JPH10218120A - Transferring and mounting equipment for fruit and vegetables - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically transfer in a desired arrangement a plural pieces of fruit and vegetables efficiently and without damaging the same. SOLUTION: A plurality of holding heads 33, for holding and raising fruit and vegetables (w) at a supplying position separately in a predetermined arrangement condition, are provided independently able to change the arrangement and able to be driven up and down freely, and are so constructed that the fruit and vegetables (w) held by each holding head 33 are transferred to a transferring and mounting position in a different arrangement from the arrangement in which the same are held up. Each holding head 33 is provided with a pressure detector sensor 60 for detecting an upward pressure beyond a set value being applied to the holding head 33. When the pressure detector sensor 60 detects the pressure and is operated, the further downward drive of the holding head 33 corresponding to the pressure detector sensor 60 is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer apparatus mainly used for automatically loading spherical fruits, spherical vegetables, and the like from a conveyor to a transport container or the like.

[0002]

2. Description of the Related Art In recent years, automatic sorting and sorting of fruits and vegetables (hereinafter, abbreviated as fruits and vegetables) has been advanced, but after that, the process of transferring to a box for transportation or packing is manual. . When storing fruits and vegetables in a box, in order to prevent the fruits and vegetables from slipping inside the box during transportation, they are often stored in a predetermined arrangement in an insole formed of paper or plastic material. There is a demand for the development of a transfer device that can be transferred in a predetermined arrangement.

[0003]

A handling device for transferring articles in a predetermined arrangement has been developed in various industrial fields, and one for holding and transferring articles one by one by a robot hand or the like. It is well known that articles are held and transferred at the same time. However, most of them are intended for transfer of articles of a fixed shape, and they are relatively easy to handle, but they are fruits that have been sorted but have different sizes and shapes. In this case, careless handling may cause damage by applying excessive external force, or may cause bruises or abrasions due to improper contact between fruits and vegetables. This is an important point in putting the kind of transfer device into practical use.

[0004] The present invention has been made in view of such circumstances, and it is possible to efficiently transfer a plurality of fruits and vegetables in a desired arrangement automatically without any damage. It is an object to provide a transfer device.

[0005]

[Means for Solving the Problems]

(Structure, operation, and effect of the invention according to claim 1) The transfer apparatus according to the invention according to claim 1 independently comprises a plurality of holding heads that individually hold and lift fruit vegetables at a supply site in a predetermined arrangement state. Elevated drive freely and arranged to change the arrangement,
A pressure detection sensor configured to change the arrangement of fruits and vegetables held in each holding head to a different arrangement from that at the time of lifting and transfer the fruits to a transfer site, and to detect that an upward pressing force applied to the holding head exceeds a set value. Is provided for each holding head,
When the pressure detection sensor performs a detection operation, the further downward drive of the holding head corresponding to the pressure detection sensor is stopped.

[0006] According to the above configuration, when the dipping operation is performed to hold the fruits and vegetables by the holding heads at the supply site, the fruits and vegetables are sorted, but the heights are slightly different.
There will be a difference in the timing of reaching the fruits and vegetables for each holding head. Then, since a relatively upward pressing force acts on the holding head that has reached the fruit and vegetables, this is detected and further lowering is stopped.

[0007] The fruits and vegetables held by each holding head are moved to above the transfer site, and then lowered in a predetermined arrangement state and transferred to the transfer site. The descending drive is stopped in the order of arrival at the transfer position, and pressing of fruits and vegetables more than necessary is avoided.

As a result, it is possible to reliably avoid applying excessive pressing force to the fruits and vegetables both in the lowering operation when holding at the supply site and in the lowering operation when transferring at the transfer site. Simultaneous transfer operation of the individual can be performed smoothly without causing damage even if there is a difference in height between the fruits and vegetables.

(Structure, operation, and effect of the invention according to claim 2) In the transfer device according to the invention according to claim 2, according to claim 1, each of the holding heads is moved with respect to an elevating operation member for elevating the holding head. And the holding head is biased toward the lower limit position of the vertical displacement range.

According to the above construction, when the holding head is driven downward, the lifting / lowering operating member of the holding head is stopped based on the detection operation of the pressing detection sensor. At this time, there is a slight delay in stopping the lifting / lowering operating member. Even if it occurs, the holding head is relatively displaced with respect to the lifting operation member against the urging action, and the urging action acts as a pressing force on the fruits and vegetables.

