KR101251019B1 - Agricultural products inspection apparatus - Google Patents

Abstract

The present invention relates to a agricultural product inspection device that can perform the operation for inspecting the entire agricultural product surface in a small space, and can easily perform the layout of the device, the rotary table 8 constituting the agricultural product inspection device (1) Each holding stand (9)... Each receptor (B) retained in the phase. Each receptor (B) ... while moving in the circumferential direction along the conveyance path | route. Each agricultural product housed in To each holding head 13... Hold | maintains by and lifts upward and revolves to each area | region a to f on a conveyance path | route. In the side inspection area c, each holding head 13... Each agricultural product (A) maintained by. The front side of the side is photographed by the side photographing camera 36, and in the lower surface inspection area d, each holding head 13... Each agricultural product (A) maintained by. The lower surface of the holding head 13. Produced by (A)…. Is accommodated in each container B again, and the container B in which the agricultural products A are accommodated is discharged from each holder 9.

Agricultural products, inspection device, shooting camera

Description

Agricultural Product Inspection Device {AGRICULTURAL PRODUCTS INSPECTION APPARATUS}

1 is a plan view showing the overall configuration of the agricultural product inspection apparatus.

2 is a side view showing the configuration of the inspection apparatus.

Figure 3 is an enlarged side view showing the exchange operation of the receptor.

4 is an enlarged plan view illustrating a slide operation of the holder.

5 is an enlarged side view illustrating a state in which the holder protrudes outward of the turntable.

6 is an enlarged side view illustrating a state in which the holder is moved inward of the rotary table.

7 is an enlarged side view illustrating a support state of agricultural products by a holding head.

8 is an enlarged side view showing a side inspection state of the produce.

9 is an enlarged side view illustrating a lower surface inspection state of agricultural products.

a, f... Send and receive area

c… Side inspection area

d… Scanning area

g… Top Inspection Area

A ... Agricultural products

B ... Receptor

(One)… Agricultural product inspection device

(2A)... Import Conveyor

(2B)... Export conveyor

(3)... Laboratory

(4)… Stopper mechanism

(5)... Infeed screw

(6A, 6B)... Star wheel

(7)... Inspection device

(8)… Rotating table

(9)... Upright

(9a)... Payload

(9b)... Pressing member

(9c)... Jam lever

(11)... Axis of rotation

(12)... Support frame

(13)... Retaining head

(14)... rail

(15)... Jam Clear Cam

(16)... Support shaft

(17)... lever

(18)... road

(19)... Small diameter gears

(20)... Large diameter gears

(21)... Camp Follower

(22)... Cam Home

(24) ... Adsorption pad

(26)... Spline shaft

(27) ... Bearing

(28)... Pulley

(29) ... Absence of rotation

(33)... Camp Follower

(34)... rail

(35)... Top view camera

(36)... Side shot camera

(37)... When shooting camera

(39)... Judging device

[Patent Document 1] Japanese Patent Application Laid-Open No. 2001-121089

TECHNICAL FIELD This invention relates to the agricultural product test | inspection apparatus used for the operation | work which examines the external state (wounds, a color, obstacle, etc.) of the whole agricultural products surface, such as an apple, a pear, a peach, a tomato, a persimmon, and a citrus fruit, for example. .

Conventionally, as an apparatus for inspecting the appearance of agricultural products, for example, after measuring the upper and side surfaces of agricultural products mounted on a tray conveyed by the first conveyor apparatus, the first conveyor apparatus conveys them. The agricultural products on the tray are selected by a conveying device arranged between the first conveyor device and the second conveyor device, and the lower surface of the agricultural product selected by the conveying device is removed during the conveying process on the tray conveyed by the second conveyor device. There is a measuring device for agricultural product sorting according to Patent Document 1, which is measured by a measuring device such as a lower surface disposed between the first conveyor and the second conveyor.

However, the above-described measuring device has to place a measuring device such as a lower surface between the first conveyor and the second conveyor arranged in parallel, so that there are many restrictions in the layout. In addition, since the inspection must be carried out on the first conveyor or the second conveyor except for the lower surface of the agricultural product, a measuring device for measuring the surface other than the lower surface is disposed on the first or second conveyor, so that it is necessary to inspect the entire periphery of the agricultural product. The installation space becomes large.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide an agricultural product inspecting apparatus capable of inspecting the entire agricultural product surface in a small space and easily performing the layout of the entire apparatus.

The agricultural product test | inspection apparatus of Claim 1 is provided in the circumferential direction with respect to the peripheral part of a rotating body at predetermined equal intervals, the holding stand which holds the container in which agricultural products were accommodated, and the said ash Rotating means for rotating the whole, a holding head which is provided in the upper part of a rotating body corresponding to each said holding | maintenance stand, holding the agricultural products accommodated in the said container, the elevating means which raises and lowers the said holding head, and the said conveyance of the said holding stand (Iii) determining the state of the agricultural product based on the lower surface photographing means, which is disposed below the path and photographs the lower surface of the agricultural product held by the holding head, and the image information photographed by the lower surface photographing means. A judging means and a moving means for moving the holding table to the inside of the rotating body, and on the container held by the holding table. The holding head raises and raises a product, moves the agricultural product taken out from the said container, and moves the holding table which the said container is hold | maintained in the lower surface inspection area of the said lower surface photographing means by a moving means inside. It moves, and it photographs by the imaging means when the lower surface of the agricultural product which the said holding head hold | maintains.

