JPH101108A - Farm product supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp surely a farm product with finger parts in a feed mechanism irrespective of the diameter of the farm product. SOLUTION: This device comprises a carrying mechanism 1 for laterally carrying a spherical farm-product, and a feed mechanism 4 for taking out the farm product carried to a specific position by the carrying mechanism 1 and feeding it to a processing device 2. Also, the feed mechanism 4 comprises a plurality of finger parts 16 which open and close so as to grasp up the farm product carried to the specific position A by the carrying mechanism 1, and a moving part 14 for moving the finger parts 16 to the processing device 2. The device is equipped with a finger-open-diameter alteration adjustment mechanism for altering and adjusting the initial open diameter of the finger parts 16, and an outer-diameter measurement sensor 32 for measuring the outer diameter of the farm product carried by the carrying mechanism 1. The device is further equipped with a control means for controlling the finger-open-diameter alteration adjustment mechanism based on the detection result of the outer- diameter measurement sensor 32 so that the initial open diameter of the finger parts 16 corresponds to the outer diameter of the farm product measured by the outer-diameter measurement sensor 32.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a transport mechanism for feeding spherical crops in a horizontal direction, and a feed mechanism for taking out the crops sent to a predetermined position by the transport mechanism and sending the crops to a processing apparatus. The feeding mechanism includes a plurality of finger portions that open and close so as to pick up the crop sent to a predetermined position by the transport mechanism, and a moving portion that moves the finger portions to the processing device side. Related to a crop supply device.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned crop supplying apparatus, the initial opening diameter of the finger portion is fixed at a constant value, and the finger portion is always opened and closed from the initial opening diameter regardless of the diameter of the crop. It was configured to grab and operate the crop.

[0003]

According to the above-mentioned conventional configuration, the finger portion is always opened and closed from the initial open diameter to grasp and operate the crop, regardless of the diameter of the crop. For example, the shape of the finger portion at the time of gripping is such that a small-diameter crop is gripped only at the tip side of the finger portion, and a large-diameter crop is gripped only at the base end side of the finger portion. The shape became unnatural, which did not match the shape of the crop, and in each case, the grip was likely to be insufficient.

[0004] It is an object of the present invention to ensure that a finger portion of a feeding mechanism can grip a crop regardless of the diameter of the crop.

[0005]

[Means for Solving the Problems]

[Structure] The feature configuration of the invention according to claim 1 is that in the crop supplying apparatus described at the beginning, a finger opening diameter change adjusting mechanism that changes and adjusts an initial opening diameter of the finger portion, and a crop that is transported by the transport mechanism. An outer diameter measurement sensor for measuring the outer diameter of the finger portion, based on the detection result of the outer diameter measurement sensor, the initial open diameter of the finger portion corresponds to the outer diameter of the crop measured by the outer diameter measurement sensor. A control means for controlling the finger opening diameter change adjusting mechanism so as to have a diameter is provided.

A characteristic feature of the invention according to claim 2 is that, in the invention according to claim 1, the outer diameter measurement sensor is disposed on the upstream side of the predetermined position of the transport mechanism.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the outer diameter measuring sensor has a plurality of sensing portions for detecting the presence of an object by blocking light beams. In addition, the plurality of sensing units are arranged in parallel to measure the outer diameter of the crop from the state of the blocked light beam.

[0008] The feature of the invention according to claim 4 is the invention according to any one of claims 1 or 2,
The base portions of the plurality of finger portions are supported by a support member on a circumference equally spaced from a predetermined center position, and the finger opening diameter change adjustment mechanism moves the base end portions of each finger portion to the center position. Is provided with an adjusting member for moving in the radial direction with reference to.

A feature of the invention according to claim 5 is that, in the invention according to any one of claims 1, 2, 3, and 4, the processing device is a packaging device for packaging agricultural products.

