JPH10218137A - Agricultural produce processing equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a recovery work or repair work of processing equipment caused by the clogging of agricultural produce by preventing the clogging of succeeding agricultural produce in processing equipment even when the processing time of the processing equipment varies in one day. SOLUTION: A reset sensor for detecting processing equipment 1 being reset ready to start processing operation, and the first detective means for detecting an agricultural produce fetching and carrying body 16 being positioned just before the agricultural produce receiving part 8 of the processing equipment 1 are provided. When the agricultural produce fetching and carrying body 16 fetches the agricultural produce from the produce supplying part and is positioned in front of the agricultural produce receiving part 8, a control means stops the agricultural produce fetching and carrying body 16 just before the agricultural produce receiving part 8 if a reset sensor detection signal is not input, and the control means carries the agricultural produce fetching and carrying body 16 to the side of the processing equipment 1 for operation if the reset detection signal is input.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crop processing apparatus, a crop feeding apparatus for the processing apparatus, and a crop take-out carrier provided in the crop feeding apparatus, picks up a crop from a crop supply unit and sends the crop to the processing apparatus. And a control means for performing such control.

[0002]

2. Description of the Related Art Conventionally, in the above-described crop processing equipment, it has been assumed that each processing in the processing apparatus always takes the same time to send and operate the crop take-out carrier to the processing apparatus. That is, a predetermined processing time is stored by the control means, and each time the processing time elapses, the crop taking-out transporter sends the crop to the processing device.

[0003]

The processing of agricultural products is usually performed early in the morning, and the processing device operates slowly at the beginning of the work when the temperature is low in the early morning, and the temperature rises after a while and the processing continues. And the device tends to warm up to operate at a desired speed (especially in a pneumatically operated processing device, such an operating state is likely to occur). Means in which the processing time per one time of the apparatus is initially set to a constant value and the crop removing carrier sends the crop to the processing apparatus every time the processing time elapses may cause the following problems. there were.

[0004] That is, when the operation of the processing apparatus is late in the early morning, the processing takes longer than the initially set processing time, and before the processing apparatus is reset to a state where the processing operation can be started, the subsequent crops are not processed. Is thrown into the crop receiving section, and the following crops are clogged around the crop receiving section of the processing apparatus, so that there is a problem that it is necessary to collect the crop and restore the processing apparatus.

[0005] An object of the present invention is to prevent clogging of subsequent crops in a processing apparatus even if there is a difference in processing time of a processing apparatus within one day, resulting in the clogging of the crops. An object of the present invention is to eliminate the work of collecting crops and restoring processing equipment.

[0006]

[Means for Solving the Problems]

[Structure] A characteristic structure of the invention according to claim 1 is, in the crop processing equipment described in the opening paragraph, a reset sensor for detecting that the processing apparatus has been reset to a state where processing operation can be started, and the crop extracting and transporting. First detection means for detecting that the body is located at a position on the near side of the crop receiving unit of the processing apparatus, wherein the control means is configured to detect the body based on detection information of the reset sensor and the first detection means. When the crop take-out carrier takes out the crop from the crop supply unit and is located at a position on the front side of the crop accepting unit, if the detection signal of the reset sensor is not input, the crop take-out carrier moves the crop take-out carrier to the crop. When the detection signal of the reset sensor is input and stopped at a position on the front side of the receiving unit, the crop take-out carrier is left as it is on the processing device side. Lies in that is configured so as to feed working.

According to a second aspect of the present invention, in the first aspect of the present invention, the presence / absence sensor for detecting whether or not a crop is present in the crop supply unit, and the crop take-out / transporting body is provided in the crop supply unit. Second detecting means for detecting that the apparatus is located at a position on the near side of the above, the control means based on the detection information of the presence / absence sensor and the second detecting means, and When the body is located at the position on the front side of the crop supply unit, if the detection signal of the presence / absence sensor is not input, the crop removal / transportation body is stopped and stopped at the position on the front side of the crop supply unit, and the presence / absence is determined. When the detection signal of the sensor is input, the agricultural product take-out carrier is taken out to the crop supply part side and operated.

According to a third aspect of the invention, in the crop processing equipment described in the opening paragraph, a reset sensor for detecting that the processing apparatus has been reset to a state in which the processing operation can be started is provided, A position sensor for detecting that the take-out carrier is located at a stroke intermediate point between the crop supply unit and the processing device is provided, and the control unit, based on detection information of the reset sensor and the position sensor, If the detection signal of the reset sensor is not input after a lapse of a set time from the input of the detection signal of the position sensor in a state where the crop take-out carrier is directed to the processing device side, the crop take-out carrier waits. When the detection signal of the reset sensor is input, the crop take-out carrier is directly sent to the processing device side. Lies in that is configured so as to write operation.

According to a fourth aspect of the present invention, in the invention according to the third aspect, a presence / absence sensor for detecting whether or not there is a crop in the crop supply unit is provided, and the control unit includes the presence / absence sensor. Based on the detection information from the position sensor, in a state in which the crop take-out carrier is directed to the crop supply unit side, after a lapse of a set time after the detection signal from the position sensor is input, the detection signal from the presence / absence sensor is input. If not, the agricultural product take-out carrier is stopped and waited, and when the detection signal of the presence / absence sensor is input, the agricultural product take-out carrier is directly taken out to the crop supply part side to be operated. It is in.

