JPH09327658A - Taking-out and carrying device for long size vegetable - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the manufacturing cost by simplifying the structure and control, while making a device small and avoiding damages to long size vegetables. SOLUTION: A number of long size vegetables arranged and disposed on a shipping section 1 are taken out one by one and carried and fed to a grain discrimination device 3. One elevating suction nozzle 12 for long size vegetables for sucking the long size vegetables on a central section in the longitudinal direction and taking them out therefrom and a reciprocating movement mechanism 13 for straight recipocatingly moving the suction nozzle 12 in the lifting state and passing the same through above the central section in the longitudinal direction of respective long size vegetables of the shipping section 1 are supported by a supporting frame 10, and a long size vegetable feed section 14 for the grain discrimination device 3 is provided on the left side in the moving direction of the suction nozzle 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for picking up and conveying long vegetables.

[0002]

2. Description of the Related Art Conventionally, the above-mentioned long-vegetable vegetable take-out / conveying device includes a reversible container as a shipping section, and a belt conveyor for receiving a large number of long-vegetable vegetables from the reversed container and conveying and feeding them to a grade determination device. There was one consisting of.

[0003]

SUMMARY OF THE INVENTION In the above conventional configuration,
Since the belt conveyor is designed to accept a large number of objects to be sorted from the inverted shipping container at once, the equipment becomes large-scale, and in addition, the container is inverted to supply long vegetables to the belt conveyor. As a result, long vegetables were easily scratched when inverted.

Therefore, as a technique for reducing the size of the apparatus and preventing the vegetables from being damaged, a robot hand having a plurality of fingers that are bent by fluid pressure is disclosed in Japanese Patent Application Laid-Open No. 57-14468.
No. 7 publication], the position can be freely changed in all directions,
A possible technology is to take out the long vegetables one by one from the shipping section and convey and feed them to the grade determination device. With this technology, the structure of the robot hand itself, which is the takeout section of the long vegetables, and the position changing mechanism of the robot hand It is difficult to say that the structure and control for the production will be complicated and can be manufactured at low cost.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the manufacturing cost by simplifying the structure and control while being able to downsize the device and avoiding damage to long vegetables. Especially.

[0006]

[Means for Solving the Problems]

[Structure] The characteristic structure of the invention according to claim 1 is that in the device for picking up and transporting long vegetables described at the beginning, it is an up-and-down type 1 that picks up and picks up the long vegetables at the central portion in the longitudinal direction thereof.
Individual suction nozzles and a reciprocating movement mechanism that moves the suction nozzles in a raised state straight forward and backward so as to pass above the central portion in the longitudinal direction of each long vegetable in the loading section are supported by a support frame, and the suction nozzles A long vegetable supply unit for the grade discrimination device is formed on the lower side in the moving direction.

According to a second aspect of the present invention, in the invention according to the second aspect, a support body that supports the suction nozzle so as to be able to move up and down, and a guide rail that supports the support body so as to be linearly reciprocally movable. A supporting endless rotating body that rotates forward and backward in a posture along the guide rail is supported by the support frame, and the supporting body moves straight forward and backward as the winding endless rotating body rotates forward and backward. The reciprocating mechanism is configured by connecting the winding endless rotating body to the supporting body so as to move.

According to a third aspect of the present invention, in the second aspect of the invention, both ends in the width direction of the support are individually supported by a pair of the guide rails via guide rollers, and the winding is performed. The endless rotating body is arranged so as to be biased toward one guide rail side with respect to the widthwise central portion of the support body.

According to a fourth aspect of the present invention, in the invention according to any one of the first, second and third aspects, the long vegetables conveyed to the front side of the grade discrimination device by the suction nozzle are , A height detection sensor for detecting whether or not it is at a position higher than the vegetable receiving portion of the grade determination device, and based on the detection information of this height detection sensor, the long vegetable is higher than the receiving portion. If it is not in the position, a control means for stopping the movement of the support body to the receiving portion side is provided.

According to a fifth aspect of the present invention, in the invention according to the fourth aspect, the long vegetable is located at a position higher than the receiving portion based on the detection information of the height detection sensor. When the suction nozzle is raised while stopping the movement of the support to the receiving portion side, and the height detection sensor detects that the long vegetable has become higher than the receiving portion, the detection information is displayed. The control means is configured to restart the movement of the support body to the receiving portion side based on the above.