The agricultural products may be composed of, for example, fruits (apples, pears, peaches, tomatoes, persimmons, etc.), citrus fruits, and the like. The rotating body can be configured to rotate at a constant speed by, for example, a rotating table, a rotating table, a support frame, or the like. In addition, the receptor can be configured to accommodate agricultural products such as pans, trays and dishes. In addition, the holding head may be configured such that the produce is held by, for example, a suction pad, an arm, a chuck, or the like. The lower surface photographing means, the side photographing means, and the upper surface photographing means can be constituted by an apparatus capable of optically photographing, for example, a photographing camera, a digital camera, a video camera, or the like. In addition, the determination means can constitute a determination apparatus such as a personal computer, a CPU, a ROM, a device having a RAM, and the like.

According to this invention, the container in which agricultural products were accommodated is hold | maintained on each holding stand provided on the rotating body which a rotating means rotates, and it moves to the circumferential direction along the conveyance path of each holding stand. After holding each produce on each container held by each holding table by each holding head moving in correspondence with each holding table, each holding head on which each agricultural product is held is lifted by the lifting means, and withdrawn from each container. Each agricultural product is lifted upward by each holding head and moved circumferentially along the conveying path of the holding table. In the lower surface inspection area set on the conveying path of the holding table, the holding table on which the container is supported is moved by the moving means to the inside of the rotating body, and each agricultural product held by each holding head is lower than the conveying path of the holding table. After retracting the container and the holding table from the arranged lower surface photographing means, the lower surface of each agricultural product held by each holding head is photographed by the lower surface photographing means, and on the basis of the photographed image information, The external state is individually determined by the judging means.

Thereafter, each holding table on which each container is held is moved to the outside of the rotating body by a moving unit, and each holding head on which each agricultural product is held is lowered by the lifting unit, and each agricultural product of which the inspection of the bottom surface is completed is placed on each container. The container containing the agricultural products is discharged from each holder on the rotating body again.

The agricultural product inspection device according to claim 2 is provided with a rotation means for rotating the holding head in parallel with the configuration according to the first aspect, and the agricultural product held by the holding head in the lateral direction of the rotating body. A side photographing means for photographing the side surface of the holder, the holding head on which the agricultural products are held in the side inspection area of the side photographing means set on the conveying path of the holding table by rotating means, and the holding head holding It is characterized by photographing by the side photographing means the circumference around the side of the agricultural product.

According to the present invention, in the side inspection area of the side photographing means provided on the conveying path of the holding table, each holding head holding each agricultural product is rotated by the rotating means, and the front side of the agricultural product held by each holding head is rotated. The periphery is photographed by the side photographing means arranged in the lateral direction of the rotating body, and the external state of the periphery of the side of each agricultural product is individually determined by the judging means based on the image information of the periphery of the photographed side. .

The agricultural product test | inspection apparatus of Claim 3 is carried out in parallel with the structure of the said Claim 1 or 2, in the carry-in path or the export-side path of the sending-and-receiving area side part set on the conveyance path of the said holding table, An upper surface photographing means is provided for photographing the upper surface of the agricultural product accommodated in the container, and the upper surface photographing means photographs the upper surface of the agricultural product accommodated in the container in the upper surface inspection area of the upper surface photographing means set on the conveyance path of the receptor. It is done.

According to the present invention, in the carry-in or export-side path of the exchange area region side, the upper surface of the agricultural product on the container held by the holding table is photographed by the upper surface photographing means, and based on the image information of the photographed upper surface. Since the external state of the lower surface side of each agricultural product is individually determined by the determination means, the entire agricultural product surface can be inspected.

In the agricultural product inspection apparatus according to claim 4, in parallel with the configuration according to any one of claims 1, 2, and 3, the holding table includes a mounting plate for mounting a container supplied on the holding table, and the mounting plate. A pressurizing member applied to a body portion of a mounted container, and a latching lever capable of swinging up and down mounted on a lower side of the mounting plate and engaged with an outer side of the container on the mounting plate are provided.

According to the present invention, the pressing member is fastened to the body portion of the container mounted on the mounting plate of the holding table, and the locking lever is attached to the outer side of the container mounted on the mounting plate, and the centrifugal force applied at the time of rotation of the rotating body It prevents the receptor mounted on the support from trying to escape outward. On the other hand, the locking lever swings downward from the outer side of the container, pulls out the pressing member from the body of the container, releases the lock, and discharges the container from the mounting plate of the holding table.

According to the present invention, each agricultural product on each container held by each holding table of the rotating body is held upward by each holding head, and lifted upwards, and each agricultural product held by each holding head is moved circumferentially along the conveying path. While inspecting the external condition of each of the agricultural products, while inspecting the entire surface of the agricultural products can be performed in a small space, and a plurality of agricultural products can be inspected continuously, the whole surface inspection with high efficiency in a small space Can be done.

Moreover, rather than arranging a photographing apparatus, a lighting apparatus, etc. on a linear conveyance path like a conventional example, since the installation space of the whole apparatus is reduced and the moving distance of an operator becomes short, maintenance management becomes easy.