According to a fifth aspect of the present invention, in the invention according to any one of the first, second, third, and fourth aspects, the control means controls the resetting after the crop taking-out carrier is stopped in a standby state. When the detection signal of the sensor is input, the agricultural product take-out carrier is sent to the processing device side to be operated.

According to a sixth aspect of the present invention, in the invention according to the second or fourth aspect, the control means is configured to input the detection signal of the presence / absence sensor after the crop take-out carrier is stopped and waited for. The present invention is configured so that a crop take-out carrier is taken out and operated toward the crop supply section.

[Operation] According to the configuration of the first aspect, the following operation can be achieved. [B] When the first detecting means detects that the crop take-out carrier has taken out the crop from the crop supply unit and reached the front side position of the crop receiving unit of the processing device, the processing device can start the processing operation. If the detection signal from the reset sensor that has been reset to the state is not input to the control means,
The crop take-out carrier is stopped and stopped at a position in front of the crop receiving section, and when the detection signal is input, the crop take-out carrier is directly fed into the processing device and operated.

[B] Processing of crops is usually carried out early in the morning, and the processing equipment is slow in operation at the start of work in the early morning when the temperature is low. Although it tends to warm up and operate at a desired speed (especially in a pneumatically operated processing apparatus, such an operating state is apt to occur), in the configuration of claim 1, the crop take-out transporter is provided in the processing apparatus. Even in the early morning when the operation tends to be delayed, the processing device is reset to a state where the processing operation can be started as described in [A], and then the next crop is put into the crop receiving unit.

(C) When the crop take-out carrier reaches the position on the front side of the crop receiving section of the processing device, it is determined whether or not the processing device has been reset to a state where the processing operation can be started. A problem such as when determining when the crop removal transporter is located at the crop supply unit side, that is, the processing device may be reset before the crop removal transporter reaches the processing device side. In addition, it is possible to avoid the problem of stopping the crop take-out transporter in a standby state, and to shorten the time from when the crop-takeout transporter, which has been stopped and stopped, resumes its operation until the crop is sent to the processing apparatus.

According to the configuration of claim 2, the following effects can be obtained. [D] When the second detecting means detects that the crop taking-out carrier heading to the crop supply unit has reached the position on the near side of the crop supply unit, the presence / absence sensor indicates that there is a crop in the crop supply unit. If the detection signal is not input to the control means, the crop take-out carrier is stopped and stopped at a position on the front side of the crop supply unit, and if the detection signal is input, the crop take-out carrier is directly sent to the crop supply unit. Take-out operation starts.

[E] Although it is conceivable that the crop is not supplied to the crop supply unit for some reason, in the configuration of the second aspect, since the agricultural crop take-out carrier operates as described in the above [D], the crop supply is not performed. There is no such thing that the crop take-out carrier does not take out the crop supply section even though there is no crop in the section.

[F] When the crop take-out carrier reaches the position on the near side of the crop supply unit, it is determined whether or not there is a crop in the crop supply unit. In such a case as when judging when it is located in, that is, while the crop may be supplied by the time the crop take-out carrier reaches the crop supply unit, the crop take-out carrier is stopped and stopped. A trouble can be avoided, and when the operation of the crop take-out carrier stopped and stopped is restarted, the time from the restart to the removal of the crop can be shortened.

According to the configuration of the third aspect, the following operation can be obtained. (G) In a state in which the crop take-out carrier takes out the crop from the crop supply unit and heads toward the processing device, a detection signal indicating that the stroke intermediate point between the crop supply unit and the processing device has been reached is transmitted from the position sensor to the control unit. If the detection signal from the reset sensor that the processing device has been reset to a state in which the processing operation can be started is not input to the control means after a lapse of a set time from inputting, the crop removal conveyance body is stopped and stopped, and When the detection signal is input, the crop take-out carrier is sent to the processing device side as it is and operates.

[H] The crop take-out carrier is the same as the above [b]
Similarly to the above, even in the early morning when the operation of the processing apparatus tends to be delayed, the processing apparatus is reset to a state where the processing operation can be started as described in [g], and then the next crop is put into the crop receiving section. Further, by setting the set time longer within a range where the crop take-out carrier does not reach the crop acceptor, when the crop take-out carrier is located at a position on the front side of the crop acceptor of the processing device. And the same operation as the above operation (c) can be achieved.

[I] In the case of changing and adjusting the stand-by stop position of the crop take-out carrier, for example, in a structure in which the stand-by stop is performed immediately when a detection signal is input from a position sensor such as a proximity sensor, the position of the position sensor is changed. However, according to the configuration of claim 3, when the standby stop position is changed and adjusted,
It is only necessary to change the set time, and the change can be easily adjusted.

According to the configuration of claim 4, the following effects can be obtained. (V) In a state where the crop take-out carrier moves toward the crop supply unit side, after a lapse of a set time after a detection signal indicating that the stroke intermediate point has been reached is input from the position sensor to the control unit, the crop is supplied to the crop supply unit. If the detection signal from the presence / absence sensor is not input to the control means, the crop take-out carrier stops and waits, and if the detection signal is input, the crop take-out carrier is directly sent to the crop supply unit. Take out operation. Since the crop taking / conveying body operates in this manner, the same operation as the above [e] can be achieved.

