JPH10139148A - Fruit vegetable sorting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fruit vegetables sorting device which is capable of exactly and quickly performing the work of grading fruit vegetables according to equal classes. SOLUTION: In an inspecting device, each fruit vegetable A placed on each rotary body of conveyor 5 for grading is imaged by a camera for each image pickup based on the detection by an article detection sensor S1 and the equal class of each fruit vegetable is decided by an equal class decision device based on the image data. Moving number data of each rotary body which is counted based on the detections of a leading detection sensor S2 and a moving detection sensor S3 and image data are stored by making data correspond each other. In each sorting device, a work sorting each fruit vegetable according to equal classes can be exactly and quickly performed because the fruit vegetable A is ejected when it is decided that moving number data of the rotary body moved to each sorting device corresponding to equal classes and moving number data stored in an equal class decision device are coincident.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to fruit and vegetable products used for sorting fruits and vegetables such as oranges, apples, kiwis, pears, persimmons, peaches, or cucumbers, eggplants, carrots, and yams, by grade. The present invention relates to a sorting device.

[0002]

2. Description of the Related Art Conventionally, as an apparatus for sorting fruits and vegetables according to the same grade as in the above-described example, for example, a large number of fruits and vegetables are sequentially placed on each placement section constituting a sorting conveyor and fed. Transported in the same direction, each fruit vegetable placed on each placing portion is imaged by an imaging camera, and based on image data captured by the imaging camera, the grade of each fruit vegetable is individually determined by a determination device. judge. When each placing section is moved to each sorting position corresponding to the judgment, each fruit vegetable placed on each placing section is discharged downward or to the side, and a large number of fruit vegetables are classified by grade. There is a sorting device.

[0003]

However, the above-described sorting conveyor rotates a chain stretched between sprockets in a feed direction by a driving force of a feed motor, and a large number of bridges mounted on the chain are rotated. Each mounting part is made to rotate in the feed direction. At the same time, the rotation amount of the sprocket is detected by a detector such as a rotary encoder, and the moving distance of the chain is calculated based on the detection signal output from the detector. When it is determined that the movement distance to each of the sorting positions stored in the determination device in advance and the movement distance of the chain are the same, each of the sorting positions corresponding to the determination is placed on the placement unit. Although the fruit and vegetables are released, the movement distance is displaced by the gap generated at the meshing portion between the sprocket and the chain, and the longer the transport distance of the sorting conveyor, the greater the extension of the chain, which is calculated based on the detection by the detector. Because an error occurs between the moving distance and the moving distance of the chain, immediately before or immediately after passing through each sorting position, fruit and vegetables placed on each mounting portion may be erroneously released, and the determination is made. It is difficult to accurately discharge fruit and vegetables to each corresponding sorting position, and there is a problem that many sorting errors occur.

[0004] Further, when the length of the entire length of the chain generated in the unit length is calculated to measure an appropriate moving distance until the fruit or vegetable reaches each sorting position, it takes time to process the data. Can not release each fruit and vegetable immediately. If the feeding speed by the sorting conveyor is increased, the sorting error as described above occurs, so that there is a problem that the sorting ability is limited.

[0005] In view of the above problems, the present invention counts the number of movements of each mounting portion moved to each position based on the detection by the head detection means and the movement detection means, and counts the number of inspection positions and each sorting position. A fruit and vegetable sorting apparatus is provided which can compare and determine the number of movements and sort and sort each fruit and vegetable by equal rank, so that sorting errors do not occur and the work of sorting each fruit and vegetable by equal rank can be performed accurately and quickly. Aim.

[0006]

According to the first aspect of the present invention,
At the inspection position and at each of the sorting positions, a head detection unit that detects the top placement unit and a movement detection unit that detects each placement unit are provided, based on the detection by the top detection unit and the movement detection unit. A counting means for counting the number of movements of each mounting portion is provided, and the inspection data inspected by the inspection means and the movement number data counted by the counting means are stored in association with each other, and counted at the inspection position and each sorting position. Determining means for comparing and judging the moved number data, and a fruit and vegetable product provided with sorting means for sorting each fruit and vegetable moved to each of the sorting positions based on the determination by the determining means at each of the sorting positions according to equal rank. It is a sorting device.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the first detection body detected by the first detecting means is provided in a transport band or a first position corresponding to the first mounting portion. It is a fruit and vegetable sorting device provided on a mounting portion, and provided with a movement detecting body, which is detected by the movement detecting means, corresponding to each of the mounting portions, on a transport band or on each mounting portion.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, each of the mounting portions is provided at the inspection position in correspondence with the detection by the head detection means and the movement detection means. A fruit / vegetable sorting apparatus provided with article detection means for detecting the placed fruit and vegetables, and storage means for storing the inspection data inspected by the inspection means based on the detection by the article detection means. And

[0009] The invention according to claim 4 is the first and second inventions.
Alternatively, in combination with the configuration of claim 3, the mounting portion can vertically swing a large number of rotating bodies on a transport side edge of an endless belt installed on one side of the transport path in a direction perpendicular to the feeding direction. The fruit and vegetable sorting device is constructed by arranging the above-mentioned rotating bodies in the feeding direction at intervals of the fruit and vegetables placed between the rotating bodies.

