present lobe filtration, and a cutter mechanism having a cutter driving means for moving the cutter, a.

[0014]

In the structure of claim 1, first, the cultivation bar in which leaf vegetables are planted is set at the setting position of the bar setting mechanism, and then the harvesting chuck of the harvesting section chucking mechanism is operated to set the setting position. The true leaf consisting of the upper part of the root of the leafy vegetable arranged in the above is grasped.

Next, either the growing bar or the harvesting chuck is raised or lowered in a direction away from the other to separate the lower leaves of the leafy vegetables from the true leaves, and then the roots. The root chuck of the chuck mechanism is operated to grip the root of the leafy vegetable with this chuck.

After that, the cutter mechanism is operated to separate the root and the root from the true leaf at a height position near the upper surface of the cultivation bar.

Therefore, by going through the above steps, the whole root can be separated from the true leaf, and
The lower leaves can be removed along with this root.

After this, either one of the cultivation bar or the root chuck is raised or lowered in the direction away from the other. Thereby, the root portion with the lower leaf is pulled out from the cultivation bar.

Finally, the root chuck is opened to release the root grip. As a result, the root with the lower leaf falls and is taken out by its own weight.

Through the above steps, a series of lower leaf treatment cycles for automatically separating the lower leaves together with the roots from the true leaves is completed.

In the structure of claim 2, when the cultivation bar in which leaf vegetables are planted is supplied to the bar support of the bar setting mechanism, the cultivation bar is arranged at the set position, and the bar support is arranged in the cultivation bar. The bar is fixed by engaging both ends in the longitudinal direction.

The harvesting section chuck mechanism operates the chuck elevating means at the setting position to open the harvesting chuck and lowers it onto the true leaves of the leafy vegetables arranged at the setting position, and then opens and closes the chuck. Operate the means to close the harvest chuck. Thereby, the harvest chuck grips the true leaf.

The root chuck mechanism is first in the set position.
The root chuck driving means is operated to move the root chuck to the root side of the leafy vegetables which is projected so as to hang down below the cultivation bar, and the root is gripped.

The bar elevating means of the bar setting mechanism raises the bar support a little while the root is chucked as described above. Thereby, the lower leaf emerging from the root (hairline) of the root and the true leaf are separated (lower leaf separation) so that they are further apart. It should be noted that instead of the raising operation of the bar elevating means, the second root chuck driving means of the root chuck mechanism may be operated to be slightly lowered to the root chuck, thereby performing the lower leaf separation.

The cutter mechanism operates the cutter driving means at the set position to move the cutter to the root side of the leafy vegetables at a height near the upper surface of the cultivation bar, and to move the cutter with respect to the true leaf. Separate the lower root with the lower lobe.

The root chuck mechanism operates its second chuck driving means to largely lower it to the root chuck. As a result, the roots with lower leaves that have been cut and separated from the true leaves are pulled downward from the cultivation bar. After this withdrawal, the root chuck is returned to its original position by the first root chuck driving means of the root chuck mechanism in preparation for the next chuck operation, whereby the root with the lower leaf falls by its own weight and is discharged downward. To be done. Note that, instead of lowering the root chuck, the bar elevating means of the bar set mechanism is operated to greatly raise the bar support and the cultivation bar supported thereby, whereby the lower leaf gripped by the root chuck. The roots with roots may be pulled down from the growing bar.

Therefore, according to the lower leaf treatment apparatus for leafy vegetables of the present invention, the lower leaf can be separated without manual labor, and the whole root can be cut and separated from the true leaf together with the lower leaf. , The quality of harvested true leaves can be improved. And since the lower leaf processing can be automated in this way,
It can greatly contribute to the automation of the work of harvesting the true leaves of leafy vegetables that have been planted in the cultivation bar and have reached the proper harvest time.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The lower leaf processing apparatus for carrying out the lower leaf processing method according to one embodiment of the present invention is incorporated in a harvesting facility for hydroponically grown leafy vegetables. The harvesting equipment automates the work of harvesting true leaves as a harvesting unit for leafy vegetables with short stems such as salad vegetables that have been planted in the cultivation bar 31 shown in FIGS. The thing
As shown in FIGS. 1 and 2, the bar set mechanism 21
, Harvesting section chuck mechanism 22 and root chuck mechanism 23
A cutter mechanism 24, a weight measuring mechanism 25, a take-out mechanism 26, and a bar collecting mechanism 27. Of these, the bar set mechanism 21, the harvester chuck mechanism 22, the root chuck mechanism 23, and the cutter mechanism 24 constitute a lower leaf processing apparatus.

The metal cultivation bar 31 used for hydroponic cultivation of leafy vegetables comprises a slender bar body 32 formed by bending reinforcing flanges on both side edges as shown in FIGS. 12 and 13. The cubic accommodating portions 33 are provided at regular intervals along the longitudinal direction, and the suspension arms 34 and the projecting pieces 35 are provided at both ends in the longitudinal direction.