According to the structure of the first aspect, the control means controls the finger opening diameter change adjusting mechanism based on the detection result of the outside diameter measuring sensor, so that the initial opening diameter of the finger portion is set to the outside diameter. Since the diameter is set to correspond to the outer diameter of the crop measured by the measurement sensor, even if the crop is small or large, the finger part has a shape suitable for grasping according to the shape of each crop. The crop is grasped while bending and deforming.

According to the structure of the second aspect, in addition to the same effect as the operation of the first aspect, the outer diameter measuring sensor can be moved from the predetermined position of the transport mechanism to a position upstream of the transport mechanism. Since it is arranged, by the time the crop is conveyed to the predetermined position, the initial open diameter of the finger portion can be set to a diameter corresponding to the outer diameter of the crop, for example, the outer diameter measurement sensor Work continuity can be improved as compared with the case of disposing at a predetermined position.

According to the third aspect of the invention, in addition to having the same effect as the operation of the first or second aspect, the outer diameter of the crop can be measured without contacting the crop. The cost of the outer diameter measurement sensor can be reduced as compared with the case where the measurement is performed by the imaging type outer diameter measurement sensor.

According to the fourth aspect of the present invention, when the control means controls the finger opening diameter changing adjusting mechanism, the adjusting member moves the base ends of the plurality of finger portions in the radial direction with reference to the predetermined center position. And the initial opening diameter of the finger part
Set the diameter to the outside diameter of the crop measured by the outside diameter measurement sensor.

That is, in addition to providing the same operation as the operation according to any one of the first, second, and third aspects, the opening diameter change adjusting mechanism is configured as described above. The structure of the finger opening diameter change adjusting mechanism can be simplified.

According to the fifth aspect of the present invention, when the processing device is a packaging device for packaging and processing agricultural products, the same operation as the operation of any one of the first, second, third, and fourth aspects is provided. Can be played.

[Effect] According to the configuration of the first aspect, it is possible to reliably hold the crop by the finger portion of the feeding mechanism regardless of the diameter of the crop.

According to the configuration of the second aspect, in addition to the same effects as the effects of the first aspect, the workability can be improved.

According to the structure of claim 3, in addition to the effect similar to the effect of the structure of claim 1 or 2, the outer diameter of the crop can be measured without contacting the crop, so that the crop Since the posture was not lost and the cost of the outer diameter measurement sensor could be reduced, the economic efficiency could be improved.

According to the structure of claim 4, in addition to the same effect as the effect of any one of the above-mentioned structures, the structure can be made compact. .

According to the fifth aspect of the present invention, when the processing apparatus is a packaging apparatus for packaging and processing agricultural products, the same effect as the effect of any one of the first or second, third, and fourth aspects is provided. Can be played.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a belt conveyor 1 (an example of a transport mechanism) for feeding lettuce supplied by an operator in a horizontal direction, and lettuce fed to a predetermined take-out position A by the belt conveyor 1 to be taken out of the belt Robot hand 4 to be fed into lettuce slot 3 of lettuce packaging device 2 (an example of a processing device) located on the lateral outer side of conveyor 1
(An example of a feeding mechanism) and a control device 5 (an example of control means) for controlling the belt conveyor 1, the lettuce packaging device 2, and the robot hand 4 are provided to constitute a lettuce supply device.

As shown in FIG. 11, on the lettuce mounting surface of the belt conveyor 1, a plurality of concentric annular lettuce projecting members 6 having different diameters in plan view.
Is formed of a rubber material such that the outer projecting member 6 is longer than the inner projecting member 6, so that the center position of the lettuce can be determined and held irrespective of the diameter of the lettuce (that is, smaller). Lettuce of diameter is supported by the inner protruding member 6,
The larger diameter lettuce is supported by the outer projecting member 6),
A cross mark 7 is formed on the protruding member 6 as an index for visually determining the mounting direction of the lettuce. The transport frame 8 of the belt conveyor 1 has both ends as viewed in the transport direction.
It is formed in a U-shape in cross section with an opening on the inner side in the width direction, and a wire harness 9 for various controls is passed through a concave portion along the transport direction (see FIGS. 9 and 11), and the transport belt 10 and the wire harness that rotate. 9 is configured to be avoided.