[0010]

According to the first aspect of the present invention, the fruit and vegetable sorting apparatus inspects each of the fruit and vegetables placed on each of the placement portions of the transporting band at the inspection position (for example, an imaging camera or a worker's visual observation). , And the class of each fruit and vegetable is determined by the determination means based on the inspected inspection data. At the same time, the number of movements of each rotating body is counted by the counting means based on the detection by the head detection means and the movement detection means, and the inspection data and the movement number data are stored in the determination means in association with each other. At each sorting position, the moving number data counted by the counting means based on the detection by the head detecting means and the moving detecting means is compared with the moving number data stored in the judging means to correspond to the same class. When it is determined that the number-of-movements data of the placement unit moved to the sorting position and the number-of-movements data stored in the determining means are the same, each fruit vegetable moved to each sorting position is sorted by each sorting means. Since the sorting is performed according to the rank, the operation of sorting the fruits and vegetables according to the rank can be performed accurately and quickly.

According to a second aspect of the present invention, the fruit and vegetable sorting apparatus further comprises, in addition to the function of the first aspect, a head detecting means comprising optical detecting means, electric detecting means, mechanical detecting means, and the like. Each movement detecting means detects a head detector corresponding to the head receiver and a movement detector corresponding to each receiver, so that each receiver at the inspection position and each sorting position is detected. It can be detected reliably. In addition, the number of movements of each placing section can be accurately counted based on the detection, and the sorting operation of each fruit and vegetable can be performed accurately.

According to the third aspect of the present invention, the fruit and vegetable sorting device is mounted on the mounting portion in accordance with the detection by the head detecting means and the movement detecting means, in addition to the operation of the first or second aspect. Since the fruit and vegetables are detected by the article detecting means, the fruit and vegetables placed on the mounting portion are inspected by the inspecting means in response to the detection by the article detecting means, and the inspected inspection data is stored in the storage means. The number-of-movements data of the placing section on which the articles are placed and the inspection data of the fruits and vegetables are stored in agreement, and the data can be accurately compared by the judging means, and the sorting position can be judged accurately.

According to a fourth aspect of the present invention, there is provided a fruit and vegetable sorting apparatus according to the first, second, or third aspect of the present invention, wherein only the rotating bodies on which fruit and vegetables are placed are determined based on the determination by the determining means. Swings up and down to release only the fruits and vegetables of the same grade corresponding to the judgment, so that the placement posture of the fruits and vegetables placed on each of the rotating bodies before and after is displaced, and other rotating bodies malfunction. Can be prevented, and the sorting operation of fruit and vegetables can be performed accurately.

[0014]

According to the present invention, the data on the number of movements of each mounting portion counted by the counting means based on the detection by the head detecting means and the movement detecting means and the inspection data inspected by the inspecting means are made to correspond to each other. Stored in the determination means, the movement number data of the mounting portion moved to the sorting position corresponding to the equal class, and when it is determined that the movement number data stored in the determination means is the same, when each sorting position Since the moved fruits and vegetables are sorted by rank, the time and distance until the fruits and vegetables are moved to each sorting position based on the detection by the rotary encoder, the address reading reader, etc. are calculated as in the conventional example. Data processing is unnecessary,
The operation time required for data processing is short and processing can be performed easily. Fruit and vegetables are immediately released when moving to each sorting position corresponding to the determination by the class determination means, so that fruit and vegetables can be reliably prevented from being erroneously released immediately before or immediately after each sorting position, The operation of sorting the fruits and vegetables by the same rank can be performed accurately and quickly, and the sorting ability can be improved.

In addition, since the leading detector corresponding to the leading receiver is detected by the leading detector and the respective detectors corresponding to the receivers are detected by the respective detectors, the inspection position and the sorting are determined. Each mounting portion can be reliably detected at the position. In addition, the number of movements of each placing section can be accurately counted based on the detection, and the sorting operation of each fruit and vegetable can be performed accurately.