A feature of the invention according to claim 6 is that in the invention according to claim 4 or 5, the height detection sensor is an optical sensor.

[Operation] [a] According to the construction of claim 1, one elevating type suction nozzle adsorbs the long vegetables to the central portion in the longitudinal direction thereof, takes them out, and ascends them. Goes straight above the central portion in the longitudinal direction of the product and is located above the grade discrimination unit on the lower side in the direction of straight movement, where adsorption is released and long vegetables are supplied to the grade discrimination unit. Then, the suction nozzle goes straight in the opposite direction, is positioned above the next long vegetable, and is adsorbed downward to be taken out and raised, and the long vegetable is supplied to the grade determination unit by the same operation as described above.

As described above, according to the first aspect of the present invention, since the long vegetables are sequentially supplied to the grade discrimination section by the suction nozzle, the apparatus can be downsized, and the suction nozzle sucks and takes out the long vegetables in the central portion in the longitudinal direction. It is possible to simplify the structure of the picking section for long vegetables, and it is hard to damage long vegetables,
Further, since the suction nozzle only performs the suction operation, the raising and lowering, and the rectilinear reciprocating movement, the structure and control for the position changing mechanism of the suction nozzle can be simplified.

[B] According to the structure of claim 2, in addition to the same operation as that of the structure of claim 1, the suction nozzle is provided by the winding endless rotating body that rotates in the forward and reverse directions. Since it moves linearly back and forth with the support,
Even if the reciprocating amount is long, the structure of the reciprocating mechanism can be simplified as compared with the structure in which the reciprocating movement is performed by a screw type feed mechanism or a hydraulic cylinder.

[C] According to the configuration of claim 3, claim 2
In addition to being able to achieve the same effect as that of the above configuration, since the winding endless rotating body is arranged so as to be biased to one guide rail side with respect to the widthwise central portion of the support body, Type suction nozzle can be arranged in the widthwise central portion of the support without interfering with the winding endless rotating body.For example, after passing the winding endless rotating body through the widthwise central portion of the support, the suction nozzle The structure around the suction nozzle can be simplified as compared with the case where the support is arranged at the center in the width direction. Since both ends of the support in the width direction are individually supported by a pair of guide rails via guide rollers, the support can smoothly reciprocate even if the winding endless rotating body is biased as described above. It can be moved.

[D] According to the structure of claim 4, in addition to the same operation as the structure of claim 1 or 2 or 3, the suction nozzle extends to the front side of the grade determination device. If the conveyed long vegetables are not at a position higher than the vegetable receiving section of the grade determining device, the support does not move to the receiving section side, so that the long vegetables do not collide with the receiving section.

[E] According to the structure of claim 5, in addition to the same operation as the structure of the above-mentioned structure of claim 4, the suction nozzle can convey the same to the front side of the grade determining device. If the long vegetables are not at a position higher than the vegetable receiving section of the grade determination device, the movement of the support to the receiving section side stops and the suction nozzle rises, and the long vegetables become higher than the receiving section. Since the support moves to the receiving portion side, the work can be performed smoothly.

[F] According to the structure of claim 6, in addition to the same effect as that of the structure of claim 4 or 5, it is possible that the height detecting sensor contacts the long vegetables. Without detecting the position in the height direction,
It is possible to avoid scratching the long vegetables as compared with the case where the position of the long vegetables in the height direction is detected by the contact sensor.

[Effect] According to the structure of claim 1, the device can be made compact by the action [a], and
While avoiding damage to long vegetables, the production cost can be reduced.

According to the second aspect of the present invention, the above action [B]
As a result, in addition to the same effect as the effect according to the configuration of claim 1, the device can be made compact even if the reciprocating movement amount of the suction nozzle becomes long.

According to the structure of claim 3, by the above-mentioned operation [c], the same effect as the effect by the structure of the above-mentioned claim 2 can be obtained, and the structure around the suction nozzle can be made more compact. did it.

According to the structure of claim 4, in addition to the same operation as the structure according to any one of claims 1, 2 and 3, the above-mentioned operation [d] It was possible to make long vegetables more scratch resistant.