In addition, since the transfer mechanism for transferring the agricultural products from the first conveyor to the second conveyor is unnecessary as in the conventional example, the configuration and structure of the entire apparatus are not a problem, and the layout of the apparatus can be easily performed and manufactured at low cost. .

The present invention is to examine the external state of each agricultural product while moving the agricultural products held by the plurality of holding heads in the circumferential direction along the conveyance path. Is achieved by

[Example]

An embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The figure shows the agricultural product test | inspection apparatus of the rotary system used for the operation | work which inspects the whole agricultural product whole surface. In FIG. 1 and FIG. 2, the said agricultural-type agricultural product inspection apparatus 1 is each one in which one agricultural product A was accommodated. Receptor (B)... Is carried into the inspection chamber 3 where external light is blocked by the carry-in conveyor 2A, and through the in-feed screw 5 and the star wheel 6A arranged on the carrying-in side, and inside the examination chamber 3. It supplies on the rotary table 8 of the rotary type inspection apparatus 7 arrange | positioned at. On each conveyance path set along the periphery of the turntable 8, each container B on the turntable 8... After inspecting the external state (side and bottom) of the agricultural product A taken out from the container, the inspected agricultural product A is placed in each container B on the turntable 8... It is accommodated again in the container, and is carried out and conveyed to the outside of the examination room 3 by the carrying-out conveyor 2B via the star wheel 6B arrange | positioned at the carrying out side. And the upper surface of the agricultural product A accommodated in the container B is examined on the conveyance path | route of the star wheel 6A arrange | positioned at the carrying in side.

2 A of said conveyance conveyors are container B in which one agricultural product A was accommodated. Are conveyed by arranging them in one row with respect to the conveying direction, and conveyed one by one with respect to the spiral groove 5a of the infeed screw 5 arranged in the downstream left part. Moreover, the stopper mechanism 4 arrange | positioned at the upstream right side part is each container B which accumulates on the upstream side of the infeed screw 5 mentioned later. When deficiency occurred in accumulation quantity of each receptor (B)…. To stop feeding the infeed screw (5).

The infeed screw 5 is formed on each container B on the carrying conveyor 2A. Is formed so that the pitch interval gradually widens from the start end side to the end side, and each acceptor B held by the spiral groove 5a is stopped. … To each receiving portion 6a of the star wheel 6A, which is conveyed while being spaced apart at predetermined front and rear intervals with respect to the conveying direction by the rotational force of the screw itself, and disposed on the downstream right side. Supply one by one.

The star wheel 6A is provided with a plurality of receiving portions 6a in which one container B is held at predetermined equal intervals in the circumferential direction with respect to the circumferential portion, and is formed in the spiral groove of the infeed screw 5. Each receptor (B) held in (5a) and stopped; Each receiving portion 6a... One by one, and each receiving part 6a... Each receptor (B) retained in... ... of each holding table 9 of the turntable 8 described later. Rotate horizontally at a speed that can be exchanged one by one. In other words, in the exchange region a, the receiver B accommodates one agricultural product A is provided in each receiving portion 6a... It is accommodated in and stopped, and it moves around, and each holding stand 9 of the rotary table 8 is... You will exchange one by one.

The star wheel 6B has the same configuration and structure as that of the star wheel 6A, and the respective holders 9 on the rotary table 8... Each receptor (B) retained in... ... Each receiving portion 6b of the star wheel 6B. Rotate horizontally at a speed that can be exchanged one by one. Namely, in the exchange region f, each receiver 6a receives the receptor B in which one agricultural product A is accommodated. It is accommodated in the stop and move around, and one by one to the transport conveyor (2B).

In addition, the communication guide 10 arrange | positioned between the star wheel 6A and the star wheel 6B is referred to as each receiving part 6a of the star wheel 6A. Each receptor (B) retained in... The respective holding tables 9 of the rotary table 8 along the carry-in side guide surface opposite to the periphery of the receiving side of the star wheel 6A. Guide to meetings to give and receive about. On the other hand, the receiving and receiving guides 10 are each receiving portion 6b of the star wheel 6B. Each receptor (B) retained in... Guides around the transport side of the transport conveyor 2B along the transport side guide surface facing the perimeter of the receiving side of the star wheel 6B.

The said conveyance conveyor 2B is each receiving part 6b of the star wheel 6B. Each receptor containing one agricultural product A sent out from the. Is arranged in one row with respect to the conveying direction and conveyed to the next process, such as a conveyance process, for example, a sorting process, a box factory stroke, etc.

In the upper surface inspection area g set on the conveyance path of the star wheel 6A, as shown in FIG. 3, the upper surface photographing camera 35 which photographs the upper surface of the agricultural product A accommodated in the container B is conveyed. Installed above the path. The image pickup camera 35 has each receiving part 6a... When the container B held in the container is returned to the upper surface inspection area g, the upper surface of the agricultural product A accommodated in the container B is photographed, and the image information is used to determine the upper surface item of the agricultural product A. As the inspection information for the storage, it is stored in the determination device 39 described later in association with the unique information set for each container B. FIG.