Further, the fruit and vegetables placed on the placing portion are inspected by the inspection means in response to the detection by the article detection means, and the number of movement data counted based on the detection by the head detection means and the movement detection means; Since the inspection data inspected by the inspection means is stored in the storage means, the data on the number of movements of the placing portion on which the fruit and vegetables are placed and the inspection data on the fruit and vegetables are stored in agreement, and the data by the determination means is stored. Can be accurately compared,
The sorting position can be determined accurately. Furthermore, since only the rotating body on which the fruits and vegetables are placed is vertically rocked and released, only fruits and vegetables of the same class corresponding to the judgment can be reliably released, and the fruits and vegetables placed before and after It is possible to prevent the placement posture of the product from being displaced and to prevent the other rotating bodies from malfunctioning, and to perform the sorting operation of the fruit and vegetable products accurately.

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a fruit and vegetable sorting apparatus used for sorting a large number of fruit and vegetables by equal rank;
In FIG. 2, the fruit and vegetable sorting apparatus 1 rolls over or reverses a transport case C brought in from a producer, and discharges a large number of fruit and vegetables A put into the transport case C to a conveyor 2 for dispersion. I do. Each of the fruits and vegetables A discharged to the dispersing conveyor 2 is transported while being evenly dispersed, and each of the aligning conveyors 3 is conveyed.
, Respectively, and the fruits and vegetables A assigned to the sorting conveyors 3 are arranged in a row and transferred to the supply conveyors 4. The fruits and vegetables A conveyed by the supply conveyors 4 are sequentially transferred to the sorting conveyors 5 one by one. The grade of each fruit and vegetable A is determined by the grade determining device 6 arranged at the inspection position a on the sorting conveyor 5, and based on the determination, each of the sorting positions c to f on the sorting conveyor 5 is determined. Each of the distributing conveyors 7 is discharged with each fruit and vegetable A by equal rank, and the nonconforming fruit and vegetable A is discharged to the collecting conveyor 8 disposed at the sorting position g. .

As shown in FIGS. 3 and 4, the above-mentioned sorting conveyor 5 has endless belts 18, 18 composed of, for example, chains, belts, etc., on the lower side of one side of the conveying path, and has a feed-side starting end and Sprockets 19,1 supported at the feed end
9, the sprockets 19, 19 have their shaft ends fixed to the rotation centers of the return plates 20, 20, and the sprockets are driven by the driving force of a feed motor 21 with a speed reducer disposed at the lower part on the starting end side. Via 22, 23 and the drive chain 24,
The endless belts 18, 18 and the return plates 20, 20 are rotated in the feed direction. In addition, the rotating members 25 described below are circulated in the feed direction faster than the feed speed of the supply conveyor 4,
It is rotated back and forth by the rotating machine 56 disposed between the starting end of the feeding side and the inspection position a and between the front and rear inspection areas set in the inspection position a. The outer peripheral edges of the return plates 20, 20 are formed to have an outer diameter dimension at which the rotating bodies 25, which will be described later, are rotated and returned to a horizontal posture, and between the upper edges of the endless belts 18, each described later. The mounting members 26 are fixed at equal intervals in the feed direction.

At the lower end of the mounting member 26 on the transport side, the lower end of each shaft support member 27 is pivotally mounted in a direction perpendicular to the feed direction, and the upper end of each shaft support member 27. , The base end shafts of the spindles 28 are fixed in a direction orthogonal to the feed direction, and the free end shafts of the spindles 28 are hollow or solid rotators. 25 are freely rotatable, and a large number of rotating bodies 25 are arranged at an interval before and after the fruit product A is placed in the feed direction, and a direction orthogonal to the feed direction. It is pivotally attached to the vertical swing.

At the upper end of the mounting member 26 on the transport side, a central portion of a locking lever 29 is pivotally mounted so as to be able to rotate back and forth, and is compressed and loaded between opposing surfaces of the mounting member 26 and the locking lever 29. Due to the elasticity of the spring member 30, the locking shaft 31 fixed to the upper end of the shaft support member 27 is rotationally urged in the direction in which the locking claw 32 formed at the tip of the locking lever 29 is locked. The shaft support member 27 and the locking lever 29 are brought into contact with the regulating shaft 33 fixed to the upper end of the mounting member 26, and the locking shaft 31
And the locking claw 32 are restricted to the position where they are locked.
By locking and unlocking the locking shaft 31 and the locking claw 32, the rotating body 25 swings up and down between the horizontal posture in which the fruits and vegetables A are placed and the discharging posture in which they are released. . Shaft support member 2
7 and a regulating projection 34 projecting from the lower end of the mounting member 26.
Abuts against a synthetic rubber contact member 35 fixed to the front end on the transport side, thereby restricting the rotation of the rotating body 25 to the discharge posture obliquely downward. The rotation angle of the rotating body 25 can be changed only by changing the angle of the regulating protrusion 34 and the thickness of the contact member 35.