The cubic accommodating portion 33 protruding downward from the back surface of the bar body 32 has a truncated cone shape that gradually narrows from the upper end toward the lower end opening, and communicates with the central portion of the upper end of the bar body 32. An opening 32a is provided in the. Each cubic storage section 33 stores a cubic urethane foam cubic 36 having a + -shaped cut in the vertical direction.

The leafy vegetables C to be planted in the cultivation bar 31 are sown in the cuts of the cubic 36 and grown by hydroponic cultivation on a cultivation bed for hydroponic cultivation (not shown). As a result of this growth, as shown by the chain double-dashed line in FIG. 13, the root D of the leafy vegetable C penetrates the cubic C, and the true leaf E to be harvested grows above the cubic 36. FIG.
In 3 etc., the symbol F indicates a lower leaf emerging from the root of the root D. The lower lobe E generally grows in a slightly sagging state.

A pair of right and left suspension arms 34 facing each other are provided by bending vertically upward from the bar body 32, and an engaging hole 37 is formed in this. The lower portion of the engagement hole 37 is wide and the upper portion of the engagement hole 37 is narrow, and the boundaries between these upper and lower portions are formed in a taper shape to form a substantially elongated convex shape. The pair of left and right projecting pieces 35 are flat plates that extend in the longitudinal direction of the bar body 32 from both ends of the bar body 32 and project horizontally, and are screwed to the bar body 32.

Next, each of the mechanisms 21 to 27 will be described.

The bar setting mechanism 21 will be described. 41 in FIGS. 1 to 3 is an adjuster leg 42 whose height position can be adjusted.
It is a set mechanism base installed on the installation surface via, and a standby position and a set position are set on the base 41. The standby position is a position where a set carriage, which will be described later in FIGS. 1 and 2, is arranged as indicated by a chain double-dashed line, and this position is indicated by a symbol A for convenience. The set position is a position where a set carriage described later in FIGS. 1 and 2 is arranged as shown by a solid line, and this position is indicated by a symbol B for convenience. These two positions A and B are set adjacent to each other.

The bar setting mechanism 21 has a pair of mutually parallel rails 43 arranged above the setting mechanism base 41 and spaced apart from each other. These opposite rails 43
Is provided horizontally across the standby position A and the setting position B. A set carriage 44 having a rectangular shape in plan view is supported on these rails 43. It should be noted that in FIG. 1 and FIG. 3, 44 a is a wheel of the set carriage 44 rollingly contacting the rail 43. Therefore, the set carriage 44 is provided so as to be able to horizontally reciprocate between the adjacent standby position A and set position B.

The reciprocating movement of the set carriage 44 is performed by a carriage driving means such as an air cylinder 45. This cylinder 45 is supported by a support 46 arranged at a height position near the lower side of the set carriage 44 in a posture in which its axial direction is parallel to the rail 43, and as shown in FIG. The connecting head 45a provided at the tip of the is connected to the central portion of the lower surface of the set carriage 44.

As shown in FIGS. 3 and 4, bar elevating means, for example, air cylinders 48 are attached to both ends of the set carriage 44 in the longitudinal direction via supports 47 so as to extend vertically upward. Bar support bases 50 are connected to the upper ends of the piston rods of the pair of cylinders 48 via connecting plates 49. As shown in FIG. 4, the base 50 has a bending piece 50a for positioning, which is opposed to each other in the width direction, and an escape hole 50b. Note that the support 47 and the like are located at a substantially central portion in the width direction of the set carriage 44.

Bar supports 51 are fixed on both bar support bases 50 facing each other in the longitudinal direction of the set carriage 44. The bar support 51 includes a pair of upper and lower metal chuck claws 52 and a claw driving unit that rotates the claws 52 in opposite directions in synchronization with each other (for example, an air cylinder and the movement of a rod thereof is rotated by the chuck claws 52). It is formed by an interlocking device such as a crank or the like, which is converted into a.

These bar supports 51 have their chuck claws 5
When the two are in a horizontal posture so as to hit each other, the protruding piece 35 is sandwiched between them. As a result, the cultivation bar 3
1 is grasped at both ends in the longitudinal direction, and the bar 31 is set in a posture extending in the longitudinal direction of the set carriage 44.
Fix on top. By fixing the pair of chuck claws 52 in a vertically standing posture as shown by the chain double-dashed line in FIG. 4, the fixing of the cultivation bar 31 can be released, and at that time, the lower chuck claws 52 are evacuated. It is designed to pass through the hole 50b.

The cutter mechanism 24 will be described. As shown in FIGS. 6 and 7, a rectangular frame 62 is mounted on the set carriage 44 via a plurality of supports 61. The cultivation bar 31 supported by the bar support 51 is arranged at the center of the frame 62 in the width direction (see the chain double-dashed line in FIG. 7).