The inspection apparatus 7 has a disk-like view from a plane arranged at a height substantially parallel to the star wheels 6A and 6B on the lower end side of the rotation shaft 11 which is axially supported in the examination chamber 3. The center of the rotary table 8 is fixed, and the center of the support frame 12 disposed above the rotary table 8 is fixed to the upper end side of the rotary shaft 11 to drive the rotary shaft 11 by a motor or the like. Each holder 9 rotates in one direction through a gear or a chain by means, and is arranged at predetermined equal intervals in the circumferential direction with respect to the upper periphery circumference of the turntable 8. Wow, each holding stand 9... Corresponding to each of the holding heads 13 arranged vertically at predetermined equal intervals in the circumferential direction with respect to the periphery of the support frame 12. To each holder 9... Synchronize with the exchange area (a), adsorption holding area (b), side inspection area (c), lower surface inspection area (d), adsorption release area (e), and exchange area (f) set on the conveyance path of (期 期) and move orbit.

4, 5, and 6, the holding table 9 is slidably mounted in a radial direction with respect to the rail 14 provided on the upper circumferential periphery of the rotary table 8, It is provided slidably in the protruding position which protrudes outward from the circumference part of the turntable 8, and the retracted position which becomes inward or substantially equivalent to the circumference part.

In addition, the holding table 9 is viewed from a plane which is caught by the recess Ba formed on the peripheral surface of the body part of the container B on the mounting plate 9a on which one container B is mounted. An approximately arc-shaped pressing member 9b is fixed, and a pair of left and right locking levers 9c and 9c which are engaged with an outer portion of the container B mounted on the mounting plate 9a is mounted on the mounting plate 9a. ) Is mounted so as to be swingable up and down relative to both side surfaces of the lower surface side, and is engaged with the outer side of the container B by the coil spring 9d loaded on the upper end side surface of the locking lever 9c. Rotational pressure is applied to the locking posture. The cam follower 9e attached to the proximal end of the locking lever 9c is a transfer area (when the holder 9 moves outwardly from the periphery of the rotary table 8). It is mounted on the latch release cam 15 below the conveyance path of the holding | maintenance stand 9 hypothesized in the exchange area | region a from f).

That is, when the holder 9 is moved while protruding outward from the periphery of the circumference of the turntable 8, the cam follower 9e of the locking lever 9c is placed on the locking release cam 15, and the coil By the resistance of the spring 9d, the locking end of the locking lever 9c is rotated downward, and the rotation is regulated in a release posture in which the locking is released with respect to the outer side of the receptor B. FIG. On the other hand, when the cam follower 9e is removed from the catch release cam 15, the rotational restriction of the catch lever 9c is released, and the catching posture that is caught by the restoring force of the coil spring 9d against the outer part of the container B by the restraining force. Return to rotation by.

In addition, the upper end of the support shaft 16, which is axially supported on the rear upper surface rather than the retracted position on the rotary table 8, and the rear end of the holder 9 are connected by the lever 17 and the rod 18, and the rotary table The small diameter gear 19 fixed to the lower end of the support shaft 16 protruding to the lower surface of the 8 and the large diameter gear 20 axially supported on the lower periphery circumference of the rotary table 8 are engaged with each other. The cam follower 21 mounted on the lower peripheral side circumference of the large-diameter gear 20 is engaged with the cam groove 22 formed along the upper peripheral side of the cam stand 23. The cam stand 23 is fixed to the bottom of the test chamber 3, and the rotation shaft 11 is rotatably supported at the center thereof.

Moreover, each holding stand 9... Corresponding to each cam follower 21 mounted on the lower surface of the turntable 8. Moves along the cam groove 22 of the cam stand 23 by the rotation of the rotary table 8, and the cam groove 22 is a transfer area a, a suction holding area b, and a side inspection on the conveyance path. Groove portions corresponding to the region (c), the adsorption release region (e), and the exchange region (f) are formed on the outer path along the periphery of the cam stand 23, and correspond to the lower surface inspection region (d). The groove part to be made is shifted toward the center side of the turntable 8, and is formed on the inner side path | route.

In other words, when the holder 9 is moved from the side inspection area c to the lower inspection area d, the cam follower 21 moves from the outer groove part toward the inner groove part along the cam groove 22 and the cam is moved. The gear 20 and the small diameter are larger by the angle that the large diameter gear 20 rotates integrally with the follower 21 so as to retract the holding table 9 inward from the peripheral circumference of the rotary table 8. Since the gear 19 of diameter rotates, the holder 9 slides inward toward the center of the turntable 8 along the rail 14 by the crank motion of the lever 17 and the rod 18. When the cam follower 21 moves along the cam groove 22 in the inspection area d when the cam follower 21 moves, the retracted position 9 becomes inward or approximately equal to the periphery of the circumference of the turntable 8. Retreat to move.

In addition, when the holding table 9 is moved from the inspection region d to the suction release region e, the cam follower 21 moves from the inner groove portion toward the outer groove portion along the cam groove 22 to the cam. Large diameter gear 20 rotates integrally with follower 21, such that the gear 20 and the small diameter are larger by an angle that protrudes the holding table 9 outward from the peripheral circumference of the turntable 8. Since the gear 19 having a diameter rotates in the reverse direction, the crank motion of the lever 17 and the rod 18 causes the holder 9 to slide outward along the rail 14, and to follow the cam follower 21. ) Moves along the cam groove 22 of the areas a, b, c, e, f other than the inspection area d, the holding table 9 is outside the circumference of the turntable 8. Move with protruding.