On the support shaft 27a for supporting the shaft support member 27, the base ends of the elongate lifting members 36, 36 are pivotally connected so as to be able to swing up and down. Is connected to the lifting member 36 formed in a short shape.
Each lifting member 36 is formed of, for example, a material such as synthetic resin, metal, wood, ceramics, or the like.
The fruits and vegetables A are integrally formed or connected at intervals that are allowed to appear and retract with respect to each other, and are spaced apart from each other so as to be supported in a horizontal posture. And, the part that comes into contact with the fruit and vegetable A, for example,
It may be covered with a member such as synthetic rubber, soft resin, leather, cloth and the like.

As shown in FIG. 5, the lower edges of the lifting members 36 are respectively engaged with the lower portion of the feed-side starting end and the lower and front and rear guide members 39 provided in the front and rear inspection area at the inspection position a. When the lifting members 36 are engaged with the guide members 39, the upper edges of the lifting members 36 project slightly upward from between the rotating members 25 in the horizontal posture, and the rotating members 25. The swinging guide is at a height at which the fruit vegetables A placed between them are pushed up, and is at a projecting position at which at least a part or the whole of the fruit vegetables A rises from the outer peripheral surface of each of the rotating bodies 25. Is done.

When the lifting members 36 drop off from the guide member 39, as shown in FIG. 6, the upper edge of the lifting member 36 at the base end side contacts the support shaft 29a that supports the locking lever 29. The upper edge of each lifting member 36... Is slightly lower than between the rotating members 25 in the horizontal position and between the rotating members 25 in the discharging position, The inclination is smaller than the body 25 and the height at which the fruit vegetables A placed between the rotating bodies 25 are pushed up, and the height and the inclination at which the fruit vegetables A are discharged in the discharge direction. The rotation is restricted to the immersion position. The guide member 39 has a middle portion corresponding to the front-rear inspection area and is erected at a height that is horizontal in the feed direction, the starting end is inclined so as to gradually increase in the feed direction, and the rear end is inclined. It is inclined so that it gradually decreases in the feed direction.

The above-mentioned rotating body 25 is made of, for example, a material such as synthetic resin, metal, wood, ceramics or the like, and the outer peripheral surface of the rotating body 25 becomes larger in diameter from the outer peripheral surface at the center to the outer peripheral surface at both ends. It is shaped. The outer peripheral surface of the rotating body 25 is
For example, by forming or coating with a member having a large contact resistance (not shown) such as synthetic rubber or soft resin, the contact resistance is increased, and the fruit vegetables A placed between the rotating bodies 25.
Can be reliably rotated, and the position and posture of the fruit and vegetable product A can be prevented from being displaced or damaged. Further, for example, by forming a plurality or a large number of ridges such as stripes, lattices, and meshes on the outer peripheral surface of the rotating body 25, the contact resistance increases as described above, and the fruit and vegetable A can be surely obtained. Rotated. The outer peripheral surface of the rotating body 25 may be formed to have the same outer diameter from the outer peripheral surface on one end side to the outer peripheral surface on the other end side.

The above-described class determination device 6 is shown in FIGS.
As shown in the figure, the entire inspection position a set on the sorting conveyor 5 is surrounded by the light-shielding box 40, and the light-shielding cover 41 is provided in the front inspection area inside the light-shielding box 40.
42, and light shielding covers 43 and 44 are provided in the rear inspection area.
Is arranged. The imaging camera 45 includes the light shielding cover 41.
The image capturing camera 46 is disposed to face the upper peripheral surface of the fruit and vegetable A carried into the camera, and the image capturing camera 46 is disposed to face the left peripheral surface thereof. It is arranged facing the upper peripheral surface of the fruit and vegetable A. The imaging camera 48 is a fruit vegetable A transported into the light shielding cover 43.
An imaging camera 49 is arranged to face the upper peripheral surface of the fruit vegetable A, and the imaging camera 50 is arranged to face the upper peripheral surface of the fruit and vegetable A conveyed into the light shielding cover 44. It is arranged facing.

The above-mentioned imaging cameras 45 to 50 are constituted by imaging means such as a CCD camera and a picture element (CCD), and are used to determine the class of the fruit and vegetable A.
1 and a monitor 52 for projecting an image of the fruit and vegetable A, and also arranged at the inspection position a, the article detection sensor S1, the head detection sensor S2, the movement detection sensor S3, and the sorting positions b to f. The provided head detection sensor S2, movement detection sensor S3, and lock releaser 55 are connected to the apparatus main body 51. Fruit vegetables A moved into the light-shielding covers 41, 43 are illuminated by illuminators 53, which are constituted by, for example, halogen lamps, and fruit vegetables A moved into the light-shielding covers 42, 44 are, for example, ultraviolet rays. Illuminated by illuminators 54 composed of lamps and the like.