The frame member 6 located in the longitudinal direction of the frame 62
2a has a rail 6 formed of a ridge extending in the longitudinal direction.
3 are provided respectively, and sliders 64a and 64b are slidably fitted to these rails 63, respectively. A pair of sliders 64 arranged in the longitudinal direction of the frame 62
An end portion of a slender cutter base 65 extending over these is connected to a. Similarly, the end portion of the elongated cutter base 66 extending over the pair of sliders 64b arranged corresponding to the longitudinal direction of the frame 62 is also connected. These cutter stands 65, 66 extend in the longitudinal direction of the frame 62 and are parallel to each other, and are arranged on both sides in the width direction of the cultivation bar 31 supported by the bar support 51.

Cultivation bars 31 are provided on the cutter stands 65 and 66.
A plurality of cutters 67 and 68 are arranged in parallel with each other at a pitch that matches the arrangement pitch of the cubic storage portion 33. Each of the cutters 67 and 68 has a cut-out knife shape, and is attached to the cutter bases 65 and 66 so that the oblique blade portions thereof are parallel to each other.

Cutter driving means, for example, a pair of air cylinders 69 and 70, is attached to the central portion of the frame 62 in the longitudinal direction. The piston rod of one of the air cylinders 69 is connected to the center of the cutter table 65 in the longitudinal direction, and the piston rod of the other air cylinder 70 is connected to the center of the other cutter table 66 in the longitudinal direction. The air cylinders 69 and 70 are arranged so that their piston rods face each other, and are operated in synchronization. Therefore, when the piston rod is projected, the cutter bases 65 and 66 are horizontally moved so as to approach each other, and when the piston rod is retracted, the cutter bases 65 and 66 are horizontally moved so as to be away from each other.

Each of the cutters 67 and 68 of the cutter mechanism 24 having the above-described structure is located between the root chuck mechanism 23 and the harvesting chuck of the harvesting section chuck mechanism 22 which will be described later, and in the vicinity of the upper side of the root chuck mechanism 23. Saw position, more specifically, near the upper surface of the cultivation bar 31 (upper surface of the bar body 32) set in the set position, in other words, disposed at a height of several mm on the upper surface of the bar body 32, the cutter table 6
The roots D of the leafy vegetables C are cut at a height of several mm on the upper surface of the bar main body 32 by the contact and separation operations of the cutters 67 and 68 associated with the movements of 5 and 66.

The root chuck mechanism 23 will be described. This mechanism 23 is provided on the set carriage 44, and supports the bar support 51.
Are provided on both sides of the cultivation bar 31 supported in the width direction. The root chuck mechanism 23 is attached to the frame 62 via an appropriate support member (not shown). 14
As shown in FIG. 17, the root chuck mechanism 23 has a root chuck 75, a first root chuck driving means such as an air cylinder 76, and a second root chuck driving means such as an air cylinder 77.

The root chuck 75 is a chuck base 75a.
The gripper 75b is pivotally attached to the
It is formed by providing a coil spring 75c that gives a force to open 5a to the chuck base 75a. These root chucks 75 are arranged at a height position where they can be grasped by the root D protruding downward from the cultivation bar 31 supported by the bar support 51, in other words, at a height position near the lower end of the cubic storage part 33. To be done.

The piston rod of the air cylinder 76 is connected to the chuck base 75a from its side. The air cylinders 76, which are arranged on both sides in the width direction of the cultivation bar 31 supported by the bar support 51, are arranged such that the root chucks 75 face each other and are operated in synchronization. Therefore, when the piston rod is projected, the root chucks 75 are horizontally moved so as to approach each other, and when the piston rod is retracted, the root chucks 75 are horizontally moved so as to move away from each other.

The piston rod of the air cylinder 77 is connected to the chuck base 75a from below. The cylinder 77 supports a root chuck 75 and an air cylinder 76 connected to each other so as to be able to move up and down, and these cylinders 77 are operated in synchronization.

The harvester chuck mechanism 22 and the weight measuring mechanism 25 will be described. As shown in FIGS. 1 and 9, the harvesting chuck mechanism 22 includes a vertically-supporting guide column 81. The column 81 is supported by a column support 82 and has a vertically extending guide 81a at the top. Have A chuck elevating means such as an air cylinder 83 is vertically and upwardly attached to the lower portion of the guide column 81. An elevating table 84 is connected to the upper end of the piston rod of the cylinder 83. The elevating table 84 has a portion extending in the lateral direction at a right angle to the guide column 81, and a slider 84 a provided at one end of that portion is slidably fitted to the guide 81. There is.
The lifting operation of the lifting platform 84 is performed by the air cylinder 83.

A chuck elevating means, for example, an air cylinder 85 is vertically and downwardly attached to the tip of the laterally extending portion. The stroke of the piston rod of the cylinder 85 is smaller than the stroke of the piston rod of the air cylinder 83. Air cylinder 85
The weight adjusting mechanism 25 is connected to the piston rod via a connecting plate 86. The adjusting mechanism 25 has a weight sensor 25a.