[G] By setting the set time longer within a range where the crop take-out carrier does not reach the crop supply unit, the crop take-out carrier reaches the front side position of the crop supply unit. Sometimes, the vehicle can be stopped on standby, and the same operation as the above [f] can be achieved. As described above, according to the configuration of claim 3, the crop take-out carrier can be stopped and stopped at two positions: the near side position of the crop supply unit and the near side position of the crop receiving unit of the processing device. As means for waiting at these two places, there is, for example, a means for providing one position sensor in a state corresponding to each place. However, in comparison with this means, in the configuration of claim 3, one position sensor is provided. There is an advantage that it can be completed. Further, when the standby stop position is changed, it is only necessary to change the set time, and the change can be easily adjusted in the same manner as in [i].

According to the fifth aspect of the present invention,
In addition to achieving the same operation as the operation of any one of the configurations 2, 3, and 4, [ヲ] When the detection signal of the reset sensor is input after the crop take-out carrier has stopped waiting, the crop take-up / transport The body is fed into the processing device and operates, and the crop is sent to the crop receiving section on the processing device side, and the crop is processed by the processing device.

According to the structure of claim 6, in addition to the effect similar to the function of the structure of claim 2 or 3, [c] the presence / absence sensor of the crop extracting / transporting body after the stand-by stop of the crop taking / conveying body is stopped. When the detection signal is input, the crop take-out transporter operates to take out the crop toward the crop supply unit, and takes out the crop from the crop supply unit.

[Effects] Therefore, according to the structure of the first aspect, even if there is a difference in the processing time of the processing device in one day due to the above-mentioned effects [A], [B] and [C], the operation can be performed. It is possible to prevent the subsequent clogging of the crops in the processing apparatus while suppressing the decrease in the efficiency, and to eliminate the work of collecting the crops and the recovery work of the processing apparatus due to the clogging of the crops.

According to the second aspect of the present invention, in addition to the same effects as those of the first aspect, the above-mentioned operations (d), (e), and (f) allow the crop to be taken out. Work efficiency was improved by eliminating useless movement of the carrier, and power was saved.

According to the third aspect of the present invention, even if there is a difference in the processing time of the processing apparatus in one day, the processing is performed in a state where the reduction in the working efficiency is suppressed. The following clogging of the crops in the apparatus can be prevented, and the work of recovering the crops and the work of restoring the processing apparatus due to the clogging of the crops can be eliminated. The workability of the change adjustment operation of the standby stop position with respect to is improved.

According to the configuration of claim 4, in addition to the same operation as the operation of the above-described configuration of claim 3, in addition to the above operations [nu] and [l], waste of the crop take-out and transport body is reduced. Work efficiency can be improved by eliminating unnecessary movements, power can be saved, manufacturing costs can be reduced, and the workability of changing and adjusting the standby stop position of the crop take-out carrier with respect to the crop supply unit can be improved. Was.

According to the configuration of claim 5, the operation [ヲ]
According to the configuration of claim 6, the operation [W] can improve the work flow until the crop is processed by the processing device.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, first and second embodiments of the present invention will be described with reference to the drawings. [First Embodiment] As shown in FIG.
(Corresponding to a processing device, hereinafter abbreviated as a packaging device),
A lettuce supply device 2 for supplying lettuce to the packaging device 1 is placed on the floor independently of each other, and a control device 3 (corresponding to control means) for controlling the two devices 1 and 2 is provided to allow the lettuce packaging. The equipment is configured.

As shown in FIG. 2, the lettuce supply device 2 comprises a round pipe-shaped main frame 4 which stands on the floor in a state facing the front wall of the packaging device 1 from the packaging device 1. A round pipe provided on the side of the main frame 4 opposite to the packaging device 1 with the transport end side of the belt conveyor 5 for feeding the lettuce supplied by the operator laterally to the packaging device 1 side. A first horizontal support frame 6 is supported via a support bracket 71 provided with a downward U-shaped member 71A, and a leg 5A is provided on the conveyor start end side of the belt conveyor 5, and a predetermined take-out is performed by the belt conveyor 5. The lettuce sent to the position A is
(Corresponding to a crop take-out carrier), a robot hand 9 which takes out the product and sends it to the lettuce receiving portion 8 of the packaging device 1.
(Corresponding to a crop feeding device) is supported by a second lateral support frame 10 provided on the side of the main frame 4 on the side of the packaging device 1. A pair of shelves 11 are separately formed on both sides in the width direction on the transport start end side of the belt conveyor 5, and a knife for root cutting of lettuce and a towel for wiping lettuce juice after root cutting are placed thereon. It can be placed.

An annular lettuce support portion 19 having a plurality of notches 21 for allowing the plurality of finger portions 16 to enter the respective portions from the radially outer side and to hold the lettuce.
A and a lettuce support member 19 made of rubber comprising a circular seat plate 19B integrally provided with the lettuce support portion 19A are provided at a constant pitch on the conveying surface of the belt conveyor 5, and the cut surface of the lettuce is set to It is configured to be conveyed to the robot hand 9 side while being positioned and supported by the lettuce support portion 19A in such a posture. The belt conveyor 5 is of an intermittent operation type that repeats an operation of stopping by a set time after moving by one pitch of the constant pitch.
The presence / absence sensor 78 including a light projecting unit 78A and a light receiving unit 78B, which detects whether or not the lettuce is present in the lettuce support member 19 at the take-out position A, by blocking the light beam,
It is provided on the conveyor end side of the belt conveyor 5 (FIG. 1).
reference).