As shown in FIG. 3, the image pickup positions of the image pickup cameras 45 and 46 and the image pickup camera 47 and the image pickup positions of the image pickup cameras 48 and 49 and the image pickup camera 50 are, as shown in FIG. , A head detection sensor S2 and a movement detection sensor S3 are provided respectively, and
As shown in FIG. 6, a head detection sensor S2 and a movement detection sensor S3 are provided respectively. Each sensor S1, S2, S3
Is constituted by, for example, optical detecting means such as a light emitting type sensor or a reflection type sensor comprising a light emitting device and a light receiving device, and the article detecting sensor S1 is provided for the fruits and vegetables A placed between the rotating bodies 25. The head detection sensor S2 detects the movement of the head detection body 26a fixed to the rear edge of the mounting member 26 in correspondence with the rotating body 25 serving as the head, and the movement detection sensor S3 detects each rotation. The movement of each of the movement detectors 26b projecting from the lower surface of the mounting member 26 in correspondence with the bodies 25 is detected.

FIG. 10 is a block diagram of a control circuit of the apparatus main body 51. The CPU 61 performs the following operations according to a program stored in the ROM 62. Each of the imaging cameras 45 to 50, the article detection sensor S1, the head detection sensor S2, The operation of the movement detection sensor S3 and each of the unlocking devices 55 is controlled.
After performing necessary arithmetic processing, the RAM 63 stores data necessary for the sorting operation.

At the inspection position a, the CPU 61 detects the fruit vegetables A placed between the rotating bodies 25.
1, the outer peripheral surface of the fruit and vegetable product A placed between the rotating bodies 25... Is imaged by each of the imaging cameras 45 to 50, and each of the cameras 45, 46,. 4
The class is inspected based on the image data picked up by 8, 49, and the rot is inspected based on the image data picked up by each camera 47, 50. That is, by comparing the grade data stored in the ROM 62 with the image data, the grade (for example, color, sugar content, scratch, decay, outer diameter, shape, height, width, volume, flatness, maturity, Judgment of non-standard that does not correspond to the class).

Head detector 2 corresponding to head rotator 25
The built-in counter is updated or initialized based on a detection signal output when the head detection sensor S2 detects 6a. Each movement detecting body 26 corresponding to each rotating body 25.
The number of movements of each of the rotating bodies 25 is counted by a counter based on a detection signal output when the movement detecting sensor S3 detects b. The image data captured by the cameras 45 to 50 are stored in the RAM 63 in association with each other. At each of the sorting positions b to f, the counter is updated or initialized based on the detection signal output from the head detection sensor S2, and based on the detection signal output from the movement detection sensor S3, each rotator 25 is rotated.
Are counted by a counter.

The rotating body 2 counted at each of the sorting positions b to f
5 corresponding to the number-of-movements data and the image data.
CPU 61 compares the data of the number of movements stored in
When the CPU 61 determines that the rotating body 25 moved to each of the sorting positions b to f corresponding to the same class and the number-of-movements data stored in the RAM 63 are the same, each sorting position b
-F are independently operated,
Only the rotating bodies 25 on which the fruit and vegetables A are placed are swung to the release posture. On the other hand, when the data of the number of movements is different, the respective unlocking devices 55 are not operated, and the rotating members 25 are moved around in the horizontal posture.

The above-mentioned lock release device 55 is provided at the sorting position b.
To f, a lock releaser 55 composed of, for example, an electromagnetic solenoid, an air cylinder, etc., is arranged, and the lock releaser 55 is independently operated based on the determination by the class determination device 6, The rear end of the locking lever 29 is continuously depressed by the release member 55a to release the locking of the locking shaft 31 of the shaft support member 27 and the locking claw 32 of the locking lever 29, and the fruit vegetable A is placed. Are rotated to the release posture. On the other hand, each rotating body 2
5 and each lifting member 36 are circulated while engaging with the outer peripheral edge of the return plates 20 and 20 to lock the locking shaft 31 and the locking claw 32, thereby moving the rotating bodies 25 horizontally. At the same time, the lifting member 36 is returned to the posture.
The lower edge is engaged to rotate and return to a substantially horizontal posture. The rotating bodies 25 may be rotated and returned by a return means such as a dead weight or a spring.