In addition, in the sending / receiving area a and the sending / receiving area f, if the holder 9 is moved while protruding outward from the peripheral circumference of the turntable 8, the cam follower of the locking lever 9c is moved. The war 9e is lifted up to the unlocking cam 15, and by the resistance of the coil spring 9d, the locking end of the locking lever 9c rotates downward, and the locking of the outer side of the container B is engaged. Since the rotation is regulated in the release posture to be released, the respective supporters 9 moved to the exchange area a are provided. With respect to each receiving portion 6a of the star wheel 6A. Each receptor (B) retained in... Holders 9 to be exchanged with each other and moved to the exchange area f. Each receptor (B) on the... ... Each receiving portion 6b of the star wheel 6B. You will be given and received on.

As shown in Fig. 7, the holding head 13 is equipped with a flexible suction pad 24 at the lower end of the hollow shaft 25, and the entire length of the hollow shaft 25 is hollow. The spline shaft 26 is inserted and held in such a manner as to be movable up and down with respect to the spline shaft 26 and vertically movable up and down with respect to the inner rotation part of the bearing portion 27 mounted on the circumference of the support frame 12. The shaft is supported and held horizontally integrally with the inner rotating part.

Moreover, the pulley 28 fixed to the inner side rotation part of the bearing part 27 moves along the conveyance path of the holding stand 9 by the rotation of the support frame 12, and the side of the side inspection area | region c Since the contact resistance hypothesized in the conveying path side direction is pressed by the rotating member 29 made of a large synthetic rubber, pressed by the rotating member 29, and the spline shaft 26 rotates through the pulley 28, The holding head 13 holding (A) moves while rotating along the conveyance path. And the rotation provision member 29 can be comprised, for example with the pad | belt, a belt, etc. which are made of synthetic rubber.

Moreover, the upper end part of the hollow shaft 25 is connected to negative pressure generators, such as a vacuum pump and a suction blower, for example through negative pressure switching means, such as a rotary valve, and the lower end part of the hollow shaft 25 The intake passage is opened when the adsorption pad 24 is in close contact with the agricultural product A, and the intake passage is closed when the suction pad 24 is not in close contact with the agricultural product A.

Moreover, the substantially annular holding frame 30 attached to the lower end of the spline shaft 26 is mounted so that the circumference | surroundings of the adsorption pad 24 may be enclosed, and the coil spring loaded on the holding frame 30 upper end. It is always pressurized downward by 31, and it moves up and down according to the magnitude | size of the agricultural product A which the adsorption pad 24 adsorbs-holds, and maintains the agricultural product A in a stable attitude | position.

In addition, the support member 32 on which the cam follower 33 is axially supported is mounted to be freely rotatable and not to be moved up and down with respect to the upper end of the spline shaft 26. It regulates rotation so that it always faces inward.

In addition, the cam follower 33 axially supported by the support member 32 is coupled to the loop-shaped rail 34 hypothesized above the peripheral circumference of the support frame 12 about the rotation shaft 11. , Moving up and down while moving in the circumferential direction along the rails 34 by the rotation of the support frame 12, the exchange area (a), the adsorption holding area (b), the side inspection area (c), and the lower surface on the conveyance path. It moves to the test | inspection area | region d, the adsorption | suction removal area | region e, and the exchange area | region f.

That is, when the holding head 13 moves from the exchange area a to the suction holding area b, the cam follower 33 descends along the rail 34 and the suction pad at the bottom of the spline shaft 26. The 24 is in close contact with the agricultural product A on the container B mounted on the holder 9 protruding outward from the circumferential circumference of the turntable 8. When the holding head 13 moves from the suction holding area b to the side inspection area c, the cam follower 33 rises along the rail 34, and the agricultural products sucked and held by the suction pad 24. (A) is lifted upwards. When the holding head 13 moves from the side inspection area c to the lower inspection area d, the cam follower 33 moves horizontally along the rail 34 while being restricted to the raised position, and the suction pad 24 The agricultural product A adsorbed-held by) is horizontally moved in the circumferential direction along the conveyance path.

In addition, when the holding head 13 moves from the lower surface inspection area d to the suction release area e, the cam follower 33 descends along the rail 34 and is held by the suction pad 24. The produced agricultural product A is mounted on the container B on the holding table 9 which protrudes outward from the peripheral circumference of the turntable 8. When the retaining head 13 moves from the adsorption release area e to the exchange area f, the cam follower 33 rises along the rail 34, and the adsorption pad that has desorbed the agricultural product A ( 24) is returned to the upper standby position. When the retaining head 13 moves from the pick-up area f to the pick-up area a, the cam follower 33 moves horizontally along the rail 34 while being restricted to the raised position, and rises to the standby position. The returned suction pad 24 is horizontally moved in the circumferential direction along the conveyance path.