The weight adjusting mechanism 25 includes a chuck unit 8
7 is supported. The weight sensor 25a is configured to measure the weight of the true leaf (harvesting part) E gripped by the chuck unit 87 with or without subtracting the weight of the unit 87. In the latter case, the arithmetic processing for subtracting the weight of the unit 87 is performed by a control device (not shown).

As shown in FIG. 9, the chuck unit 8
Reference numeral 7 denotes a pair of openable and closable harvesting chucks 88, and a chuck drive unit that rotates the chucks 88 in opposite directions in synchronization with each other (for example, an air cylinder and the movement of a rod thereof is converted into rotation of the harvesting chuck 88). And a chuck drive unit 89 is supported by the weight adjusting mechanism 25. Incidentally, 88a is a pivot of the harvesting chuck 88. The harvesting chuck 88 is wide to some extent, and its inner surface is concave.

The pair of harvesting chucks 88 are opened by the rotation thereof, as shown by the solid line or the two-dot chain line in the upper position in FIG.
As shown by the two-dot chain line in the middle and lower position, the robot is moved to the closed position where the hands with both purses are placed together. Then, in the closed position, the true leaf E is gripped while being held from both sides thereof, and in the open position, the grip of the real leaf E is released to prepare for holding the next real leaf E.

The take-out mechanism 26 will be described. As shown in FIG. 2, the take-out mechanism 26 includes the bar set mechanism 21.
It is formed to be longer than that, and one end side in the longitudinal direction thereof is juxtaposed to the bar set mechanism 21, that is, the bar set mechanism 21 is provided on the opposite side of the standby position A from the set position B. The other end side in the longitudinal direction of the take-out mechanism 26 is adjacent to the next process delivery position G. Although not shown, the carrying-in end portion of the packaging device is arranged at the delivery position G, and the true leaves E harvested by the packaging device are supplied by being dropped from above.

As shown in FIG. 1, FIG. 2, FIG. 8 and FIG. 9, the take-out mechanism 26 is provided with bearing support plates at the upper ends at both ends in the longitudinal direction of the mechanism frame 92 installed via the adjuster legs 91. 93 and 94 are fixed.
Between the pair of bearing support plates 93 located on the set position B side and facing in the width direction of the mechanism frame 92, these plates 9 are provided.
A chain wheel 95 is rotatably attached via a bearing supported by 3.

A pair of bearing support plates 94 opposed to each other in the width direction of the mechanism frame 92 located on the side of the next process transfer position G.
Chain wheels 96 and 97 are rotatably attached between the two via bearings supported by these plates 94. Chain car 97
Is provided coaxially with the chain wheel 96, but is smaller than the chain wheel 96. In the mechanism frame 92, a forward / reverse rotatable driving machine 99 for driving the driving chain wheel 98 is attached.

A driving chain 100 is wound between the driving sheaves 98 and 97, and a driven chain 101 is wound between the sheaves 95 and 96 having the same diameter. The chain wheels 95 and 96 are at the same height position, so that the upper portion of the driven chain 101 runs horizontally. The chain wheel 95 is always the driven chain 1.
It is biased by a spring so as to stretch 01.

On the upper end of the mechanism frame 92, a rail 102 having a substantially C-channel shape is attached, which has both ends connected to the bearing support plates 93, 94. The rails 102 are provided on both sides of the mechanism frame 92 in the width direction and face each other. A carriage 103 is arranged between these rails 102. Wheels 104 of the carriage 103 are in rolling contact with the rails 102 as shown in FIGS. 1 and 9. The driven chain 101 is connected to the connecting wall 103a protruding from the lower surface of the central portion of the carriage 103 in the width direction.

The carriage 103 can be repeatedly reciprocated horizontally along the longitudinal direction of the mechanism frame 92 by the forward / reverse rotation of the prime mover 99. This movement is performed from the set position B to the next process delivery position G. The harvesting unit chuck mechanism 22 is supported on the carrier vehicle 103. Therefore, the chuck mechanism 22 is reciprocally moved together with the transport carriage 103 between the set position B and the next process transfer position G without being inverted.

The bar recovery mechanism 2 will be described with reference to FIGS. 10 and 11.
7 will be described. This mechanism 27 is installed on the set mechanism base 41, and has a pair of pneumatic rotary cylinders 111, a pair of arms 112 connected to these cylinders 111 and reciprocally rotated, and these arms 112.
And a pair of bar engaging and disengaging bodies 114 and a pair of balance weights 115.

Bar engaging / disengaging bodies 114 which are engaged with and disengaged from the cultivation bar 31 from both axial ends thereof are respectively fixed to one end of the arm 112, and are connected to the air cylinder 114a and the tip of its piston rod. Tapered bar engaging element 1
14b and. The bar engaging element 114b is engaged with and disengaged from the hole portion of the cultivation bar 31 where the engaging hole 37 has a large width. The balance weight 115 is attached to the other end of the arm 112.