According to the structure of claim 5, in addition to the same effect as the structure of claim 4, the work [d] can improve workability.

According to the structure of claim 6, in addition to the same effect as the structure of claim 4 or 5, it is possible to make the long vegetables more difficult to be damaged by the effect [e]. I was able to.

[0025]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a cucumber sorting device. This cucumber sorting device is provided with a first take-out transfer device 2 (corresponding to a pick-up transfer device for long vegetables) that takes out a large number of cucumbers arranged one by one in a shipping container 1 as a shipping section. 1 When the cucumber is fed from the take-out / conveying device 2 and conveys the cucumber in a direction orthogonal to the conveying direction of the first take-out and conveying device 2, and when the cucumber is located at a predetermined discriminating position on the conveying path of the belt conveyor 4. , A shape discriminating device 3 (corresponding to a grade discriminating device) including an image processing type discriminating mechanism 5 (an example of a grade discriminating mechanism) that monitors the cucumber and discriminates the shape is provided as four loading sections. The loading section 6 including the loading containers 6A, 6B, 6C, and 6D is provided, and the cucumbers after the shape determination are taken out one by one,
Second loading into each loading container 6A, 6B, 6C, 6D
Pick-up and transport device 7 (corresponding to a pick-up and transport device for long vegetables)
And the first and second unloading and conveying devices 2,
7, and a control device 8 (corresponding to control means) for controlling the shape discriminating device 3 is provided.

The first unloading and conveying device 2 is provided with a loading table 9 for the shipping container 1 on the lower end side of the support frame 10.
Nozzle mechanism 11 equipped with a single suction-type suction nozzle 12 (corresponding to a vegetable pick-up portion) that picks up and removes cucumber in the central portion in the longitudinal direction, and the nozzle mechanism 11 in a state where the suction nozzle 12 is raised is loaded. The support frame 10 supports a reciprocating movement mechanism 13 for rectilinear reciprocating movement so as to pass above the central portion of each cucumber in the longitudinal direction of the container 1, and the nozzle mechanism 1
1, a cucumber supply unit 14 for the belt conveyor 4 is formed on the lower side in the moving direction of No. 1, and the details of each mechanism of the first take-out transfer device 2 will be described below.
Since the structures of the nozzle mechanism 11 and the reciprocating mechanism 13 are substantially the same as the structures of the reciprocating mechanism and the nozzle mechanism provided in the second take-out and conveying device 7, the latter reciprocating mechanism is shown in FIG. I will also explain based on).

As shown in FIGS. 4, 5 and 8, the reciprocating mechanism 13 has the nozzle mechanism 1 in a posture along the width direction of conveyance.
A pair of round pipes that suspend and support 1 (corresponding to a support)
15, a pair of guide rails 16 for supporting the round pipe 15 so as to be capable of rectilinear reciprocating movement, and a first rubber belt which is rotationally driven in a forward and reverse direction by a first electric motor M1 (see FIG. 1) in a posture along the guide rails 16. 17 (an example of a wound endless rotating body), and the first rubber belt 17 so that the round pipe 15 moves straight forward and backward together with the nozzle mechanism 11 when the first rubber belt 17 rotates forward and backward. Round pipe 1
It is configured to be connected to the 5 side.

That is, a pair of rectangular outer flanges 18 are welded and fixed to both ends of the round pipe 15, and a pair of inner flanges 19 thinner than the outer flanges 18 are provided on the inner sides of the outer flanges 18, respectively. The round pipes 15 are welded and fixed to each other, and the guide rails 16 are sandwiched between the upper and lower guide rollers 20 provided on both outer flanges 18 from above and below.
The round pipe 15 is configured to move straight forward and backward via the. The first rubber belt 17 has a central portion of the round pipe 15 (corresponding to the central portion in the width direction of the support) so that the nozzle mechanism 11 can be arranged in the central portion of the round pipe 15 without interfering with the first rubber belt 17. Is also biased to one guide rail 16 side and is connected to one inner flange 19 below the round pipe 15.