The packaging device 1 receives the lettuce from the upward lettuce inlet 7 formed in the lettuce receiving portion 8 at the center of the upper surface, and wraps it with a transparent packaging sheet 49 (see FIG. 18). Is a device for discharging the packaged lettuce from a discharge port 12 (see FIG. 1) provided on the opposite side surface, and its structure will be described in detail later.

As shown in FIG. 7, the robot hand 9
Is provided with a support bracket 13 on the second lateral support frame 10, and the first electric motor M1 and the support bracket 1
A finger support member 15 that suspends and supports a plurality of finger portions 16 is provided on the swing end side of a swing arm 14 that is supported by the drive swingably. A posture holding mechanism 17 for holding the posture of the part 16 is provided. With the swing of the swing arm 14, the finger part 16 draws an arc trajectory in a downward posture and the take-out position A and the lettuce inlet 7
Is configured to reciprocate between the feeding position B corresponding to.

As shown in FIG.
Is formed of a hollow rubber material having a bellows 16a formed on the back side at regular intervals in the longitudinal direction, and an opening on the base end side thereof is externally connected to a flanged support pipe 18 so that the compressor 20
The finger 16 is bent and deformed into a gripping state by the supply pressure of air into the finger 16 from (see FIG. 8), and is restored to a gripping released state by discharging air.

As shown in FIG. 10, the swing arm 14
A first proximity sensor 23 (corresponding to a position sensor) that detects through the detection fitting 22 provided on the swing arm 14 that the robot is almost upright is provided on the side surface 13A of the support bracket 13.
On the basis of the detection information of the first proximity sensor 23, a standby stop is performed as described later, and a pair of detected plates 24 is extended laterally from the swing arm 14 at one end side of the swing arm 14. In addition to juxtaposing the state, the fact that the swing arm 14 is located on the side of the lettuce take-out position A or the side of the lettuce sending position B is notified via the corresponding detected plate 24 of the pair of detected plates 24. A pair of second to detect
The proximity sensor 25 is provided on the side surface 13A of the support bracket 13, and based on the detection information of the pair of second proximity sensors 25, the swing arm 14 is stopped for taking out or feeding in, and the swing direction is reversed. The control device 3 is configured to perform the switching control.

As shown in FIGS. 7 and 10, the posture holding mechanism 17 comprises a support shaft 26 integrally provided on the finger support member 15 along the direction of the lettuce transport. A state in which the pivot axis is positioned on the pivot axis P so as to be rotatable around the pivot axis P in a posture parallel to the dynamic axis O and rotatably around the pivot axis P. An upper toothed pulley 27 rotatably provided integrally with the support shaft 26,
The swing arm 1 is set in a state where the axis is positioned on the swing axis O.
A toothed belt 30 is wound around a lower toothed pulley 28 fixed to the support bracket 13 via a support piece 29 separately from the toothed belt 30. In the figure, reference numeral 76 denotes a stopper for preventing overrun.

As shown in FIG. 6, the finger supporting member 15 is formed by connecting a hollow, umbrella-shaped finger holding portion 15B at the lower end of a vertical pipe portion 15A. Explaining the structure of
An air cylinder 33 provided with an elastically deformable lettuce extruded body 32 in which a sponge 32a is covered with a rubber or soft resin 32b having a smooth surface is provided at the tip of a piston rod 31 having an oval cross section. The body 32 is supported in a downward position from the vertical pipe portion 15A to the hollow portion of the finger holding portion 15B so as to protrude and retreat from the support member portion surrounded by the base end sides of the plurality of finger portions 16, and the finger support member 15 The piston rod 31 is inserted through an oval hole 35A of a bracket 35 attached to a bottom plate 34 of the packaging device 1 so that the lettuce that has been released or almost released can be pushed into the lettuce receiving portion 8 of the packaging device 1 and the finger portion is formed. A finger opening diameter change adjusting mechanism 36 for changing and adjusting the initial opening diameter of the sixteen is provided. The cutout 32A is provided in the lettuce extruded body 32 to allow each of the finger portions 16 in the gripped state to enter the finger 16 individually.
(See FIG. 7).

As shown in FIG. 6, FIG. 11, FIG. 12 and FIG. 13, the cylinder tube 37 of the air cylinder 33 is connected to the finger support member 15 by the cylinder axis to constitute the finger opening diameter change adjusting mechanism 36. Each support pipe 18 is configured to be rotatable around Q, and is allowed to move individually in the radial direction of the finger support member 15 with respect to the finger support member 15.
Are respectively inserted into the plurality of guide grooves 38 along the radial direction provided on the bottom plate 34 of the finger support member 15, and each support pipe 18 is inserted into a plurality of long holes 39 formed in a spiral shape around the cylinder axis Q. Is rotated in accordance with the rotation of the cylinder tube 37 in a state in which the guide pipe 3 is pushed and pulled in the radial direction.
A second electric motor M2 for driving the rotation of the cylinder tube 37 provided at the lower end of the main frame 4 with a disk-shaped cam body 40 to be moved inside the cylinder 8 being fixed to the lower end of the cylinder tube 37; A rotating disk 41 fitted externally so as to be rotatable integrally with the upper end of the cylinder tube 37 opposite to the lettuce pushing body 32 side is linked via a wire 42.