The rotation of the arm 112 causes the bar engaging / disengaging body 1 to move.
Numeral 14 is arranged so as to reciprocate between the standby position A and a recovery table 116 set adjacent to the standby position A so as not to interfere with the carry-in of the cultivation bar 31 to the standby position A. The bar engagement / disengagement body 114 is arranged at the standby position A.

Incidentally, reference numeral 121 in FIGS. 1 and 3 denotes a root receiving box having an opened upper surface. The box 121 is hung on the lower side of the set carriage 44. The root receiving box 121 can be properly removed from the set carriage 44 and taken in and out in the direction of the arrow in FIG.

The leafy vegetable harvesting equipment including the lower leaf processing apparatus having the above-mentioned configuration is provided with a control device (not shown) and various position detection sensors, and the control device controls each of the above-mentioned devices based on the detection signal of each sensor. The cylinder is operated according to a program having a predetermined operation sequence.

As a result, this harvesting equipment is a series of a setting process, a harvesting part chucking process, a lower leaf separating process, a root chucking process, a cutter process, a root pulling process, a weighing process, a harvesting part removing process, and a bar collecting process. By sequentially performing the above process, the true leaves E of the leafy vegetables C that have been planted in the cultivation bar 31 and have reached the proper harvesting period are automatically subjected to the lower leaf processing and harvested. The details will be described below.

First, the cultivation bar 31 on which the leafy vegetables C that have reached the proper harvesting time are planted is taken out from the cultivation bed (not shown) by the carrying-in robot (not shown), and the cultivation bar 31 shown in FIGS.
As indicated by the chain double-dashed line, the bar set mechanism 21 is positioned on the set carriage 44 that has already been moved to the standby position A and is on standby, and is automatically set. This setting is performed by placing the protruding pieces 35 at both ends in the longitudinal direction of the cultivation bar 31 on the pair of bar support bases 50. The protruding piece 35 is positioned by the pair of bending pieces 50a and is exposed in the escape hole 50b.

In this state, the claw driving portions 53 of the pair of bar supports 51 are synchronously operated to open the chuck claws 52.
Close. Then, the chuck claws 52 sandwich the projecting pieces 35, and the cultivation bar 31 is fixed on the set carriage 44.

After this, the air cylinder 45 operates to pull in the piston rod. As a result, the set carriage 44 is arranged at the set position B shown by the solid line in FIGS. 1 and 2.

Thus, the setting step of setting the cultivation bar 31 on which the leafy vegetables C have been planted at the setting position B of the harvesting device is completed. By the setting step, the leafy vegetables C planted in the cultivation bar 31 are arranged between the pair of cutters 67 and 68 and the pair of root chucks 7 as shown in FIG.
5 are arranged to face them.

Next, the harvesting part chuck mechanism 22 which is in standby at a position corresponding to the set position B in advance is operated.
That is, first, the piston rod of the air cylinder 83 is retracted to lower the elevating table 84 from the height position shown by the solid line in FIG. 1, and then the piston rod of the air cylinder 85 is protruded to move to the upper position in FIG. The harvest chuck 88 which is still open as shown by the dotted line is brought close to directly above the cultivation bar 31 arranged at the setting position B.

Thereafter, the chuck driving section 89 of the chuck unit 87 is operated to close the pair of harvest chucks 88 as shown by the two-dot chain line at the lower position in FIG. Then, as shown in FIG. 14, the true leaves E as a harvesting part are gripped from both sides, leaving the root D. Thus, at the setting position B, the true leaf E is picked up from above by the harvest chuck 88
The chucking process of the harvesting part, which is gripped by, is completed.

After this, the lower leaf separating step is executed. This is performed by slightly retracting the piston rod of the air cylinder 48 of the bar setting mechanism 21 and similarly lowering the cultivation bar 31 together with the bar support base 50 and the bar support 51. Then, the lower part on the root side of the true leaf E is relatively pulled by the pair of harvesting part chucks 88 in the direction of the arrow in FIG. As a result, the boundary between the true leaf E and the root D is lengthened so that the neck extends substantially, and accordingly, the lower leaf F is easily separated from the true leaf E. That is, the lower leaf separating step for separating the true leaf E and the lower leaf F (in other words, largely separating them) is completed in this way.

In this process, without lowering the cultivation bar 31, the piston rod of the air cylinder 85 is slightly retracted, or the piston rod of the air cylinder 83 is slightly protruded, and the chuck unit equipped with the harvesting chuck 88 is provided. 87 may be raised. In this case as well, the lower leaf separation process can be automatically performed in the same manner.