As shown in FIG. 8, the rotating machine 56 is disposed at the lower part of the front stage of the inspection position a and at the lower part of the middle of the front and rear inspection area. A rotation imparting belt 57 formed of an elastic member having a large contact resistance, such as synthetic rubber, soft resin, or leather, is stretched in parallel with the feeding direction at a height and a position where the belt is pressed against the rotation imparting belt. Are stretched between the drum rolls 58, 58 pivotally supported at the feed-side start end and the feed-side end, and are driven by a rotation motor 59 with a reduction gear so as to coincide with the orbital direction of each of the rotating bodies 25. Is rotated at a high speed in the direction (more than the feed speed), or is rotated at a low speed or stopped in a direction opposite to the orbital direction, and the orbiting members 25... By doing, each of the rotating bodies 25 ... The peripheral speed difference occurring diameter peripheral surface portion and the large diameter side peripheral surface portion, it can be reversed in the longitudinal direction of the fruit vegetables product A large and small placed between the rollers 25 in the same region (e.g., 180 degrees). Since the rotating ends of the rotating bodies 25 are slightly lifted and rotated while being tilted to one side, the oblique or upright fruit vegetables A are tilted to a horizontal posture. As another rotation method, as shown in FIG.
7 are rotated while pressing against the rotation imparting pad 60 formed of the same member as that of the rotator 7 in the same manner as described above. Is rotated.

The illustrated embodiment is constructed as described above, and the operation when the fruit and vegetable sorting apparatus 1 sorts a large number of fruit and vegetables A... First, as shown in FIG. 1, the transport case C brought in from the producer is turned over or turned over, and a large number of fruits and vegetables A put into the transport case C are discharged to the conveyor 2 for dispersion.
The fruits and vegetables A released to the dispersing conveyor 2 are transported while being evenly distributed and distributed to each of the sorting conveyors 3..., And each of the fruits and vegetables A distributed to each of the sorting conveyors 3.
Are arranged in a line and transferred to each supply conveyor 4. Each fruit and vegetable product A conveyed by each supply conveyor 4 is transferred one by one to each sorting conveyor 5.

Next, as shown in FIG. 8, the rotating bodies 25 of the sorting conveyor 5 are rotated by a rotating machine 56, and the fruit vegetables A placed between the rotating bodies 25 are rotated in the front-rear direction. , The rotating bodies 25 are slightly inclined, and the oblique or upright fruit and vegetables A are rolled over and transported in the same direction and posture. Subsequently, as shown in FIG.
Each lifting member 36 projects slightly above the space between them, and a part or all of the fruit and vegetable product A floats from the outer peripheral surface of each rotating body 25. Alternatively, the large and small fruit vegetables A conveyed while standing up are corrected in the horizontal posture and conveyed.

Next, when the fruits and vegetables A are moved to the inspection position a, as shown in FIG. 3, based on the detection by the article detection sensor S1, each of the lifting members 63 is corrected to the horizontal posture. The front peripheral surface and the left peripheral surface of the vegetable A are imaged by the imaging cameras 45 and 46, and when the leading rotator 25 has passed, the leading detector 26 corresponding to the rotator 25 is passed.
a is detected by the head detection sensor S2, and the counter of the CPU 61 is initialized based on the detection signal. Then, each movement detecting member 26b of each rotating body 25 is detected by the movement detecting sensor S3, and based on the detection signal, each rotating body 25b is detected.
Are counted by a counter. At the same time, the image data captured by the imaging cameras 45 and 46 and the rotating bodies 25.
In the RAM 6 of the apparatus main body 51 in correspondence with the number-of-movements data.
3 is stored. Immediately thereafter, based on the detection by the article detection sensor S1, the front side peripheral surface of the fruit and vegetable A is taken by the imaging camera 47.
Then, based on the detections by the detection sensors S2 and S3, the image data captured by the imaging camera 47 and the number-of-movements data of the rotating bodies 25 are stored in the RAM 63 in association with each other.

Next, the lifting members 36 are temporarily immersed, and the fruits A whose orientation has been corrected are placed and transported between the rotating bodies 25. Immediately after the front inspection area, the rotating bodies 25 are rotated by the rotating machine 56 in the same manner as described above, and the fruits and vegetables A placed between the rotating bodies 25 are rotated in the front-rear direction and turned upside down. I do. After the reversal, the lifting members 36 are projected, the fruit vegetables A placed between the rotating bodies 25 are once lifted, and the fruit vegetables A are corrected to the horizontal posture.

Next, in the rear inspection area, the rear peripheral surface and the right peripheral surface of the fruit and vegetable A are imaged by the imaging cameras 48 and 49 based on the detection by the article detection sensor S1, and the head is detected. The number of movements of each of the rotating bodies 25 is counted by a counter based on the detection by the sensors S2 and S3. At the same time, image data captured by the imaging cameras 48 and 49 and each rotating body 2
5 are stored in the RAM 63 in association with the movement number data. Immediately thereafter, based on the detection by the article detection sensor S1, the front side peripheral surface of the fruit and vegetable A is imaged by the imaging camera 50,
Based on the detection by the detection sensors S2 and S3, the image data captured by the imaging camera 50 and the number-of-movements data of the rotating bodies 25 are stored in the RAM 63 in association with each other.