As shown in FIGS. 1 and 2, the lettuce wrapping apparatus 2 is an apparatus for receiving lettuce from a lettuce slot 3 formed at a receiving position in the center of the upper surface and packing it with a transparent wrapping sheet. Are formed such that the side walls 36A, 37A on the upper end side are wider than the side walls 36B, 37B on the lower end side in a side view (viewing in the conveying direction of the belt conveyor 1), and the side walls 36A, 37A on the upper end side and the lower end side. Side wall 36
B, 37B, a pair of inclined side walls 36C extending upward.
37C.

As shown in FIGS. 2 and 3, the robot hand 4 has a support frame 12 which is detachably attached to the main body 2A of the packaging device 2 from above. The support frame 12 is formed of the pair of outer portions 36 and 37 of the main body 2 </ b> A of the packaging device 2.
A pair of first vertical frame members 19 respectively applied to portions extending from 6A, 37A to the inclined side walls 36C, 37C from the lateral outer side, and two round pipes connecting upper end portions of the first vertical frame members 19 to each other. A screw mechanism 21 is provided between an end of one of the first vertical frame members 19 and the second frame member 20 to allow them to approach and separate from each other. The fixing of the support frame 12 to the main body portion 2A is performed by tightening the tightening bolts 21A of the screw mechanism 21 by operating both first vertical frame members 1A.
9, both outer portions 36 of the main body 2A,
This is carried out by pressing and fixing each of them separately.

The robot hand 4 will be described in detail. A support box 13 is supported by the support frame 12, and a swing arm 14 (an example of a moving part) is swung about the first swing axis X by the support box 13. A first electric motor M that movably supports and swings the swing arm 14
1 is provided in a support box 13, and six soft rubber finger portions 16 are suspended and supported by a finger support member 15 provided on a swing end side of a swing arm 14, and the swing arm 14 is swung. As a result, the finger portion 16 draws an arc trajectory R while keeping the downward position, and the lettuce take-out position A is drawn.
And a posture holding mechanism 17 for holding the posture of the finger portion 16 so as to reciprocate between the finger portion 16 and the lettuce insertion position B (see FIG. 1).

The posture holding mechanism 17 includes a swing arm 14.
And an auxiliary swing arm 18 that is swingably supported by the support box 13 around the second swing axis Y above the first swing axis X along the swing arm 14. One end and the other end of the finger support member 15 are attached to the swing end, and the finger support member 15 is connected to the first swing axis X and the second
Each of the finger support members 15 is pivotally connected to be parallel to the virtual vertical line L connecting to the swing axis Y, and the finger support member 15 is parallel to the virtual vertical line L with the swing of the swing arm 14. A parallel quadruple link mechanism configured to reciprocate between the lettuce take-out position A and the lettuce insertion position B while maintaining a proper posture. As shown in FIG. 2 and FIG. 14, a transparent cover 39 having upper and lower openings that covers movable parts such as the finger support member 15 that reciprocates is supported by the second frame member 20 so as to be capable of swinging. (In FIG. 1 and the like, the cover 39 is omitted for easy understanding of the internal structure.)

The finger portion 16 is formed of a rubber tube having a closed distal end and an open proximal end, and the proximal end thereof is externally fitted to the finger support pipe 11. The back side is formed in a bellows shape 16a at regular intervals in the longitudinal direction, and air is supplied / discharged from the compressor 29 through the opening on the base end side, so that the lettuce is gripped.