The second electric motor M2 has such an output that the base end side of each finger portion 16 located around the lettuce comes into contact with the lettuce and stops when the contact pressure exceeds a certain level. A detecting means for detecting, that is, a potentiometer 43 for detecting that the rotation change of the rotating disk 41 has disappeared is provided, and by the control of the control device 3,
The initial opening diameter of the finger portion 16 is set to the large diameter side (FIG. 1).
1, FIG. 13 (a)), and, with the finger portions 16 opened, each finger portion 16 is positioned around the lettuce, and then the second electric motor M2 is operated to the reduced diameter side,
When the potentiometer 43 detects that the base end side of the finger portion 16 approaches or comes into contact with the lettuce, the respective finger portions 16 are configured to be gripped and bent to the closing side based on the detection result (FIGS. 12 and 12). 13 (b)).
Since the lettuce is grasped in this manner, the lettuce can be embraced and grasped, and even if the lettuce is small or large, the finger portion 16 has a shape suitable for grasping along the shape of the lettuce when grasped. become.

As shown in FIGS. 6, 8 and 9, an air storage space 56 is formed between the cylinder tube 37 of the air cylinder 33 and the vertical pipe portion 15A, and the compressor 20 and the air storage space are formed. The air gap 56 is connected to the air gap 56 via a first hose 72.
The plurality of portions and the base end side opening of each finger portion 16 are separately connected to each other through a plurality of second hoses 73 so that air is supplied and discharged from the compressor 20 into each finger portion 16. It is composed.

As shown in FIG. 1, FIG. 2, and FIG. 3, an upper part which covers the moving space of the finger part 16 of the robot hand 9 from the side of the conveyor belt 5 to the lettuce receiving part 8 of the packaging apparatus 1 from the side. Open transparent cover 44
Are provided at 45 on a third lateral support frame provided in a cantilever manner on the main frame 4 above the first lateral support frame 6. The cover 44 has a handle 46 on the free end side, and the outer frame portion 4 of the third lateral support frame 45.
With the 5A as a fulcrum, the swinging can be switched between an open state and a closed state via a gas spring 47.

As shown in FIGS. 1 and 18, the packaging device 1
As described above, the packaging table 50 having the lettuce inlet 7 formed therein.
Is provided in the lettuce receiving portion 8, and the lettuce is received in a state where the packaging sheet 49 is placed on the packaging table 50 so as to cover the lettuce slot 7, and is packaged under the packaging table 50.

As shown in FIG. 28, based on the detection information from the presence / absence sensor 78 and the first proximity sensor 23, the controller 3 allows the finger 16 together with the swing arm 14 to take out the belt conveyor 5 from the transport end side. In the state heading toward the position A (step # 1), a set time T from when the detection signal from the first proximity sensor 23 is input (step # 2).
After one elapse (step # 3), if the detection signal of the presence / absence sensor 78 is not input, the finger unit 16 is stopped in a standby state (steps # 4, # 5, see FIG. 15; at this time, the swing arm 14 is in the standby position). E.), when the detection signal of the presence / absence sensor 78 is input, the finger portion 16 is taken out to the take-out position A as it is (steps # 4, # 6, see FIG. 16), and the standby state is established. When the detection signal of the presence / absence sensor 78 is input after the stop, the finger portion 16 is taken out and operated (steps # 4 and # 6). The swing arm 14 of the robot hand 9 is in the take-out position A
Side and then stand still (at this time, the belt conveyor 5
Is stopped), the finger portion 16 to which the pressurized air is supplied bends and grips the lettuce (see FIG. 14).

One packaging sheet 49 cut to a predetermined length after the end of the previous packaging is placed on the packaging table 50 of the packaging apparatus 1, and the finger portion 16 swings after gripping the lettuce. Lettuce feed position B by swing of arm 14
Head to the side. The packaging apparatus 1 is provided with a reset sensor 79 as a detecting means for detecting the end of the packaging process, that is, the state in which the movable table 52 described later has stopped returning to the original position shown in FIGS. (See FIG. 1).

As shown in FIG. 29, based on the detection information of the reset sensor 79 and the first proximity sensor 23, the control device 3 moves the finger 16 toward the packaging device 1 (step # 7). If the detection signal of the reset sensor 79 has not been input after a lapse of the set time T2 (step # 9) from the input of the detection signal of the first proximity sensor 23 (step # 8), the finger unit 16 is stopped and waits. (Steps # 10 and # 11, see FIG. 17, the swing arm 14 is located at the standby position F at this time.) When the detection signal of the reset sensor 79 is input, the finger unit 16 is used as it is in the packaging apparatus. 1 (steps # 10 and # 12, see FIG. 18). When the detection signal of the reset sensor 79 is input after the stand-by stop, the finger portion 16 is wrapped. Is fed actuated 1 side (step # 10, # 12) are configured so. Finger part 1
6 brings the lettuce onto the packaging sheet 49 (FIG. 1)
8) When the grip is released or almost released, the air cylinder 33 is driven to extend and the lettuce extruding body 32 pushes the lettuce inward of the lettuce slot 7 (FIG. 19). The finger portion 16 retreats to the upper side of the lettuce slot 7 (FIG. 20), the movable table 52 moves down, and the squeezing member 51 further narrows the packaging sheet 49. The subsequent packaging process will be described after the packaging device 1 is described in detail.