Next, the lifting members 36 are immersed, the fruits and vegetables A corrected in the horizontal posture are placed between the rotating bodies 25, and are conveyed while maintaining the posture. By comparing the image data captured by each of the imaging cameras 45 to 50 with the class data stored in the ROM 62 of the apparatus main body 51, for example, color, sugar content, scratches, rot, outer diameter, shape, height, Comprehensively determine the width, volume, flatness, maturity, etc.

Next, the fruits and vegetables A ...
Has been moved, as shown in FIG.
The head detector 26a corresponding to 5 is detected by the head detection sensor S2, and the counter of the CPU 61 is initialized based on the detection signal. Subsequently, each movement detecting body 26b of each rotating body 25 is detected by the movement detecting sensor S3, and the number of movements of each rotating body 25 is counted by a counter based on the detection signal. When the CPU 61 determines that the moving number data of the rotating body 25 moved to each of the sorting positions b to f corresponding to the same class and the moving number data stored in the RAM 63 are the same, the data is allocated to the sorting position b. Unlocker 5 installed
5 is actuated, and only the rotating bodies 25 on which the fruit and vegetables A are placed are swung to the release posture and released. Hereinafter, similarly, the CPU
Based on the determination made by 61, the fruits and vegetables A that are moved to the sorting positions c to f are released for each grade.

When each of the rotating bodies 25 is swung to the release position, the fruits and vegetables A placed between the respective rotating bodies 25 are controlled in advance to the release position by the momentum at the time of the swing. Are lifted from below by the lifting members 36, and are forcibly discharged. Since the inclination of each lifting member 36 is gentler than each of the rotating bodies 25, the fruits and vegetables A are discharged obliquely downward along the upper edge of each lifting member 36, and the orientation and posture are displaced. Can be prevented. The fruits and vegetables A, which are sorted according to the rank, are discharged to the distribution conveyors 7 arranged at the respective sorting positions b to f, and are boxed by a manual operation or a mechanical operation. Non-standard fruits and vegetables A ... are sorted at g
To the collection conveyor 8 for collection processing.

As described above, the data on the number of movements of each of the rotating bodies 25... Counted based on the detection by the head detection sensor S2 and the movement detection sensor S3, and the respective imaging cameras 45-5.
0 and the image data captured by the RAM 63
When the CPU 61 determines that the movement number data of the rotating body 25 moved to each of the sorting positions b to f corresponding to the same class and the movement number data stored in the RAM 63 are the same, Each rotating body 25 on which the object A is placed ...
Only the rocking of the release position, the sorting process is performed. Therefore, as in the conventional example, the time until the fruit and vegetable A is moved to each of the sorting positions b to f based on the detection by the rotary encoder, the address reading reader, etc. Data processing for calculating the distance becomes unnecessary, and the operation time required for the data processing can be shortened and the processing can be performed accurately. Classification device 6
The fruit and vegetable A is immediately released when it moves to each of the sorting positions b to f corresponding to the determination by
It is possible to reliably prevent the fruit and vegetables A from being erroneously released immediately before or immediately after, and to accurately and quickly sort the fruit and vegetables A by grade and improve the sorting ability. it can.

In addition, since the head detecting body 26a is detected by the head detecting sensor S2 and each of the movement detecting bodies 26b is detected by the movement detecting sensor S3, the movement of each of the rotating bodies 25 at each of the positions a to f is detected. It can be detected reliably.
In addition, the number of movements of each of the rotating bodies 25 can be accurately counted based on the detection, and the sorting operation of each fruit and vegetable A can be performed accurately.

Further, the fruits and vegetables A mounted on the rotating body 25 are imaged by the imaging cameras 45 to 50 in response to the detection by the article detection sensor S1, and counted based on the detection by the detection means S2 and S3. The data on the number of movements and the captured image data are stored in the RAM 63. Therefore, the data on the number of movements of the rotating body 25 on which the fruit and vegetable A is placed and the fruit and vegetable A
Are stored in agreement with each other, and the data can be accurately compared by the CPU 61, and the sorting position can be determined accurately. Furthermore, each rotating body 2 on which the fruit or vegetable A is placed
Since only 5 is released by swinging up and down, only the fruits and vegetables A of the same grade corresponding to the judgment can be reliably released, and the placement posture of the fruits and vegetables A placed before and after is displaced, The other rotating bodies 25 can be prevented from malfunctioning, and the sorting operation of the fruit and vegetables A can be performed accurately.

In the correspondence between the configuration of the present invention and the above-described embodiment, the rank determining means of the present invention corresponds to the rank determining apparatus 6 of the embodiment. Corresponding to the sorting conveyor 5, the mounting part is a rotating body 25.
The inspection means corresponds to the imaging cameras 45 to 50, and the inspection data of the inspection means corresponds to the imaging cameras 45 to 50.
The determination means corresponds to the device main body 51 and the CPU 61; the sorting means corresponds to the lock releaser 55; the counting means corresponds to the CPU 61 and its arithmetic processing or counter; The means is a head detection sensor S
2 and the head detection switch T2, and the movement detection means corresponds to the movement detection sensor S3 and the head detection switch T3. However, the present invention is not limited to only the configuration of the above-described embodiment. Absent.