The finger supporting member 15 is formed by connecting an umbrella-shaped finger holding portion 15B to the lower end of the vertical pipe member 15A. The finger holding mechanism 22 (corresponding to a finger opening diameter change adjusting mechanism) provided in the finger holding portion 15B will be described with reference to FIGS.
As shown in (a) and (b), the finger holding portion 1
5B is formed on the fixed disk 24, and the fixed disk 24
Six rotating first slots 25 formed concentrically and rotatably around the central axis at intervals above and separated from the rotating disk 23 and formed in a spiral shape by being dispersed in the rotating disk 23; Six straight second slots 26 radially formed in the fixed disk 24
The finger support pipes 11 are individually inserted through the corresponding parts, and the finger support pipes 11 are positioned between the rotating disk 23 and the fixed disk 24 to prevent the finger portions 16 from moving up and down. Flange part 27
Is formed. That is, the base end side of the finger portion 16 is supported on a circumference equally spaced from the center position (the center of the fixed disk). A second electric motor M2 (see FIG. 3) for rotating the rotating disk 23 in the forward and reverse directions via an operation wire 28 is supported by a second frame member 20,
By driving the second electric motor M2, each finger support pipe 11 is guided in the second long hole 26 of the fixed disk 24, and is pushed and pulled in the radial direction by the first long hole 25 of the rotating disk 23. The initial opening diameter of the finger portion 16 can be changed and adjusted freely by moving in the radial direction with reference to the center position of both disks. Since the second electric motor M2 is supported by the second frame member 20, the supporting weight of the finger supporting member 15 can be reduced as compared with a case where the second electric motor M2 is supported by the finger supporting member 15, for example. The first electric motor M1 can have a small output.

As shown in FIG. 12, a pneumatically operated vertical piston mechanism 30 is provided at the center of the finger holding portion 15B, and a lettuce pushing pad 30b is provided at the tip of the piston rod 30a. The lettuce gripped by 16 is pushed out to the input port 3 of the packaging device 2 in a gripped state. A water-absorbing paper 31 for absorbing moisture leaking from a cut portion of the lettuce is detachably attached to the lettuce pushing pad 30b to prevent the packaging sheet from being soiled.

As shown in FIGS. 9 and 10, the outer diameter measuring sensor 32 for measuring the outer diameter of the lettuce conveyed by the belt conveyor 1 is connected to both rising ends of the belt conveyor 1 on the upper side of the conveyor from the take-out position A. Provided on the side wall 33, based on the detection result of the outer diameter measurement sensor 32, so that the initial open diameter of the finger portion 16 becomes a diameter corresponding to the outer diameter of the lettuce measured by the outer diameter measurement sensor 32, The control device 5 is configured to control the second electric motor M2 of the finger holding mechanism 22. The outer diameter measurement sensor 32 has a plurality of sensing units including a light emitter 32A and a light receiver 32B that detect the presence of a lettuce when the light beam is interrupted. It is configured to measure the outside diameter of the lettuce. Between the sensing units adjacent to each other, the light emitting device 32A and the light receiving device 32
B is located on the opposite side to prevent light from the adjacent light emitter 32A from entering the light receiver 32B.

As shown in FIG. 9, when a predetermined protruding member 6 is located at the take-out position A, the preceding protruding member 6 moves to a set position on the starting end side of the return stroke of the belt conveyor 1. C is disposed so as to be positioned in a downward posture at the set position C, and the light beam is blocked at the front end of the protruded member 6 which is positioned in the downward position at the set position C.
Position sensor 34 that detects that is located at set position C
To detect that the predetermined projecting member 6 has reached the take-out position A. The position sensor 34 and each protruding member 6 as a detected part constitute a position detecting means. In addition, separately from each protruding member 6,
A detected portion may be provided for each protruding member 6 (in the present embodiment, each protruding member 6 is also configured as each detected portion as described above).

As shown in FIG. 10, there is provided a presence / absence sensor 35 for detecting whether or not the projecting member 6 at the take-out position A has a lettuce by blocking the light beam. When the position sensor 34 detects that the protruding member 6 that holds the lettuce has reached the take-out position A, based on the detection results of both sensors,
The control device 5 controls the belt conveyor 1 to stop it, and also controls the robot hand 4 so that the finger portion 16 takes it out. When the lettuce is taken out, the belt conveyor 1 starts conveying again.