FIG. 2 shows the packaging device 1 in detail.
As shown in FIG. 1, a first support member 55 is vertically slidably attached to a pair of left and right guide rails 54 disposed below the lettuce inlet 7 of the packaging table 50. A movable base 5 formed by bending four sides of a flat plate having a plus shape in plan view upward on a fixed second support member 56.
2 are elastically supported via a shock absorbing spring 57. Then, an operation arm 58 swingable around the horizontal axis P1 of the fixed portion is connected to the first support member 55 by a pin and a long hole structure, and an air cylinder 59 for swinging the operation arm 58 up and down is provided. It is.

The horizontal axis P3 at the left and right ends of the second support member 56
A pair of holding arms 59 are swingably supported around. At the upper end of the holding arm 59, a horizontally long sponge member 59 is provided.
a, and the left and right holding arms 59 are attached to the central movable base 5.
A spring 60 is provided to urge to swing to the second side.
The first support member 55 is driven by an electric motor M3 as shown in FIG.
An operation arm 61 is provided for switching between an up and down posture shown in FIG. 22 and a left and right posture shown in FIG. 22, and both ends of the operation arm 61 and lower ends of left and right holding arms 59 are connected by a link link 62.

As shown in FIGS. 24 and 25, a round bar-shaped first guide rail 63 and a plate-shaped second guide rail 6 are provided below the packaging table 50 on both sides of the lettuce inlet 7.
4 are provided. A boss portion 53a is fixed to one end of the holding member 53, and the boss portion 53a is slidably fitted to the first guide rail 63, and a lateral side portion 53b on the opposite side of the holding member 53 is connected to the second guide rail 64. It is folded on the bottom.

A bracket 65 is fixed to the boss 53a of one of the holding members 53, and a double-acting air cylinder 66 is connected to the bracket 65. A balance arm 67 is swingably supported around a longitudinal axis P4 of the fixed portion.
The roller 67a at one end is inserted into the concave portion of the bracket 65. The other end of the balance arm 67 and the other holding member 53
A link rod 68 is connected to the boss 53a.

With the above structure, as shown in FIGS. 24 and 25, when the air cylinder 66 in the extended state is operated toward the contracted side, the holding member 53 on the right side of the paper slides to the left on the paper. In conjunction with this operation, the balance arm 67 swings clockwise in FIG. As a result, the link rod 68 is pulled to the right in the drawing, and the other holding member 53 is slid to the right in the drawing. As shown in FIG. The upper part 49a of the sheet 49 is narrowed down.

As shown in FIG. 25, a pair of auxiliary holding members 69 are provided below the pair of holding members 53 so as to swing in a direction perpendicular to the sliding direction of the holding members 53. The auxiliary holding member 69 is swingably supported below the holding member 53 around the longitudinal axis P2 of the fixed portion. The auxiliary holding member 69 is provided with a rectangular long hole 69a.
A pair of rollers 53c provided on the back surface of No. 3 is inserted into the long hole 69a, and a guide plate 70 that supports the auxiliary holding member 69 so as not to face downward is laid across both rollers 53c.

With the above structure, the air cylinder 66 starts to contract from the state shown in FIG.
When the rollers 3 start approaching each other, the pair of opened auxiliary holding members 69 also starts approaching each other in conjunction with the progress of the roller 53c. When the air cylinder 66 contracts to the stroke end, the holding member 53 and the auxiliary holding member 69 are almost completely closed, and the upper portion 49a of the packaging sheet 49 is narrowed.

In the above state, as described above, the finger portion 16 of the robot hand 9 places the lettuce on the packaging sheet 49 and releases the grip, and then the air cylinder 33 starts operating to release the lettuce. The whole of the packaging sheet 49 is pushed inward of the lettuce slot 7, and the lettuce wrapped to some extent in the packaging sheet 49 as shown in FIG.
, The packaging apparatus 1 automatically starts the packaging (see the state of FIG. 21 and FIG. 26A).

That is, as shown in FIGS. 22 and 26 (b), the pair of holding arms 59 are swung to the lettuce side,
The lettuce is held by the movable base 52 by the holding arm 59, and the lowering operation of the movable base 52 is started and stopped at a predetermined position. A plurality of rubber plate-shaped auxiliary diaphragm members 51 are provided below the lettuce insertion port 7 via the support ring 77 so as to surround the lettuce. 49 is squeezed even better.

When the movable table 52 stops at the positions shown in FIGS. 22 and 26 (c) as described above, the pair of holding arms 59 are slightly opened as shown in FIG. 23, and the pair of holding members 53 are moved. Proceeding to the lettuce side, Fig. 26 (c)
As shown in FIG. 27A, the upper portion 49a of the packaging sheet 49 is sandwiched and narrowed down to a small size.
Lettuce is wrapped in 9.