Next, the pair of air cylinders 76 of the root chuck mechanism 23 are synchronously operated so that their piston rods are brought closer to each other. Then, in advance, the root chucks 75 that are largely separated and stand by hold the roots D protruding downward of the cultivation bar 31 from both sides thereof (see FIG. 15). This gripping is performed while compressing the coil spring 75c, and the gripper 75b clamps the root D. Therefore, the root D is gripped while preventing the root D from being overloaded, and the position of the leafy vegetables C is grasped. Can be stabilized by the root chuck mechanism 23. Thus, the root chuck process of gripping the root portion of the leafy vegetable C with the root chuck 75 is completed.

In addition, in this process, since the gripper 75b is inclined before the chuck, the root D is started to be sandwiched from the lower side thereof and finally the gripper 75b is displaced so as to stand vertically. Accordingly, the root D can be pulled downward. Therefore, since the leaf chuck C can be pulled up and down by the root chuck 75 and the harvesting chuck 88, the leaf vegetables can be more firmly stabilized, whereby the lower leaf E
Can be moved to the lower side and can be easily cut by a cutter.

A cutter process is performed after the root chuck process. In this step, the air cylinders 69 and 70 are synchronously operated so as to project their piston rods. As a result, the cutter stands 65, 66 are brought close to each other (see FIG. 16), so that the cutters 67, 68 attached to them pass above the bar main body 32 of the cultivation bar 31 by several mm. Thereby, the boundary portion between the root D and the true leaf E is cut. Due to this cutting, the lower leaf F is included on the cut root D side. This is achieved by the lower leaf separation and consideration of the cutting height position. Thus, the cutter process of separating the entire root D together with the lower leaf F from the true leaf E is completed.

Next, the pair of air cylinders 77 provided in the root chuck mechanism 23 are synchronously operated so that their piston rods retract. As a result, the root chuck 75 that holds the root D together with the air cylinder 76 is moved so as to move away from the cultivation bar 31 under the root chuck 75, so that the root D is simultaneously pulled down (see FIG. 17). Then, finally, the entire root D including the lower leaf F is pulled out from the cubic 36 held by the cultivation bar 31.
In this way, the root extraction process of extracting the root with the lower leaf F from the cultivation bar 31 is completed.

Thereafter, the pair of root chucks 75 of the root chuck mechanism 23 are opened. As a result, root D with lower leaf F
Is dropped and received by the root box 121.

In the root extracting process, instead of lowering the root chuck mechanism 23, the bar setting mechanism 2 is used.
Alternatively, the pair of air cylinders 48 included in 1 may be synchronously operated so that the piston rods thereof protrude. Then, since the root D is held by the root chuck 75, the cultivation bar 31 is lifted upward with respect to the chuck 75, resulting in the lower leaf F.
Cubic 3 with root D attached to cultivation bar 31
6 can be pulled out.

By the above steps, the lower leaf processing work of automatically treating the lower leaf F of the hydroponically grown leaf vegetable C and taking it out together with the whole root D is completed without requiring manpower. .

On the other hand, since the true leaves E separated from the whole root D by the cutter process are still held by the harvesting chuck 88, the total weight of the true leaves E and the chuck unit 87 is stored in the weight measuring mechanism 25. To work.
Therefore, next, the weight measuring mechanism 2 is operated with the air cylinder 85 operated to raise the chuck unit 87.
By operating 5, the weight sensor 25a automatically measures the weight of the true leaf E. That is, the weighing process for measuring the weight of the true leaf E is completed.

Next, the take-out mechanism 25 is operated to rotate the prime mover 99 in the normal direction, that is, to rotate the drive chain gear 98 counterclockwise in FIG. Then, the harvesting unit chuck mechanism 23 as a whole together with the transport carriage 103 through the chains 100 and 101, and the harvesting chuck 88.
In the state where the true leaf E is still held, it is horizontally moved from the set position B to the next process delivery position G and stopped. After this stop, the harvest chuck 88 is opened via the chuck drive unit 89.

By doing so, the true leaves E between the harvesting chucks 88 freely fall by their own weight and are positioned at the next process transfer position G and supplied to the packaging device. Thus, the true leaves E are automatically harvested. That is, as described above, the harvesting part chuck mechanism 22 is moved between the setting position B and the next process delivery position G without being inverted, and the harvesting chuck 88 is opened at the next process delivery position to drop the true leaf E. The part removal process is completed.

In the harvesting section take-out step, the harvesting section chuck mechanism 22 is moved between the set position B and the next step transfer position G.
Is repeatedly moved back and forth according to the fixed planting number (the number of shares) of the leafy vegetables C on the cultivation bar 31.

When the loading of all the stocks into the packaging apparatus is completed in this way, the harvesting section chuck mechanism 22 is returned to the setting position B and stands by for the next harvesting.