The operation of the robot hand 4 will be briefly described. As shown in FIG.
Swings to the takeout position A side and stops. And
The finger portion 16 to which the pressurized air is supplied bends and grips the lettuce (see FIG. 5). Next, the swing arm 14 swings to the lettuce throwing position B side and stands still (see FIG. 6), and the piston mechanism 30 operates to let the lettuce pushing pad 30 move.
b pushes the lettuce in the gripping state into the input port 3 of the packaging device 2 in the gripping state (see FIG. 7). The lettuce is packed in the container 38 after being packaged by the packaging device 2 (see FIG. 8).

[Another Embodiment] The agricultural crop is not limited to lettuce, but may be other vegetables or fruits such as cabbage.

The processing apparatus may be a grade discriminating apparatus for discriminating grades such as the length and shape of the crop or other devices.

The transport mechanism may be a chain type endless conveyor.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a lettuce supply device and a lettuce packaging device with a cover removed.

FIG. 2 is an exploded side view of the robot hand.

FIG. 3 is a partially cutaway side view showing a robot hand and a belt conveyor before gripping a lettuce;

FIG. 4 is a partially cutaway side view showing a robot hand and a belt conveyor immediately before gripping a lettuce;

FIG. 5 is a partially cutaway side view showing a robot hand and a belt conveyor holding a lettuce;

FIG. 6 is a side view showing the robot hand that has transported the lettuce to the lettuce packaging device side.

FIG. 7 is a side view showing the robot hand supplying lettuce to the lettuce packaging device;

FIG. 8 is a view showing lettuce after packaging by the lettuce packaging apparatus;

FIG. 9 is a partially cutaway front view of a belt conveyor showing various sensors.

FIG. 10 is a partially cutaway plan view of a belt conveyor showing various sensors.

FIG. 11 is a longitudinal side view of a belt conveyor showing a holding portion of a lettuce;

FIG. 12 is a sectional view showing a finger holding unit;

FIG. 13 (a) is a cross-sectional plan view showing a finger opening diameter changing adjustment mechanism in a state where the finger opening diameter is large. (B) A finger opening diameter change in a state where the finger opening diameter is small. Cross-sectional plan view showing the adjustment mechanism

FIG. 14 is a perspective view showing a lettuce supply device and a lettuce packaging device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveying mechanism 2 Processing device 4 Sending mechanism 5 Control means 14 Moving part 16 Finger part 22 Finger opening diameter change adjustment mechanism 23 Adjustment member 32 Outer diameter measurement sensor A Predetermined position

Claims (5)

[Claims] 1. A transport mechanism for feeding spherical crops in a horizontal direction, and a feed mechanism for taking out the crops sent to a predetermined position by the transport mechanism and sending the crops to a processing device, wherein the feed mechanism includes the transport mechanism. A plurality of finger parts that open and close so as to pick up the crop that has been sent to a predetermined position, and a moving part that moves the finger part to the processing apparatus side. A finger opening diameter change adjusting mechanism that changes and adjusts the initial opening diameter of the finger portion, and an outer diameter measurement sensor that measures the outer diameter of the crop transported by the transport mechanism are provided, and a detection result of the outer diameter measurement sensor is provided. The finger opening diameter is changed so that the initial opening diameter of the finger portion is based on the outer diameter of the crop measured by the outer diameter measurement sensor. Crop feeder is provided with control means for controlling the section mechanisms. 2. The agricultural product supply device according to claim 1, wherein the outer diameter measurement sensor is disposed on the upstream side of the predetermined position of the transport mechanism. 3. The outside diameter measurement sensor has a plurality of sensing units for detecting the presence of an object by blocking the light beam, and the plurality of sensing units are arranged in parallel to detect the blocked light beam. The agricultural product supply device according to claim 1 or 2, wherein an outer diameter of the agricultural product is measured from the state. 4. The base portion of each of the plurality of finger portions is supported by a support member on a circumference equally spaced from a predetermined center position, and the finger opening diameter change adjusting mechanism includes a base end portion of each finger portion. The crop supplying apparatus according to claim 1, further comprising an adjusting member configured to move the portion in a radial direction based on the center position. 5. The crop supplying apparatus according to claim 1, wherein the processing apparatus is a packaging apparatus for packaging and processing crops.