In the side inspection area c, as shown in FIG. 8, a galvano mirror which projects an image of the side surface of the agricultural product A held by the holding head 13 toward the side photographing camera 36 ( The galvano mirror 36A and the side photographing camera 36 which image | photographs the image of the side surface of the agricultural product A which the galvano mirror 36A projects are arrange | positioned at the side of the rotating table 8.

In addition, the galvano mirror 36A is substantially synchronized with the moving speed of the holding head 13 and the image of the side surface of the agricultural product A held by the holding head 13 is reflected toward the side photographing camera 36. The motor rotates after the motor or the like depending on the angle.

Moreover, the side photographing camera 36 is an image of the side surface of the agricultural product A which the holding head 13 hold | maintains, while the holding head 13 in which the agricultural product A was hold | maintained rotates by one rotation apparatus. Is photographed (at least four times) while projecting onto the galvano mirror 36A, photographing the entire periphery of the side surface of the agricultural product A, and the image information as inspection information for determining the side item of the agricultural product A. The judging device 39 is stored in association with the unique information set for each container B that moves in synchronization with the agricultural product A.

In the side inspection area c, instead of providing the galvano mirror 36A, a plurality of side photographing cameras 36 are disposed so that the side surface of the agricultural product A held by the holding head 13 is held. You may want to take pictures of you around you.

In the lower surface inspection area d, as shown in FIG. 9, the lower surface photographing camera 37, which photographs the lower surface of the agricultural product A held by the holding head 13, is placed on the lower periphery of the rotary table 8. It is arrange | positioned below the conveyance path | route of the holding stand 9 as an outer side. The lower surface photographing camera 37 conveys the agricultural product A held by the holding head 13 to the lower surface inspection area d, and the holding table 9 on which the container B is supported is placed on the rotary table 8. When the container B and the holding table 9 have moved away from between the agricultural product A held by the holding head 13 and the lower surface imaging camera 37, the holding head 13 holds the holding head 13. The receiver B which moves in synchronization with the agricultural product A as inspection information for photographing the lower surface of the produced agricultural product A directly from below and upwards and determining the image information of the lower surface of the agricultural product A. It is stored in the determination device 39 in association with the set unique information.

The determination device 39 is a farm product A based on the image information around the farm product A photographed by the top imaging camera 35, the side photographing camera 36, and the bottom photographing camera 37. The grades and grades of are determined individually, and the determination results are stored in association with the unique information set for each container B. Moreover, based on the determination result memorize | stored in association with the intrinsic information of the container B, a division signal is output to the division apparatus which is not shown arrange | positioned downstream of the carrying-out conveyor 2B.

The illustrated embodiment is configured as described above, and a method of inspecting the entire surface of the agricultural product A by the agricultural product inspecting apparatus 1 will be described below.

First, as shown in FIG. 1, each receptor (B) in which one agricultural product (A) is accommodated. Is carried in by 2 A of conveying conveyors, and one is sent with respect to the spiral groove 5a of the infeed screw 5, respectively. Each receptor (B)... ... Each receiving portion 6a of the star wheel 6A with the infeed screw 5 spaced at predetermined front and rear intervals with respect to the conveying direction. Supply one by one.

Next, as shown also in FIG. 3, when the container B hold | maintained by the receiving part 6a was conveyed to the upper surface inspection area | region g set on the conveyance path | route of the star wheel 6A, the container B is carried out. The upper surface of the agricultural product A accommodated in the upper surface photographing camera 35 is photographed, and the image information is associated with the unique information set for each receptor B as upper surface inspection information for determining the upper surface item of the agricultural product A. It is stored in the determination device 39.

Next, each receiving part 6a of the star wheel 6A... Each receptor (B) retained in... Approximately in synchronism with the movement speed, the respective holding tables 9 of the turntable 8... While moving outward to the exchange area (a), the pair of locking levers (9c, 9c) mounted on the holder (9) from the exchange area (f) to the exchange area (a) Each receptor B held by each receiving portion 6a of the star wheel 6A is moved by the temporary locking release cam 15 while being regulated in a locking release posture. ... each holder 9 of the rotary table 8 moved to the exchange area a; You will exchange one by one.

Next, as shown in FIG. 5, the pressing member 9b of the holding table 9 is hooked on the recess Ba of the circumferential surface of the container B, and the left and right pairs of locking levers 9c and 9c are closed. The valve is released from the locking release cam 15 to release the restriction, and the coil spring 9d is rotated and returned to the locking posture with respect to the outer side of the container B, and the locking levers 9c and 9c are rotated. By hanging on the outer side of the holder, one container B is held on the holding table 9. In addition, the centrifugal force applied at the time of rotation of the rotary table 8 prevents the container B mounted on the holding table 9 from going outward.

Next, as shown in FIG. 7, each receptor (B) in which the agricultural product (A) was accommodated. To each holder 9 of the turntable 8... While moving along the conveyance path while maintaining the temperature of each holding table 9... ... Each retaining head 13 corresponding to. Synchronously with the moving speed of the holding table 9, is lowered down while moving from the sending / receiving area a to the suction holding area b along the conveyance path, and the container B on the holding table 9 is moved. The adsorption pad 24 is brought into close contact with the agricultural product A housed therein, and the agricultural product A is adsorbed and held by the negative pressure generated on the adsorption surface of the adsorption pad 24.