Next, the upper portion 49a of the packaging sheet 49 sandwiched by the sandwiching members 53 is heated and melted by the heater 81, and the packaging sheet 49 is welded by this heating, and the packaging sheet 49 is fastened.

Thereafter, as shown in FIG. 27 (b), the holding arm 59 is opened to the left and right, the movable base 52 is turned sideways, and lettuce is released to the slide 80 and collected.
As described above, the packaging of one lettuce is completed, the movable table 52 is again moved up to the original position shown in FIGS. 21 and 26 (a) and stopped, and the state of the lettuce after the packaging is completed is determined. This is shown in FIG.

As shown in FIG. 4 and FIG.
The control device 3 and the control device 3 are provided with casters 38 so as to be independently movable. As shown in FIGS. 1 and 5, the start switch 7 of the packaging device 1 is provided on the inclined operation panel 3A at the top of the control device 3 together with other operation switches.
5 and the start switch 82 of the robot hand 9 are provided, the cover 71 is opened, and the start switch 82 of the robot hand 9 is turned off.
When the starter 75 of the packaging apparatus 1 is turned on, the lettuce can be packaged. Since the control device 3 can be moved independently of the packaging device 1, the work can be performed with the control device 3 moved to a place where the switch can be easily operated.

[Second Embodiment] As shown in FIG. 32, a third proximity sensor 83 (first detection) for detecting that the finger portion 16 is located at a position C on the near side of the lettuce receiving portion 8 of the packaging device 1 And a fourth proximity sensor 84 (corresponding to second detecting means) for detecting that the finger portion 16 is located at a position D on the near side of the take-out position A. The control device 3 is configured as follows.

That is, as shown in FIG. 30, based on the detection information of the presence sensor 78 and the fourth proximity sensor 84, the finger portion 16 (step # 1) heading toward the take-out position A is moved to the take-out position A. When the detection signal of the presence / absence sensor 78 is not input when the finger portion 16 is located at the near side position D (step # 2), the finger portion 16 is stopped and stopped at the near side position D of the take-out position A (step # 3). ,
# 4) When the detection signal of the existence sensor 78 is input,
The finger portion 16 is taken out as it is (steps # 3 and # 5), and when the detection signal of the presence / absence sensor 78 is inputted after the stand-by stop, the finger portion 16 is taken out and actuated (steps # 3 and # 5). , FIG.
As shown in FIG. 7, the reset sensor 79 and the third proximity sensor 8
3, the finger unit 16 takes out the lettuce from the end of the conveyor of the belt conveyor 5 (step # 6), and when the finger unit 16 is located at the front side position C of the lettuce receiving unit 8 (step # 7). When the detection signal of the reset sensor 79 is not input, the finger unit 16 is stopped and stopped at the position C on the near side of the lettuce receiving unit 8 (step # 8,
# 9) When the detection signal of the reset sensor 79 is input, the finger portion 16 is directly fed to the lettuce receiving portion 8 side of the packaging device 1 and actuated (steps # 8, # 1).
0), when the detection signal of the reset sensor 79 is input after the stand-by stop, the finger portion 16 is taken out and activated (steps # 8, # 10). Other configurations are the same as those of the first embodiment.

In the above configuration, the processing device is not limited to a packaging device, but may be a processing device such as a device for classifying agricultural products.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a lettuce packaging facility.

FIG. 2 is an exploded perspective view showing a structure around a conveyance end side of a belt conveyor.

FIG. 3 is a diagram showing the lettuce packaging equipment as viewed from a lower side in a conveying direction of the belt conveyor.

FIG. 4 is a front view showing a packaging device and a control device.

FIG. 5 is a plan view showing a packaging device and a control device.

FIG. 6 is a longitudinal sectional side view of a robot hand.

FIG. 7 is a side view of the robot hand.

FIG. 8 is a cross-sectional plan view showing an air supply / discharge path between the compressor and the hollow portion of the finger portion.

FIG. 9 is a diagram showing an air supply / discharge path between a compressor and a hollow portion of a finger portion.

FIG. 10 is a diagram showing a state in which a swing arm in a robot hand is upright.

FIG. 11 is a diagram showing a finger opening diameter change adjusting mechanism in a state where the opening diameter of the finger portion is large.

FIG. 12 is a view showing a finger opening diameter change adjusting mechanism in a state where the opening diameter of the finger portion is reduced.

FIG. 13 (a) is a cross-sectional plan view showing a finger portion in a state where the opening diameter of the finger portion is large and lettuce immediately before being gripped by the finger portion. (B) The opening diameter of the finger portion is small. Cross-sectional plan view showing a finger portion in a state and a lettuce gripped by the finger portion

FIG. 14 is a diagram showing a state in which the robot hand grips the lettuce at the removal position.

FIG. 15 is a diagram showing a state in which the finger unit is on standby at the take-out position and stopped.

FIG. 16 is a diagram showing a robot hand holding a lettuce;

FIG. 17 is a diagram showing a state in which the finger unit is on standby on the packaging device side;

FIG. 18 is a diagram showing a state in which the robot hand is located on the sending position side.

FIG. 19 is a diagram showing a state in which a lettuce is pushed out to a lettuce receiving unit by a lettuce extruding body.

FIG. 20 is a diagram showing a state where lettuce is supplied to a movable base by a lettuce extruding body.