In the nozzle mechanism 11, the support rod 22 holding one suction nozzle 12 (see FIGS. 4 and 5) by the nozzle holding portion 23 on the tip side is moved downward by the posture holding means 24 so as to be in a downward posture. An elevating mechanism 25 that holds and holds the support rod 22 is provided, and an air flow passage R that connects the suction nozzle 12 and an air suction portion (not shown) is formed in the support rod 22. 22, a ceiling plate 27 is fixed to a device frame 26 that holds the posture holding means 24, the lifting mechanism 25, and the like, and both ends of the ceiling plate 27 are supported and connected by bolts to the upper ends of the inner flanges 19 on the round pipe 15 side. Is configured.

As shown in FIG. 8, the device frame 26
Is composed of a vertically split structure in which the first split frame 26A on one side in the radial direction and the second split frame 26B on the other side are separable from each other, and both the support rod 22 and the lifting mechanism 25 are It is provided on the side of one of the first divided frames 26A. The first and second divided frames 26A, 26
B is a channel member shape, the concave portions are opposed to each other and their side plates are connected via a connecting plate 28.
A first height detection sensor 29 for detecting the position in the height direction of the vegetables that have been sucked up by the suction nozzle 12 is attached (see FIG. 4).

In the attitude holding means 24, as shown in FIGS. 5, 6 and 7, the guide plate 30 fixed to the lower end portion of the apparatus frame 26 is inserted into and supported by the support rod 22 in the vertical direction. The guide hole 30a is formed to support the support rod 22.
The upper support portion 31 that supports the upper end side flexibly so as to allow the upper end side of the guide hole 30a to be displaced from the axial center of the guide hole 30a to the outer side in the radial direction and be inclined. The second rubber belt 3 in a vertical posture along the support rod 22 in order to configure the elevating mechanism 25.
2 (an example of an endless rotating body) is rotatably supported by a device frame 26, and a second electric motor M2 for rotating and driving a second rubber belt is mounted and fixed on the ceiling plate 27. The second rubber belt 32 and the upper end portion of the support rod 22 are connected via a support bracket 33 having a U-shape in a plan view so that the support rod 22 moves up and down with the forward and reverse rotations. The second rubber belt 32 is also supported by the first divided frame 26A.

The rear surface of the support bracket 33 is fixed to the front surface of the second rubber belt 32 by superposition.
Then, the support rod 22 is inserted into the concave portion between the both side walls of the support bracket 33, the upper end portion of the support rod 22 is fixed to the both side walls, and the roller 34 is provided at the free end portion of the both side walls.
Is rotatably supported around the horizontal axis, and this roller 34 is
The vertical guide groove 35 formed on the second divided frame 26B side is fitted so as to be vertically engaged and guided. The upper support portion 31 has a structure in which the support bracket 33 is supported by the second rubber belt 32 and the vertical guide groove 35.

As shown in FIG. 2, the cucumber adsorbed by the suction nozzle 12 and conveyed to the front side of the belt conveyor 4 of the shape discriminating device 3 is located at a position higher than the cucumber receiving portion 4A of the belt conveyor 4. The second height detection sensor 36, which is an optical sensor for detecting whether or not the cucumber is higher than the receiving portion 4A, is provided based on the detection information of the second height detection sensor 36. If it is not in the position (see FIG. 20B), the control device 8 controls (see FIG. 15) to stop the movement of the nozzle mechanism 11 to the receiving portion 4A side, raise the suction nozzle 12, and remove the cucumber. When the second height detection sensor 36 detects that the height is higher than that of the receiving portion 4A (see FIG. 20A), the nozzle mechanism 11 to the receiving portion side 4A is detected based on the detection information. It is configured so as to resume the motion.
As shown in FIG. 2, the suction nozzle 12 supplies the cucumber to the belt conveyor 4 so that the cucumber has a posture along the conveying direction.

As shown in FIG. 2, FIG. 12 and FIG. 13, the shape discriminating device 3 has its shape discriminating mechanism 5 straddled over the belt conveyor 4 via the legs so that the shape discriminating mechanism 5 and the conveyor conveying surface are connected. A pair of side light-shielding covers 37 are provided to cover the discrimination space S between the both side light-shielding covers 37.
The lower end portion 37a of the belt conveyor 4 is bent so as to enter the inner side in the width direction of the conveyor operation surface below the conveyor operation surface of the belt conveyor 4, and the front light-shielding cover 38 that covers the discrimination space S from the upstream side of the conveyor. Is provided in the shape of a hot-shelter so as to allow the cucumber to enter the discrimination space S while maintaining the posture along the conveying direction.