Finally, the bar collecting step is executed. In this step, first, after the set carriage 44 is pushed back from the set position B to the standby position A by the air cylinder 45,
The clamping of the cultivation bar 31 at both ends in the longitudinal direction by the bar support 51 is released. Next, the pair of rotary cylinders 111 of the bar recovery mechanism 27 are operated in synchronization, and the bar engaging / disengaging body 1
The arm 112 is rotated so that 14 is arranged at the standby position A. Thereby, the pair of bar engaging bodies 114 are set so as to sandwich the cultivating bar 31 emptied between the bar engaging bodies 114 from both ends in the longitudinal direction. In this state, the bar engaging body 11
4 is facing the engagement hole 37 of the suspension arm 34 of the cultivation bar 31.

Then, the air cylinder 114a of the bar engaging body 114 is synchronously operated so that the bar engaging element 114b projects toward the suspension arm 34 side. Therefore, the bar engaging element 114b is inserted into and engaged with the wide hole portion of the engaging hole 37 to support the empty cultivation bar 31 from both ends in the longitudinal direction.

Thereafter, the rotary cylinder 111 is synchronously operated so as to rotate the arm 112 in the opposite direction to the above. Therefore, the cultivation bar 31, which is rotatably suspended around the bar engagement body 114 as a fulcrum, is carried out from the standby position A along with the rotational displacement of the arm 112 without changing its posture, and on the recovery table 116. Will be collected. In this way, the cultivation bar 3 emptied through the harvesting section removing step
The bar recovery process for recovering 1 ends.

Thus, all the mechanisms 21 to 27 stand by in preparation for the next harvest, and through the above steps,
One harvest cycle of this automatic harvesting equipment is completed.

Therefore, according to the harvesting method of hydroponics and the equipment therefor of the present invention described above, the cultivation bar 31
It is possible to fully automate the work of harvesting the true leaves E of the leafy vegetables C that have been planted in the plant and have reached a suitable harvesting time, without manual work.

In this automatic harvesting, the lower leaves F can be separated, and the lower leaves F can be cut and separated from the true leaves E without leaving the roots D, so that the quality of the collected true leaves E can be improved. Along with that, the harvested part can be limited to only the most necessary part, the true leaf E, and the root D
Since a part of the product is not left and is not harvested together with the cubic 36, it is possible to reduce the size of the package when packaging and reduce the packaging weight.

Further, according to this embodiment, since the true leaves E are dropped and harvested at the next process transfer position G by their own weight, the posture at the time of taking out the true leaves E can be made constant. Therefore, the packaging in the packaging device can be facilitated.

Moreover, according to the present embodiment, the movement of the cultivation bar 31 from the standby position A to the setting position B is horizontal movement, and the harvesting part chuck mechanism 22 moves from the setting position B to the next process transfer position G. Since the movement is performed without reversing, the conveyance posture is kept constant. Therefore, the leaf vegetables C do not drop from the cultivation bar 31 and the true leaves E do not drop from the harvest chuck 88 during the transportation.

Furthermore, according to the present embodiment, the weight of the true leaves E harvested during the harvest is automatically measured, so that it is possible to sort the harvested portion according to the weight.

Further, since the true leaf E is grasped from both sides in the above-mentioned lower leaf treatment, the true leaf E is not deformed excessively and is not damaged, and the true leaf E is reasonably and surely fixed. Can be gripped. Similarly, since the root D is gripped from both sides thereof, the root D is not deformed excessively and is not broken, and the root D can be gripped reasonably and surely, whereby the cutters 67 and 68 can be used. The cutting can be surely performed. Moreover, the cutting of the root D is also performed from both sides of the root D by the cutters 67 and 68, so that the root D can be easily cut.

Further, as described above, since there are two methods for carrying out the lower leaf separating step and the root removing step, the backup function as a device is high.

The present invention is not limited to the above embodiment. For example, in the present invention, the automatic measuring mechanism, the take-out mechanism, the bar collecting mechanism, etc. may be omitted.

[0098]

As described in detail above, according to the lower leaf treatment method of leafy vegetables and the configuration thereof according to the present invention, the lower leaves are peeled after the leafy vegetables are manually pulled out from the cultivation bar. Finally, the lower leaf treatment of leafy vegetables can be automated without the need to cut the whole root by using a pair of scissors, and can greatly contribute to the automation of the harvesting of true leaves.

[Brief description of drawings]

FIG. 1 is a front view showing the overall configuration of a harvesting facility for hydroponic cultures that implements a lower leaf treatment method for leafy vegetables according to an embodiment of the present invention.

FIG. 2 is a plan view showing the overall configuration of the harvesting equipment according to one embodiment.

FIG. 3 is a side view showing the configuration of a bar set mechanism included in the harvesting equipment according to the embodiment as seen from the direction of the line ZZ in FIG.

FIG. 4 is a side view showing a configuration around a set carriage provided in the bar set mechanism shown in FIG.

5 is a plan view showing the configuration around the set carriage shown in FIG. 4. FIG.

FIG. 6 is a side view showing the configuration of a cutter mechanism included in the harvesting equipment according to one embodiment, with a part thereof omitted.

7 is a plan view showing the configuration of the cutter mechanism shown in FIG.