FIG. 21 is a front view of the vicinity of the movable base, showing a state where the packaged object is pushed into the opening of the packaging base and dropped on the movable base.

22 is a front view showing a state in which the pair of holding arms are closed from the state shown in FIG. 21 and the movable base is lowered to the lower side of the holding member;

23 is a front view showing a state in which the upper portion of the packaging sheet is sandwiched by a pair of sandwiching members from the state shown in FIG. 22 to lift the movable table.

FIG. 24 is a perspective view showing a slide drive structure of a pair of holding members.

FIG. 25 is a plan view showing a slide and swing drive structure of a pair of holding members and an auxiliary holding member.

FIG. 26 is a perspective view showing the flow of packaging from the insertion of the article to be opened into the opening to the narrowing of the packaging sheet by the holding member.

FIG. 27 is a perspective view showing a flow of packaging from the opening operation of the holding member to the release of the packaged object and a state where the packaging is completed.

FIG. 28 is a flowchart showing the operation until the finger unit takes out the lettuce;

FIG. 29 is a flowchart showing the operation until the finger unit sends the lettuce to the lettuce receiving unit.

FIG. 30 is a flowchart of another embodiment showing the operation until the finger unit takes out the lettuce.

FIG. 31 is a flowchart of another embodiment showing the operation until the finger unit sends the lettuce to the lettuce receiving unit.

FIG. 32 is a view showing another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Processing apparatus 3 Control means 8 Agricultural crop receiving part 9 Agricultural crop sending device 16 Agricultural crop taking-out carrier 23 Position sensor 78 Presence / absence sensor 79 Reset sensor 83 First detecting means 84 First detecting means C Front side position of the agricultural crop receiving section D Crop supply section Position T1, T2 Set time

Claims (6)

[Claims] 1. A crop processing apparatus, a crop feeding apparatus for the processing apparatus, and a control means for controlling a crop extracting / transporting body provided in the crop feeding apparatus to extract crops from a crop supply unit and send the crops to the processing apparatus. And a reset sensor for detecting that the processing device has been reset to a state in which the processing operation can be started, and wherein the crop take-out carrier is located in front of a crop receiving unit of the processing device. First detecting means for detecting that the crop extracting carrier is located at the side position, wherein the control means controls the crop taking-out carrier from the crop supply unit to produce crops based on detection information of the reset sensor and the first detecting means. When the detection signal of the reset sensor is not input when the takeout is located at a position on the near side of the crop receiving section, The take-out carrier is stopped and stopped at a position on the front side of the crop receiving unit, and when the detection signal of the reset sensor is input, the crop take-out carrier is sent to the processing device as it is to be operated. Crops processing equipment. 2. A crop sensor for detecting whether or not there is a crop in the crop supply unit, and a second sensor for detecting that the crop take-out carrier is located at a position on the near side of the crop supply unit.
Detecting means, the control means, based on the detection information of the presence or absence sensor and the second detecting means, the crop take-out carrier toward the crop supply unit side is located at a position on the near side of the crop supply unit When the detection signal of the presence / absence sensor is not input, the crop taking / conveying body is stopped and stopped at a position in front of the crop supply unit, and when the detection signal of the presence / absence sensor is input, the crop is stopped. 2. The agricultural crop processing facility according to claim 1, wherein the take-out transporter is configured to take out and operate as it is to the crop supply unit side. 3. A crop processing device, a crop feeding device for the processing device, and a control means for controlling a crop extracting carrier provided in the crop feeding device to extract crops from a crop supply unit and send the crops to the processing device. And a reset sensor for detecting that the processing device has been reset to a state in which the processing operation can be started, and the crop take-out carrier is provided with the crop supply unit and the processing device. And a position sensor for detecting that the crop extracting carrier is located at a stroke intermediate point, and the control unit moves the crop take-out carrier toward the processing device side based on detection information of the reset sensor and the position sensor. In this state, the detection signal of the reset sensor is input after a set time elapses after the detection signal of the position sensor is input. If not, the agricultural product take-out carrier is stopped and waited, and when the detection signal of the reset sensor is input, the agricultural product take-out carrier is sent to the processing device as it is to operate the crop. Processing equipment. 4. An apparatus according to claim 1, further comprising a presence / absence sensor for detecting whether or not there is a crop in said crop supply unit, wherein said control means controls said crop take-out carrier based on detection information from said presence / absence sensor and a position sensor. If the detection signal of the presence / absence sensor is not input after a lapse of a set time from the input of the detection signal of the position sensor in the state of heading toward the crop supply unit, the crop removal conveyance body is stopped and waited for, and 4. The crop processing equipment according to claim 3, wherein when the detection signal of the sensor is input, the crop taking-out carrier is taken out and operated to the crop supply part as it is. 5. The control means is configured to, when the detection signal of the reset sensor is input after the crop take-out carrier is stopped in a standby state, send the crop take-out carrier to the processing device side and operate it. Terms 1, 2,
The plant for treating crops according to any one of claims 3 and 4. 6. The control means is configured to, when the detection signal of the presence / absence sensor is inputted after the crop take-out carrier is stopped in standby, take out the crop take-out carrier toward the crop supply unit side. The agricultural crop processing facility according to claim 2.