As described above, the second take-out / conveying device 7 has substantially the same structure as that of the first take-out / conveying device 2.
As shown in FIG. 3, the sheet is arranged in parallel with the first take-out / conveying device 2 so as to straddle the conveying end portion of the belt conveyor 4 of the shape determining device 3. The first unloading and transporting device 2 includes a loading table 39 for a plurality of loading containers 6A, 6B, 6C, 6D (corresponding to respective lengths LL, L, M, S of vegetables) on the lower end side of the support frame 10. The structure is different in that it is provided in a tilted state, that two suction nozzles 12 are provided, and that a rotation mechanism 40 that rotates the support rod 22 around the rod axis is provided. Next, the structure of this different portion will be described.

As shown in FIG. 3, the loading table 39 for the loading container 6 includes a plurality of loading containers 6A, 6B, 6
C and 6D are distributed to both sides of the cucumber taking-out position A from the belt conveyor 4 by the suction nozzle 12 of the second taking-out carrying device 7 in a posture along the carrying direction of the first taking-out carrying device 2 and sandwich the cucumber taking-out position A. In addition, the loading containers 6A and 6B located on one side and the corresponding loading containers 6C and 6D on the other side are arranged so as to be located at the same distance from the cucumber unloading position A, and the loading container The cucumber receiving surface of No. 6 is set so as to incline in the direction in which the cucumbers are lined up, and as shown in FIG. 14, its inclination angle can be changed and adjusted via the interchange mechanism 49 including a bolt, a bolt insertion slot, etc. I am doing it.

As shown in FIGS. 9, 10 and 11, the rotating mechanism 40 is supported by a support bracket 33 to support rod 2
The upper end of 2 is held rotatably around the rod axis so as not to move up and down relatively, the long hexagonal shaft 41 is along the support rod 22, and the round bar portions 41a formed at the upper and lower ends of the hexagonal shaft 41 are ceiling-mounted. The third electric motor M3, which is rotatably supported around the axis of the hexagonal shaft 41 by the plate 27 and the guide plate 30 and drives and rotates the hexagonal shaft 41, is mounted and fixed on the ceiling plate 27, and the support bracket 33 On the upper side, a first gear 42 is fitted onto the upper end portion of the support rod 22 so as not to be vertically movable relative to each other, and a second gear 4 is fitted on the hexagonal shaft 41 via a hexagonal hole so as to be relatively movable vertically.
3 is occluded, and the first and second
Both gears 4 are moved so that the second gears 42 and 43 move up and down as a unit.
A gear holding plate 44 is provided to hold the gears 2 and 43 from above and below.

As shown in FIG. 2, a belt tension mechanism 21 for adjusting the tension of the first rubber belt 17 is provided on one end side of the first rubber belt 17 (this belt tension mechanism 21 is the first take-out and transport device 2). It is also provided on the side).

The cucumber sorting device described above operates as follows under the control of the control device 8. [1] The nozzle mechanism 11 of the first unloading and conveying device 2 is located above the shipping container 1, the suction nozzle 12 comes into contact with the central portion of the end cucumber in the longitudinal direction, and air is sucked by the air suction portion. Adsorb to cucumber. The support rod 22 rises to take out the cucumber, the first rubber belt 17 is rotated by the driving of the first electric motor M1, and the nozzle mechanism 11 advances straight above the longitudinal center portion of each cucumber in the shipping container 1.

When the second height detecting sensor 36 detects that the cucumber transferred to the front side of the belt conveyor 4 of the shape determining device 3 is not at a position higher than the cucumber receiving portion 4A of the belt conveyor 4 ( (See FIG. 20B), as the movement of the nozzle mechanism 11 to the receiving portion 4A side stops, the suction nozzle 12 rises, and the cucumber receives the receiving portion 4A.
When the second height detection sensor 36 detects that the nozzle height is higher than that (see FIG. 20A), the movement of the nozzle mechanism 11 to the receiving portion 4A side is restarted. The nozzle mechanism 1
An alarm buzzer sound or an alarm lamp may blink when the movement of 1 to the receiving portion 4A side is stopped.