As a result, it is possible to reliably prevent the fruit vegetables from being pressed with an unduly large force.

(Structure, operation and effect of the invention according to claim 3) The transfer device according to the invention according to claim 3 can change the interval between a plurality of holding heads that hold fruit vegetables in a predetermined arrangement state and individually lift them. , And independently arranged in parallel so as to be able to be lifted and lowered freely, so that the fruits and vegetables held in each holding head are changed to an interval smaller than the interval at the time of lifting and transferred to the transfer site, and each holding head is arranged It is characterized in that it can be freely displaced at least in a head space changing direction with respect to a lifting / lowering operating member which raises / lowers it.

According to the above arrangement, when changing the fruit held on each holding head to an interval smaller than the interval at the time of lifting, depending on the posture of the held fruit, the shape and size of the fruit, etc., the adjacent fruit may be used. Comrades may come into contact with each other, and in this case, one or both of the holding heads holding the contacted fruits and vegetables move in the direction of increasing the head interval.

As a result, a plurality of fruits and vegetables can be transferred while the interval is changed to be smaller than that at the time of supply.
It is possible to prevent the fruits and vegetables from being strongly contacted and damaged at the time of changing the interval reduction, and it is possible to perform the simultaneous transfer processing with the interval change of a plurality of fruits and vegetables.

(Structure, operation, and effect of the invention according to claim 4) In the transfer device according to claim 4, in the transfer device according to claim 3, each of the holding heads is moved with respect to an elevating operation member that moves up and down. To support swinging in all directions.
The holding head is elastically biased in a predetermined direction.

According to the above structure, when the fruits and vegetables held by each holding head are changed to a smaller interval than the space at the time of lifting, when adjacent fruits and vegetables come into contact with each other, the head spacing may be changed depending on the contact position and the contact direction. The contact may occur not only in the direction but also in the direction intersecting with the direction, and one or both of the holding heads holding the fruit and vegetables are arbitrarily retracted in a direction in which they are easy to move. Further, since the holding heads in the free state are elastically urged in a predetermined direction, the posture of each holding head is stable during the process of holding the fruits and vegetables at the supply site.

As a result, a plurality of fruits and vegetables can be transferred while the interval is changed to be smaller than that at the time of supply.
It is possible to more accurately prevent damage caused by strong contact between fruits and vegetables when changing the interval reduction, and it has become possible to perform simultaneous transfer processing involving changing the interval of multiple fruits and vegetables. .

(Structure, operation, and effect of the invention according to claim 5) In the transfer device according to the invention according to claim 5, each of the holding heads has a vacuum suction structure having an elastic contact material at a tip end. It is characterized by having been done.

According to the above arrangement, when each holding head is lowered at the supply portion and pressed against the fruit, the head is lowered until the holding head is pressed against the fruit at a set pressure. By sufficiently pressing the holding head, vacuum suction can be performed without air leakage. In particular, if the holding head is configured to be able to retreat elastically, the holding head will retreat when the fruits and vegetables come into contact with each other, preventing the fruit itself from moving relative to the holding head and preventing vacuum leakage. Is done.

As a result, it is possible to carry out accurate handling by securely sucking and holding the fruit and vegetables having an irregular shape by the holding head, and to prevent the held fruit from falling due to poor suction when the fruit and vegetable come into contact with each other. This is effective in preventing accidents before they occur.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a plan view of a fruit sorting facility in which a transfer device according to the present invention is used for boxing fruits (an example of fruits and vegetables) such as persimmons. An outline of the structure and processing steps will be described.

The fruit w is housed in a container k, carried into a work place, and sent to a work table 2 by a carry-in conveyor 1 arranged in a fruit sorting section A. In the fruit sorting section A, the worker m places the container k on the workbench 2 from the carry-in conveyor 1, takes out the fruit w in the container k by hand, and sorts it visually. Are placed on the carriers c flowing in a tandem manner on the supply conveyors 3a and 3b. As the carrier c, a carrier molded into a circular dish with a concave center is used.

The carrier c of each carry-in conveyor 3a, 3b is used for the inspection conveyors 4a, 4b in the grade inspection unit B.
Is transferred to the two inspection mechanisms 5a and 5b, and the fruit w on the carrier is photographed from above and from the side by a CCD camera or the like, and the size, the presence or absence of a scratch is determined based on the analysis of the image.
The color, etc. are inspected, the grade is determined, and the data is stored. The carrier c is of a dark black color to facilitate image analysis.