Next, the holding head 13 is raised directly while moving from the suction holding area b to the side inspection area c along the conveyance path substantially in synchronization with the moving speed of the holder 9, and the suction pad 24 The agricultural product A adsorbed-held by ()) is taken out from the container B, lifted upward, and moved to the side inspection area c on the conveyance path. Moreover, the container B from which the agricultural product A was removed moves to the side surface inspection area | region c on a conveyance path | route with being mounted in the holding stand 9.

Next, as also shown in FIG. 8, the pulley 28 of the holding head 13 in which the agricultural product A was hold | maintained along the conveyance path, applying the pressure to the rotation provision member 29 of the side inspection area | region c. Rotate by moving, and the galvano mirror 36A is substantially synchronized with the moving speed of the holding head 13 so that the image of the side of the agricultural product A held by the holding head 13 is directed toward the side photographing camera 36. Following rotation according to the reflected angle, the image of the side of the product A reflected by the galvano mirror 36A is taken by the side photographing camera 36 a plurality of times, and the front side around the side of the product A is photographed. do. Moreover, the image information photographed by the side photographing camera 36 is side inspection information for determining the side item of the agricultural product A, and is related with the unique information set for every container B which moves in synchronism with the agricultural product A. FIG. The memory is stored in the determination device 39.

Next, as shown in FIG. 4, FIG. 5, and FIG. 6, moving the agricultural products A hold | maintained by the holding head 13 to the lower surface test | inspection area | region d from the side test | inspection area | region c along a conveyance path | route. , Each receptor (B)... Each holder 9 mounted thereon is moved in the radial direction toward the center of the rotary table 8, and as shown in FIG. 9, the inner holder is substantially the same as the inner circumference of the rotary table 8; The container B and the holder 9 are retracted from the lower side of the agricultural product A held by the holding head 13.

Thereafter, the lower surface of the agricultural product A held by the holding head 13 is photographed by the photographing camera 37, and the image information is used as the lower surface inspection information for determining the lower surface item of the agricultural product A. It stores in the judging device 39 in association with the unique information set for each container B moving in synchronization with (A).

Next, each receptor (B)... Holders 9 mounted thereon. Is moved radially toward the outer circumferential portion of the turntable 8, and at the projected position projecting outward from the peripheral circumference of the turntable 8, and then to the transfer area f on the conveyance path. . In addition, as shown in FIG. 7 again, when the holding head 13 on which the produce A is held is along the conveying path substantially in synchronism with the moving speed of the holding table 9, the adsorption releasing area ( While moving to e), it descends immediately below, mounts the agricultural product A adsorbed-held by the adsorption pad 24 to the container B, and releases the adsorption hold by the adsorption pad 24. FIG.

Next, the holding head 13 is raised directly while moving along the conveying path substantially in synchronization with the moving speed of the holding table 9, the holding by the holding head 13 is released, and the produce A is held by the holding table. It mounts again in the receptor (B) on (9). Each receptor (B) in which agricultural products (A) are housed. To each holder 9... It keeps on and moves to the sending / receiving area | region f on a conveyance path | route.

Next, each holding stand 9... To each latch lever 9c mounted on the screw. Each follower (9e) of. Is pushed up by the locking release cam 15 hypothesized in the exchange zone f, and rotated to a locking release posture resisting the coil spring 9d, and the locking levers 9c and 9c are rotated. It swings downward from the outer side to release the latch, and at the same time, the pressing member 9b is pulled out from the recess Ba of the container B, and the respective holders 9 of the rotary table 8 are. Each receptor (B) retained in... To each receiving portion 6b of the star wheel 6B. Give and receive one by one.

Next, each receiving part 6b of the star wheel 6B. Each receptor (B) sent out from the... Is replaced one by one with respect to the carrying-out conveyor 2B, and each container (B) in which one agricultural product (A) is mounted is carried out. Is conveyed to the next process by the carrying-out conveyor 2B.

On the other hand, the grade and rank of the produce A are judged based on the image information of the periphery of the produce A taken with the top camera 35, the side camera 36, and the bottom camera 33. The apparatus 39 makes the determination separately, and stores the determination result in association with the unique information set for each container B. In addition, according to the determination result stored in association with the inherent information of the container B, a division signal is output to a division apparatus not shown arrange | positioned downstream of the carrying-out conveyor 2B, and it divides by grade and class. .

As described above, each holder 9 of the turntable 8... Each receptor (B) retained in... Each product (A) on the. To each holding head 13... Hold | maintains and lifts upwards, and each holding head 13 ... Each agricultural product (A) held by… In each of the agricultural products A in the side inspection area c on the conveying path, while moving idle in the circumferential direction along the conveying path. Photograph the side periphery of the film | membrane with the side photographing camera 36, and each agricultural product A in the lower surface inspection area | region d on a conveyance path | route. Is photographed with the photographing camera 37, and each of the agricultural products A in the upper surface inspection area g of the transport path side. Since the external state is inspected by photographing the upper surface of the upper surface of the agricultural product A with the upper surface photographing camera 35, the inspection of the entire surface of the agricultural product A can be performed in a small space, Can be inspected continuously, so that the whole surface inspection can be performed with high efficiency in a small space.