FIG. 8 is a side view showing a configuration of an extraction mechanism provided in the harvesting equipment according to the embodiment.

FIG. 9 is a front view showing a configuration of a harvesting section chuck mechanism included in the harvesting equipment according to the embodiment.

FIG. 10 is a plan view showing the configuration of a bar recovery mechanism provided in the harvesting facility according to the embodiment.

11 is a front view showing the configuration of the bar recovery mechanism shown in FIG.

FIG. 12 is a perspective view showing the structure of a cultivation bar used in the harvesting facility according to one embodiment.

13 is a cross-sectional view showing the structure of the cultivation bar shown in FIG.

FIG. 14 is a diagram showing a state where the true leaf of leafy vegetables is held by the harvesting chuck of the harvesting section chuck mechanism in the harvesting facility according to the embodiment.

FIG. 15 is a diagram showing a state where the root of the leafy vegetable is grasped by the root chuck of the root chuck mechanism in the harvesting equipment according to the embodiment.

FIG. 16 is a view showing a state in which the root of the leafy vegetable is about to be separated from the true leaf by the cutter of the cutter mechanism in the harvesting equipment according to the embodiment.

FIG. 17 is a diagram showing a state in which the roots of leaf vegetables separated in the harvesting facility according to the embodiment are to be removed from the cultivation bar.

FIG. 18 is a front view showing a configuration of a harvesting facility for harvesting true leaves of leafy vegetables according to a conventional example.

[Explanation of symbols]

 21 ... Bar set mechanism (lower leaf processing device), 22 ... Harvesting part chuck mechanism (lower leaf processing device), 23 ... Root chuck mechanism (lower leaf processing device), 24 ... Cutter mechanism (lower leaf processing device), 31 ... Cultivation bar, 32 ... Bar body, 48 ... Air cylinder (bar elevating means), 51 ... Bar support, 67, 68 ... Cutter, 69, 70 ... Air cylinder (cutter driving means), 75 ... Root chuck, 76 ... Air cylinder (First root chuck driving means), 77 ... Air cylinder (second root chuck driving means), 83 ... Air cylinder (chuck lifting means), 85 ... Air cylinder (chuck lifting means), 88 ... Harvest chuck, B ... Set Position, C ... Leafy vegetables, D ... Root, E ... Real leaf, F ... Lower leaf,

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuhisa Nakahara 1-10-1 Takagase East, Saga City, Saga Prefecture, Kyushu Electric Power Co., Inc. 2-147 Shiobara, Minami-ku, Electric Power Laboratory, Research Institute, Kyushu Electric Power Co., Inc. (72) Tomihiro Oda 2-1-1, Niihama, Arai-cho, Takasago, Hyogo Prefecture 72) Inventor Etsuo Kobayashi 1-1-1 Niihama, Arai-cho, Takasago-shi, Hyogo Mitsubishi Heavy Industries Ltd. Takasago Plant

Claims (2)

[Claims] 1. A cultivation bar in which leafy vegetables are planted is set at a set position of a lower leaf processing apparatus, and the true leaves consisting of a portion above the root of the leafy vegetables placed at the set position are set to the lower position. Grasping by the harvesting chuck of the harvesting section chuck mechanism provided in the leaf processing device, either one of the cultivation bar or the harvesting chuck is raised or lowered in the direction away from the other, and the true leaves and the leafy vegetables The lower leaves are separated, and the root of the leafy vegetables is gripped by the root chuck of the root chuck mechanism included in the lower leaf processing device, and at the vicinity of the upper surface of the cultivation bar by the cutter mechanism included in the lower leaf processing device. The root is cut and separated together with the lower leaf with respect to the true leaf, and either the cultivation bar or the root chuck that holds the root is lifted or lowered in a direction away from the other. After pulling out the root portion with the lower leaf from the cultivation bar, open the root chuck to release the grip of the root to drop the root, and to treat the lower leaf, a leafy vegetable. Lower leaf processing method. 2. A bar support having a set position to which a cultivation bar in which leafy vegetables have been planted is supplied, and detachably attached to and detached from both ends of the cultivation bar in the longitudinal direction to support the cultivation bar, And a bar set mechanism having a bar elevating means for elevating and lowering the bar support, and an openable and closable harvesting chuck for grasping a real leaf above the root of the leafy vegetables arranged at the setting position, and this chuck Harvesting part chucking mechanism having a chuck opening / closing means for opening / closing, and a chuck raising / lowering means for raising / lowering the harvesting chuck, a root chuck provided on the bar set mechanism for gripping the root, and a first root chuck for moving the chuck. A root chuck mechanism having a driving means and a second root chuck driving means for moving the root chuck up and down; Provided positioned near the bar set mechanism, a cutter for separating the lower lobe each root to the true leaves at the vicinity of the upper surface of the culture bars,
And a cutter mechanism having a cutter driving means for moving this cutter, a lower leaf processing apparatus for leafy vegetables.