The carrier c that has exited the grade inspection section B is transferred to two rows of distribution conveyors 6 a and 6 b in the sorting section C. In the sorting section C, distribution and alignment devices 7A, 7B, 7C and 7D are provided at four positions in the conveyor conveyance direction, and the fruit w is distributed and aligned by the distribution and alignment device 7A based on the inspection data obtained by the grade inspection section B. , 7B, 7C, and 7D, the empty carrier c on which no fruit w is placed is collected from the final transportation position to the collection paths 8a, 8b.
Will be sent to

Here, as shown in FIG. 4, the distribution conveyors 6a and 6b are configured as slat conveyors in which a support member 10 is laid across a pair of right and left chains 9, and is mounted on the support member 10. A carrier c is placed at a constant pitch, and an extruding lever 12 held in a posture by a spring 11 is provided at each carrier placement site so as to be swingable around a fulcrum a. Is reached, the stopper 14 of the distribution mechanism 13 provided beside the conveyor path is controlled to descend and swing by an air cylinder or the like, and enters the forward movement locus of the operation unit 12a extending from the push-out lever 12, so that the slat conveyor The pushing lever 12 is relatively swung with the movement of the main body 9, and the fruit w is pushed out together with the carrier c to the distributing and aligning device side. .

In this example, four sets of distribution / alignment units 7
A to 7D, two sets of distribution and alignment devices 7A and 7 on the better side
B is for automatic box packing, and two sets of distributing and aligning devices 7C and 7D on the lower side are for manual box packing, and each of the distributing and aligning devices 7A to 7D has a roller type aligning conveyer with five rows each. 15a, 15b are both distribution conveyors 4a,
It is arranged in two upper and lower stages according to the height of 4b.

As shown in FIG. 2 and FIG. 3, the carrier c that has reached the end of the alignment conveyors 15a and 15b in each of the distribution and alignment devices 7A and 7B for automatic box packing is supplied to the transverse feed conveyors 16a and 16b and the relay conveyor 17a. ,
It is delivered to a common boxing supply conveyor 18 via the 17b.

The carriers c introduced into the boxing supply conveyor 18 are supplied to the transfer device D according to the present invention in a state where the carriers c are in close contact with each other in a tandem manner. Each is taken out and packed in a predetermined arrangement. Also, the empty carrier c from which the fruit w has been taken out is sent to the carrier recovery conveyor 20 via the discharge conveyor 19, returned to the fruit selection section A again, returned to the supply conveyors 3a and 3b, and repeatedly circulated. Will be used. The empty carrier c sent out from the end of the distribution conveyors 4a and 4b to the collection paths 8a and 8b is also processed by the carrier collection conveyor 20 to select the fruit.
Will be returned to.

The dispensing and aligning device 7 C for manual box packing,
7D is structurally similar to a dispensing and aligning device 7A for automatic box packing.
7B, the fruit w which has reached the end of the upper alignment conveyor 15a among the alignment conveyors 15a and 15b is supplied to the boxing supply conveyor 21 via the horizontal feed conveyor 16a and the relay conveyor 17a. And the fruit w that has reached the end of the lower-stage alignment conveyor 15b is transferred to the boxing supply conveyor 21 as it is, and is manually taken out from the boxing supply conveyor 21 and is manually boxed. Will be done. However, by changing the supply unit for packing of the distributing and aligning devices 7C and 7D to the form of the supplying unit for packing of the distributing and aligning devices 7A and 7B, and installing the transfer device D, the automatic packing can be performed. It has become.

Next, the detailed structure and function of the transfer device D will be described. In the following description, the direction along the boxing supply conveyor 18 is referred to as the left-right direction, and the direction orthogonal thereto is referred to as the front-back direction.

As shown in FIGS. 5, 6, and 9, a base frame 30 which is long in the front-rear direction is provided at the end of the boxing supply conveyor 18, and a movable frame 31 is provided along the base frame 30. It is equipped so that it can move forward and backward by the built-in rodless cylinder. The movable frame 31 is configured in a cantilever shape that is parallel to the boxing supply conveyor 18, and the movable frame 31 is equipped with a support plate 32 that is moved left and right by a built-in actuator. A plurality of (five in the embodiment) holding heads 33 are provided in parallel to lift and transfer the fruits w one by one.