The suction nozzle 12 is located above the belt conveyor 4 on the lower side in the straight-ahead direction, the support rod 22 is lowered, and the suction of air by the air suction section is released to put the cucumber on the starting end of the belt conveyor 4. Place and supply (see FIG. 2). The cucumber is in a posture along the carrying direction of the belt conveyor 4 as described above.

[2] The belt conveyor 4 is rotationally driven, and the cucumber enters the discrimination space S between the shape discrimination mechanism 5 and the conveyor conveying surface, and as shown in FIGS. 19 (a) and 19 (b).
When the set number of pixels 45 of the predetermined pixel row B located on the lower side in the transport direction among the many pixel rows B along the conveyor width direction of the image pickup unit 5A of the shape determination mechanism 5 capture the image of the tip of the cucumber. , The data of the entire image of the cucumber is fetched and sent to the shape determining unit 46 (see FIG. 15), and the cucumber is LL.
・ Determine which of the four grade lengths L, M and S.

[3] When the cucumber is located at the cucumber take-out position A by the suction nozzle 12 of the second take-out / conveying device 7, the belt conveyor 4 is stopped. As shown in FIG. 16, based on the image of the cucumber by the shape determination mechanism 5, the control device 8 sets a minimum rectangle 47 surrounding the cucumber in a plan view as a plane shape of the cucumber, and sets a reference line 48 for the setting reference line 48. The inclination angle θ of the rectangle 47 is calculated as the inclination angle detection storage unit 50.
Is detected and stored at (the tilt angle θ may be zero). Then, as shown in FIGS. 17A and 17B, the rotation mechanism 40 of the second take-out transporting device 7 is driven based on the inclination angle θ, and the nozzle holding portion 23 removes the cucumber before taking out the cucumber. In order to correspond to the posture, the angle change adjustment rotation is performed around the axis of the support rod 22.

[4] The suction nozzle 12 of the second take-out and conveying device 7 takes out and raises the cucumber in the same manner as the first take-out and conveying device 2, and the loading container 6C (6A, 6A, 6A, 6B, 6D) moves straight to the upper side of the lower end of the inclination, the rotation mechanism 40 is driven based on the inclination angle θ, and the nozzle holding portion 23 moves the support rod 22 of the support rod 22 to correspond to the posture of the loading container 6. After rotating by changing the angle around the axis, the cucumber is placed and supplied on the lower end side (Fig. 17).
(C)).

[5] Cucumbers are loaded into the loading container 6 according to the length thereof by repeating the above [1] to [4]. As shown in FIG. 18 (a), the control device 8 stores the loading position of the cucumber in each loading container 6, calculates it by the loading position calculation unit 51, and the suction nozzle 12 takes out and holds it. In the state where the cucumbers are loaded from the loading position of the cucumbers loaded in front of the loading container 6 to the position shifted by the set amount, and the cucumbers are loaded from one end side of the loading container 6 to the vicinity of the other end side,
When it is determined that the cucumber rectangle 47 that the suction nozzle 12 has taken out and held next overlaps the other end of the loading container 6 (see FIG. 18B), the suction nozzle 12 is lowered by a set amount. Shorten and sequentially load on the previously loaded one-step cucumber.

[Other Embodiments] The winding endless rotating body may be configured by a chain type.

[Brief description of drawings]

1] Overall perspective view of a cucumber sorting device

FIG. 2 is a perspective view of a part of a cucumber sorting device.

FIG. 3 is a partially cutaway front view showing a second unloading and conveying device and a loading section.

FIG. 4 is a diagram showing a first take-out transfer device.

FIG. 5 is a vertical cross-sectional view of a nozzle mechanism of the first take-out transfer device.

FIG. 6 is a cross-sectional plan view of an upper end side of a nozzle mechanism of the first take-out transfer device.

FIG. 7 is a transverse plan view of the lower end side of the nozzle mechanism of the first take-out transfer device.

FIG. 8 is an exploded perspective view showing a nozzle mechanism and a reciprocating mechanism of the second take-out transfer device.

FIG. 9 is a vertical cross-sectional view showing a nozzle mechanism of a second take-out transfer device.

FIG. 10 is a vertical cross-sectional view showing a rotating mechanism of a second take-out and conveying device.