In the embodiment described above, each of the detection sensors S1, S
2, S3 are constituted by optical detection means of a light projection type sensor or a reflection type sensor. Instead of each detection sensor S2, S3, for example, as shown in FIG. The head detector 26a fixed to the rear edge of the mounting member 26 is detected by the proximity switch type head detection switch T2, and is provided on the lower surface side of the mounting member 26 in correspondence with each of the rotating bodies 25. May be detected by a proximity switch type movement detection switch T3, and the movements of the head detection body 26a and the movement detection body 26b are detected in a non-contact manner. Improvement can be achieved. Also, the head detector 26a and the movement detector 26b are
The detection may be performed by mechanical detection means such as a limit switch, and the same detection operation as that of the embodiment can be performed.

[Brief description of the drawings]

FIG. 1 is a plan view showing the overall configuration of a fruit and vegetable sorting apparatus.

FIG. 2 is a side view showing a transport operation by a sorting conveyor.

FIG. 3 is a rear view showing a mounted state of the rotating body and a detection state of each detection sensor.

FIG. 4 is a plan view showing a mounted state of a rotating body and each detecting body.

FIG. 5 is a rear view showing the raising / lowering operation of the lifting member.

FIG. 6 is a rear view showing a state in which the rotating body and the lifting member are swung to a release posture.

FIG. 7 is a perspective view showing an inspection method using a class inspection apparatus.

FIG. 8 is a side view showing a pressed state of a rotation imparting belt constituting the rotating machine.

FIG. 9 is a side view showing a pressed state of the rotation applying pad.

FIG. 10 is a control circuit block diagram illustrating a configuration of an apparatus main body.

FIG. 11 is a rear view showing another detection state of each detection switch.

[Description of Signs] A: Fruit and Vegetable Products a ... Inspection Position b to g ... Sorting Position S1 ... Article Detection Sensor S2 ... Leading Detection Sensor S3 ... Movement Detection Sensor T2 ... Leading Detection Switch T3 ... Movement Detection Switch 1: Fruit and Vegetable Sorting Device DESCRIPTION OF SYMBOLS 2 ... Conveyor for dispersion 3 ... Conveyor for arrangement 4 ... Conveyor 5 ... Conveyor for sorting 6 ... Grade determination device 7 ... Conveyor for distribution 8 ... Conveyor for collection 18 ... Endless belt 25 ... Rotating body 26 ... Mounting member 26a ... Head detector 26b Move detector 45-50 Imaging camera 51 Device main body 55 Unlocker 56 Rotating machine 61 CPU 62 ROM 63 RAM

Claims (4)

[Claims] 1. An inspection means for inspecting each fruit and vegetable placed on each placing portion of the transporting belt, and based on the inspected inspection data, an equal rank of each fruit and vegetable is determined by an equal rank determining means. It is a fruit and vegetable sorting apparatus that sorts and sorts each fruit and vegetable moved to each sorting position after the inspection position according to equal rank, and detects the leading mounting part at the inspection position and each sorting position. A head detecting means for detecting the position of each mounting part, a movement detecting means for detecting each mounting part, and a counting means for counting the number of movements of each mounting part based on the detection by the head detecting means and the movement detecting means. The inspection data inspected by the means and the movement number data counted by the counting means are stored in association with each other, and judgment means for comparing and judging the movement number data counted at the inspection position and each sorting position is provided. To
A fruit and vegetable sorting apparatus provided with sorting means for sorting each fruit and vegetable moved to each sorting position based on the determination by the determination means, according to equal rank. 2. A head detector to be detected by the head detection means is provided on a transport band or a head receiver in correspondence with the head receiver. 2. The fruit and vegetable sorting apparatus according to claim 1, wherein a movement detection body detected by the movement detection means is provided on the transporting band or on each of the mounting portions. 3. An article detecting means for detecting fruit and vegetables placed on each mounting portion in correspondence with the detection by the head detecting means and the movement detecting means at the inspection position. 3. The fruit and vegetable sorting apparatus according to claim 1, further comprising storage means for storing inspection data inspected by the inspection means based on the detection. 4. A mounting section, wherein a number of rotating bodies are vertically mounted on a transport side edge of an endless belt provided on one side of a transport path so as to be vertically swingable. The fruit and vegetable sorting apparatus according to claim 1, 2 or 3, wherein the rotating bodies are arranged in the feeding direction at an interval at which fruit and vegetables are placed between the rotating bodies.