The support plate 32 is provided with a pantograph-type telescopic link mechanism 34 capable of bending and extending in the left-right direction. An air cylinder 37 is erected on a holder 36 attached to a cross fulcrum 35 of the telescopic link mechanism 34. ing. As shown in FIG. 7, the telescopic link mechanism 34 is fixed at a central intersection fulcrum 35a.
An operation link 39 is connected between both ends of a balance-shaped operation arm 38 which is driven to swing around a and a cross fulcrum 35 at the left and right outermost ends, and the operation arm 38 is connected to the rotary cylinder 4.
The telescopic link mechanism 34 is configured to expand and contract in the left and right directions by swinging forward and backward by 0. Each holder 36 is provided with a slide member 42 that is guided by a guide rail 41 provided at the lower rear portion of the support plate 32. Two sets of right and left holders 36 are provided with the expansion and contraction operation of the expansion and contraction link mechanism 34. It is configured so that it can move in parallel from side to side and change the pitch thereof while keeping the distance between the holders 36 equal.

As shown in FIG. 8, the air cylinder 3
7 is provided with a piston rod 50 having a cylindrical shaft penetrating vertically, and a suction block 51 connected to a vacuum controller (not shown) by a pipe is attached to the upper end of the piston rod 50 via a connecting cylinder 52. At the same time, a slide cylinder shaft 53 is vertically slidably inserted into a lower end portion of the piston rod 50, and the holding head 33 is connected to a lower portion of the slide cylinder shaft 53 as described later. The slide cylinder shaft 53 has an outer diameter in which the upper insertion portion is slidably in contact with the inner diameter of the center hole of the piston rod 50, and a lower portion is configured as a stepped shaft having a smaller diameter. It protrudes downward through a cap 54 screwed in. Accordingly, the intermediate step 53a of the stepped shaft is supported in contact with the edge of the hole of the cap 54, thereby restricting the downward movement limit of the slide cylinder shaft 53.

A spherical boss 55 is provided at the lower end of the slide cylinder shaft 53.
And a cup-shaped holding head 33 that is open downward is mounted on the spherical boss 55 so as to be swingable in an arbitrary direction. A compression coil spring 56 is interposed between the holding head 33 and the cap 54 at the lower end of the piston rod 50, and the slide cylinder shaft 53 is urged to slide to the lower limit by the elastic force of the compression coil spring 56. And the holding head 33
Are stably and elastically held in a vertically downward posture.

Slide cylinder shaft 53 and piston rod 5
A thin detection rod 57 is inserted into the inside of the slide cylinder shaft 53 and a connecting member 58 is connected to the slide cylinder shaft 53.
Is fixed with screws via the slide cylinder shaft 5
The inside of the holding head 33 is communicated with the inside of the holding head 33 through the through hole 59, and the suction pressure applied to the suction block 51 is applied to the inside of the holding head 33 through the internal passage of the piston rod 50 and the slide cylinder shaft 53. It is configured to work.

At the upper end of the suction block 51, when the detection rod 57 is pressed upward and displaced upward and the upper end thereof projects more than a predetermined amount, a pressure detection sensor using an optical sensor or a proximity sensor for detecting this is detected. 60 is provided, and when the holding head 33 receives a pressing force above the set value upward and is displaced upward against the compression coil spring 56, the upper end of the detection rod 57 projects upward accordingly, and the pressing force is increased. The detection sensor 60 is configured to perform a detection operation.

The transfer apparatus D according to the present invention is configured as described above, and its operation will be described below. Here, a case will be described in which fruits w are packed and transferred in an array in which five rows and four rows are alternately arranged in the transport box 61 set in the transfer unit.

In the initial set state, FIGS. 6 and 9
As shown in (2), the movable frame 31 retreats and returns to the origin position, and all the holding heads 33 are raised to the upper limit position and are waiting above the boxing supply conveyor 18. Further, the carriers c are cascade-supplied to the boxing supply conveyor 18 so as to contact the positioning stopper 62. In this initial set state, each holding head 33
Is the maximum, and the pitch P1 corresponds to the diameter of the carrier c on which the fruit w is placed. Then, the center holding head 33 of the five sets of holding heads 33 arranged in the left and right directions is located immediately above the third carrier c which is cascaded to the end of the boxing supply conveyor 18, whereby The respective holding heads 33 are located on the centers of the first five carriers c which are tandemly supplied in close contact. At this time, the support plate 32 is at the set position.