Further, the side photographing camera 36 and the bottom photographing camera 37 are each mounted on the holder 9... Since it arranges in the circumferential direction along the conveyance path | route, the installation space of the whole apparatus is reduced rather than arrange | positioning a photographing apparatus, a lighting apparatus, etc. on a linear conveyance path like a conventional example, the operator's moving distance becomes short and maintenance Management can be performed easily.

In addition, since a transport mechanism for transporting agricultural products from the first conveyor to the second conveyor is unnecessary, the configuration and structure of the entire apparatus can be simplified, the layout of the apparatus can be easily performed, and the production can be made at low cost.

Moreover, each holding stand 9 of the turntable 8... And each holding head 13 of the supporting frame 12. The rotational motion which moves a along a conveyance path | route, and each holding stand 9... Since the slide operation for protruding and retracting the circumference to the circumference of the rotary table 8 is driven by one driving means composed of a motor or the like, the installation of the entire apparatus can be easily performed.

Further, in response to the movement of the produce A held by the holding head 13, the reflection angle of the galvano mirror 36A is followed so that the image of the side of the produce A is picked up by the side photographing camera 36. In this case, the one side photographing camera 36 can photograph the entire periphery of the side of the agricultural product A, and the number of installations of the photographing apparatus and the lighting apparatus is reduced, so that the cost can be reduced.

In correspondence with the configuration of the present invention and the above-described embodiment,

The rotating body of the present invention corresponds to the rotating table 8 of the embodiment,

Similarly,

The rotating means corresponds to driving means such as a motor for rotating the rotating shaft 11 on which the rotating table 8 is fixed,

The lifting means corresponds to the cam followers 33 and the rails 34,

The moving means includes a rail 14, a support shaft 16, a lever 17, a rod 18, a small diameter gear 19, a large diameter gear 20, a cam follower 21, and a cam groove. In response to (22),

The image capturing means corresponds to the image capturing camera 35,

The side photographing means corresponds to the side photographing camera 36,

The lower surface photographing means corresponds to the lower surface photographing camera 37,

The rotating means corresponds to the spline shaft 26, the bearing portion 27, the pulley 28, and the rotating applying member 29,

This invention is not limited only to the structure of the above-mentioned embodiment.

For example, before the carry-in or take-out of the agricultural product inspection apparatus 1, or on the conveyance path of the star wheel 6A or 6B, the internal state of the agricultural product A accommodated in the container B is examined. It is also possible to install an internal inspection device.

Moreover, when the side inspection area | region c is provided, it is installed in the conveyance path downstream of the inspection area | region d, and when taking the lower surface of the agricultural product A hold | maintained by the holding head 13, after image | photographing with the photographing camera 37, The side surface of the agricultural product A may be photographed by the side photographing camera 36.

Moreover, on the conveyance path | route of the star wheel 6A, you may image the upper surface of the agricultural product A accommodated in the container B with the image pickup camera 35. FIG.

As described above, the present invention can perform the operation of inspecting the entire agricultural product surface in a small space, and has the effect of easily performing the layout of the entire apparatus.

Claims (4)

A holding table which is provided in plural in a circumferential direction with a predetermined equal interval in the circumferential direction of the rotating body, and holds a container in which agricultural products are accommodated; Rotating means for rotating the rotating body, A holding head which is provided in a plurality of upper parts of the rotating body corresponding to the holding tables, and holds the agricultural products accommodated in the container; Elevating means for elevating the holding head; A lower surface photographing means disposed below the conveying path of the holding table and photographing a lower surface of the agricultural product held by the holding head; Determining means for determining the state of the agricultural product based on the image information photographed by the lower surface photographing means, Installing the holding table so as to be slidable in the radial direction with respect to the rotating body, and moving means for moving the holding table to the retracted position which is radially inward of the rotating body, At the same time, the agricultural products on the container held by the holding table are held and raised by the holding head to move the agricultural products withdrawn from the container, The holding means on which the container is supported in the lower surface inspection area of the lower surface photographing means is moved by the moving means to the retracted position, and the lower surface of the agricultural product held by the holding head is photographed by the photographing means. Agricultural product inspection apparatus. The method of claim 1, A side photographing means for providing a rotating means for rotating the holding head and photographing a side of the agricultural product held by the holding head in the lateral direction of the rotating body; In the side inspection area of the side photographing means set on the carrying path of the holding table, the holding head on which the agricultural products are held is rotated by the rotating means, and the side circumference means around the side of the agricultural product held by the holding head. Agricultural product inspection apparatus, characterized in that the photographing. The method according to claim 1 or 2, An upper surface photographing means for photographing the upper surface of the agricultural product accommodated in the container, on an import-side path or an export-side path of the exchange area region side set on the carrying path of the holding table; And an upper surface photographing means for photographing the upper surface of the agricultural product accommodated in the container in the upper surface inspection region of the upper surface photographing means set on the conveyance path of the container. The method according to claim 1 or 2, The holder is A mounting plate for mounting the receptor supplied on the holding plate, a pressing member applied to the body portion of the container mounted on the mounting plate, and a lower side of the mounting plate, which is mounted on the mounting plate, An agricultural product inspection device, comprising a locking lever capable of swinging up and down.

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