FIG. 11 is a transverse cross-sectional view of the nozzle mechanism of the second take-out transfer device.

FIG. 12 is a vertical sectional front view of the shape determining device.

FIG. 13 is a vertical side view of the shape determination device.

FIG. 14 is a perspective view of a main portion of a shipping section.

FIG. 15 is a diagram showing a control system.

FIG. 16 is a diagram showing a cucumber posture detection method.

17A is a plan view showing the attitude control of the suction nozzle of the second take-out transfer device. (B) A plan view showing the attitude control of the suction nozzle of the second take-out transfer device. (C) The suction of the second take-out transfer device. Plan view showing how to load cucumbers into a loading container with a nozzle

Fig. 18 (a) Vertical side view showing how to load cucumbers into the loading container by the suction nozzle of the second unloading and conveying device (b) Loading of cucumber in the loading container by using the suction nozzle of the second unloading and conveying device Vertical side view showing the method

[Fig. 19] (a) A plan view showing a method for determining the grade of cucumber. (B) A plan view showing a method for determining the grade of cucumber.

FIG. 20 (a) A diagram showing a state in which the position of cucumber in the height direction is detected. (B) A diagram showing a state in which it is detected that the cucumber is not higher than a predetermined position.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shipping section 3 Grade discrimination apparatus 4A Vegetable receiving section 8 Control means 10 Support frame 12 Adsorption nozzle 13 Reciprocating movement mechanism 14 Long vegetable supply section 15 Support 16 Guide rail 17 Endless rotating body 20 Guide roller 36 Height detection sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Muneyuki Kawase 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory (72) Inventor Isao Oku 2-5-21 Matsu, Tenjinbashi, Kita-ku, Osaka City, Osaka Prefecture Hara Building 3FA No. Dex Co., Ltd. (72) Inventor Hiroshi Kobayashi 4-2-18 Hirano-cho, Chuo-ku, Osaka City, Osaka Prefecture Kubota Comps Co., Ltd.

Claims (6)

[Claims] 1. A long vegetable take-out and conveying device for taking out a large number of long vegetables arranged in a loading section one by one and feeding and feeding them to a grade determination device, wherein the long vegetable is adsorbed to a central portion in the longitudinal direction thereof. A support frame includes a single lifting type suction nozzle and a reciprocating mechanism that moves the suction nozzle in a raised state straight forward and backward so as to pass above the central portion in the longitudinal direction of each long vegetable in the shipping section. An apparatus for picking up and conveying long vegetables, which is supported and has a long vegetable supply section for the grade discrimination device formed on the lower side in the moving direction of the suction nozzle. 2. A support body that supports the suction nozzle so as to be able to move up and down, a guide rail that supports the support body so that the support body can move linearly and reciprocally, and a winding endless rotation that rotates in a forward and reverse direction along the guide rail. The moving body is supported by the support frame, and the winding endless rotating body is connected to the support body so that the supporting body moves straight forward and backward with the forward and reverse rotation of the winding endless rotating body. The apparatus for picking up and transporting long vegetables according to claim 1, wherein the reciprocating mechanism is configured. 3. A pair of the guide rails separately support both ends of the support in the width direction through guide rollers, and the winding endless rotating body is provided on one side of a center of the support in the width direction. The apparatus for picking up and conveying long vegetables according to claim 2, wherein the apparatus is biased toward the guide rail side. 4. A height detection sensor for detecting whether or not the long vegetables conveyed to the front side of the grade determination device by the suction nozzle are at a position higher than the vegetable receiving portion of the grade determination device. Provided is a control means for stopping the movement of the support to the receiving portion side when the long vegetable is not at a position higher than the receiving portion, based on the detection information of the height detection sensor. Items 1, 2, 3
An apparatus for picking up and conveying long vegetables according to any one of the above. 5. If the long vegetables are not at a position higher than the receiving portion based on the detection information of the height detection sensor, the movement of the support to the receiving portion side is stopped and the suction nozzle is When the height detection sensor detects that the long vegetables have become higher than the receiving portion, the movement of the support to the receiving portion side is restarted based on the detection information. The long vegetable pick-up and conveyance device according to claim 4, wherein the control means is configured. 6. The apparatus for picking up and conveying long vegetables according to claim 4, wherein the height detection sensor is an optical sensor.