When the transfer operation is started, first, the piston rod 50 of each air cylinder 37 is lowered,
Each holding head 33 is pressed against the fruit w on the supply conveyor from above and sucks it. The suction portion of the holding head 33 is provided with a non-breathable elastic contact material 33a, and the elastic contact material 33a is brought into close contact with the fruit w by applying an appropriate pressing pressure.

In this case, even if the fruit w is out of the center of the carrier c, or the shape of the fruit w is irregular, the holding head 33 that can swing freely through the spherical boss 55 can hold the fruit w.
The orientation will be changed without permission so as to be familiar with the adsorption surface.

When the holding head 33 is pressed with a force higher than the setting enough to surely suck the fruit w with the lowering of the piston rod 50, the piston rod 50
The holding head 33 is displaced relatively upward together with the slide cylinder shaft 53 against the compression coil spring 56, and accordingly, the upper end of the detection rod 57 protrudes upward, and the pressing detection sensor 60 performs detection operation. Based on this detection, the operation of the air cylinder 37 is controlled to be inverted, the piston rod 50 is immediately moved upward, and the fruit w sucked and held by the holding head 33 is picked up from the carrier c and lifted to the upper limit. This avoids applying excessive pressure to the fruit w. Further, this fruit lifting operation is performed independently for each holding head 33, and the fruit w having a high height is lifted first.

When all the fruits w are lifted,
The empty carrier c after the stopper 62 descends and retreats is further conveyed and sent out to the discharge conveyor 19, and the stopper 62 rises and protrudes again to supply the next new carrier c.

When it is detected that the lifting by all the holding heads 33 is completed, the movable frame 31 moves forward, and moves forward at a position corresponding to the front row of the box 61 positioned and arranged in advance at the transfer position. Is stopped, and the piston rods 50 of all the air cylinders 37 are lowered.

Further, during the period up to the lowering stroke, as shown in FIG. 10, the telescopic link mechanism 34 is shortened, and the pitch of the holding head 33 is reduced to a small pitch P2 for packing. In this pitch reducing operation, depending on the shape and the diameter of the fruit w, the adjacent fruit w may come into contact with each other, but in this case, the holding head 33 supported swingably through the spherical boss 55 is swingable. Changes the posture with the contact without difficulty, and the excessive pressing force acts on the fruit w,
It is possible to prevent the fruit w from being forcibly floated from the suction pad 33a of the holding head 33 and falling due to insufficient suction.

A paper or resin insole 63 for positioning and accommodation is loaded in the box 61, and when the fruit w held by suction is placed in the first row L 1 on the insole 63, the piston The holding head 33 is displaced upward relative to the rod 50 together with the slide cylinder shaft 53 against the compression coil spring 56, and this is detected as an upward displacement of the detection rod 57 in the same manner as at the time of removal, and is given to the holding head 33. The suction that has been performed is released, and the operation of supplying air to the air cylinder 37 is controlled to be reversed, and the holding head 33 moves upward.

When it is confirmed that all the holding heads 33 have been raised to the upper limit, the movable frame 31 returns to the initial set position and retreats, and expands and contracts so that the interval between the holding heads 33 becomes the initial large pitch P1. The link mechanism 34 operates to extend.

Next, the process moves to the second extracting operation. In this case, the fourth holding head 33 from the left end is operated, and four fruits w are sucked and held and lifted.
Before the advance to the transfer location, during the advance, or after reaching the transfer location, the telescopic link mechanism 34 is shortened to reduce the pitch.
As shown in FIG. 1, the support plate 32 is shifted rightward in the drawing from the set position by half the stroke of the reduced pitch P2, and the box 61 is transferred to the second row L2 in this state. As a result, the boxes are packed in an arrangement in which the fruits w of the second row enter between the fruits w of the first row L1.

Thereafter, the above-described five-piece transfer operation is performed on the third row L3, and the above-described four-piece transfer operation is performed on the fourth row L4, thereby completing the 18-packed transfer.

When a plurality of boxes are packed in a box, the insole material 63 may be further placed on the group of fruits w arranged and transferred, and the above-mentioned transfer operation may be performed for the required number of steps. When the same number of boxes are packed in all the rows, the above process may be performed without performing the lateral shift of the support plate 32.

[Another Embodiment] The present invention can also be carried out in the following modes. (1) The holding heads 33 arranged in parallel can be swung back only in the direction in which they are juxtaposed, so that strong contact between fruits during pitch reduction operation can be avoided. (2) When it is detected that the pushing action of the holding heads 33 has exceeded the set value, the lowering operation of the holding heads 33 is stopped, and after confirming that all the holding heads 33 have stopped, all the holding heads 33 are simultaneously moved. It is configured to operate ascending. (3) The holding head 33 can be urged downward by its own weight of the holding head 33 and the slide cylinder shaft 53 supporting the holding head 33. According to this, the pressing force acting on the fruit w causes the holding head 33 to move backward. Regardless, it is constant. In this case, the upper end of the compression coil spring 56 is connected to the slide cylinder shaft 5.
3 will be supported by a spring receiving member fixed to the support member 3. (4) A pressure sensor that directly detects the pressure is used as the pressure detection sensor 60 that detects that the holding head 33 has exerted a push-up action that is equal to or greater than the setting. (5) As an arrangement change form of the holding heads 33, in addition to the form in which the head interval is reduced to be smaller than the pitch at the time of the initial take-out as in the embodiment, and the form in which the transfer is performed by expanding the initial pitch. You can also. In addition, it is also possible to change the initial arrangement state of one line at the time of supply, such as a staggered state, a plurality of lines, or an annular arrangement, and transfer it. (6) In addition to being used for box transfer, it can also be used for simple transfer between processing devices. (7) The holding head 33 is not limited to the suction type,
A suitable form may be appropriately selected according to the target fruit and vegetable. For example, in the case of a spherical vegetable, a type in which an object is gripped by a finger that can be freely opened and closed is suitable.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing an entire fruit sorting facility using a transfer device according to the present invention.

FIG. 2 is a plan view of the vicinity of a box packing unit.

FIG. 3 is a schematic perspective view around a distributing and aligning unit.

FIG. 4 is a plan view showing a part of a distribution conveyor.

FIG. 5 is a plan view of a box packing unit.

FIG. 6 is a side view of the box processing unit.

FIG. 7 (a) Rear view of the telescopic link mechanism when extended (b) Rear view of the telescopic link mechanism when shortened

FIG. 8 is a longitudinal sectional view of an air cylinder and a holding head.

FIG. 9 is a front view showing the transfer device before holding the fruit.

FIG. 10 is a front view showing the transfer device that has been operated to reduce the interval.

FIG. 11 is a front view showing the transfer device that has been operated to reduce the interval in a state in which a small number is held.

[Explanation of symbols]

 33 Holding head 60 Pressure sensor w Fruits and vegetables (fruit)

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Kunio Nambu 12 in Kambel Tohoku Minami Tono Honcho, Kyoto, Kyoto, Japan

Claims (5)

[Claims] 1. A plurality of holding heads which hold fruit vegetables at supply sites in a predetermined arrangement state and individually lift them are independently arranged so as to be vertically movable and changeable in arrangement, and the fruit vegetables held by each holding head are arranged. The arrangement is changed so that the arrangement is different from that at the time of lifting, and the arrangement is changed to the transfer part. An apparatus for transferring fruits and vegetables, wherein when the detection sensor performs a detection operation, further downward drive of the holding head corresponding to the pressure detection sensor is stopped. 2. Each of the holding heads is supported so as to be vertically displaceable with respect to a lifting / lowering operating member which raises / lowers the holding heads.
The fruit and vegetable transfer device according to claim 1, wherein the holding head is biased toward a lower limit position of the vertical displacement range. 3. A plurality of holding heads that individually hold and lift fruits and vegetables in a predetermined arrangement state are arranged in parallel so as to be capable of changing the interval and independently driven up and down so that the fruits and vegetables held by each holding head are lifted. , And each holding head is configured to be freely displaceable at least in a head spacing changing direction with respect to a lifting / lowering operating member for lifting / lowering the holding head. An apparatus for transferring fruits and vegetables. 4. The apparatus according to claim 1, wherein each of the holding heads is swingably supported in all directions with respect to a lifting / lowering operating member for lifting / lowering the holding heads, and the holding heads are elastically biased in a predetermined direction. Item 5. A vegetable transfer device according to Item 3. 5. The fruits and vegetables according to claim 1, wherein each of the holding heads has a vacuum suction structure having an elastic contact material at a tip portion. Transfer equipment.