WO2004108535A1

WO2004108535A1 - Method, device, and container for receiving strawberry

Info

Publication number: WO2004108535A1
Application number: PCT/JP2004/007631
Authority: WO
Inventors: Kazuo Miyata; Kazuhiko Yamaoka
Original assignee: Nihon Kyoudo Kikaku Kabushiki Kaisha
Priority date: 2003-06-02
Filing date: 2004-06-02
Publication date: 2004-12-16
Also published as: JPWO2004108535A1; JP4637019B2; JP2004359243A; JP4338445B2

Abstract

A vine of a strawberry is gripped by grip means, and the strawberry held by the grip means is sent to above a container by moving the grip means to the container side. As the grip means is sent out, an attitude of the grip means is changed such that the strawberry held by the grip means comes to a position suitable to be received in the container. After that, the vein gripped by the grip means is released so that the strawberry is received in the container and the grip means is returned after the reception, while the container is stopped when it receives the strawberry. After the strawberry has been received, a next receiving portion in the container is moved until it is at a strawberry receiving position. Strawberries are automatically received in one container in sequence by repeating gripping of a strawberry, movement of the grip means, a change in an attitude of the grip means, release of the strawberry held by the grip means, and reception of the strawberry in the container.

Description

Specification

TECHNICAL FIELD The automatic strawberry containing method, the strawberry automatic containing device, and the strawberry containing container

[0001] The present invention relates to an automatic strawberry-housing method for automatically accommodating soft-scratchable strawberries and strawberries in containers for shipping and sales, arranged in several rows, and a strawberry for use in the automatic strawberry-housing method. The present invention relates to an automatic storage device and a strawberry storage container.

^ Scenic technology

[0002] Strawberries are picked by farmers on the farm, packed in harvesting containers, transported to the workplace, and manually sorted at the workplace by quality and size grades and ranks. The containers are packed (packed), one by one, in containers for sale, sales, etc., and several containers are stored in cardboard boxes and brought to a collection place.

Disclosure of the invention

Problems the invention is trying to solve

[0003] The above-described manual sorting and storage work has the following problems.

1. It took time and effort, and forced farmers to work other than cultivation. The amount of work required for cultivation such as spraying pesticides and harvesting had to be reduced, and the cultivation area could not be expanded.

2. When harvesting strawberries, the fruits of the strawberries were picked by hand, picked, sorted, and placed in a container. The hands touched the fruits, and the fruits were sometimes damaged by fingers or nails. In addition, due to the strong hygiene of consumers in recent years, there is also a problem that it is not good for hygiene to directly pick the strawberry fruit by hand.

Means for solving the problem

[0004] The present invention relates to an automatic strawberry that can be automatically stored in a container by arranging a plurality of strawberries in a row without sticking the strawberries, being sanitary, and not damaging the fruits of the strawberries. An object of the present invention is to provide a strawberry automatic storage device capable of automatically and continuously storing strawberries, and a strawberry storage container.

[0005] In the strawberry automatic accommodating method of the present invention, the vine of the strawberry is grasped by the grasping means, and the vine is grasped. Is moved to the container side, and the strawberry is sent out to the top of the container, and the strawberry is gripped as the gripping device is sent out, so that the strawberry has a posture suitable for accommodation in the container. The vine was released in that state, and the strawberries were housed in the container. After the storage, the gripper is returned to the position before sending out, and the next strawberry is gripped, the container is moved by one row, and the standby is prepared for the next storage, and then the gripper is sent out to the container side and gripped. By repeatedly changing the posture of the strawberry by changing the posture of the means, opening the strawberry, and storing the strawberry in the container, the strawberry is automatically and sequentially stored in one container in several rows. Two or more gripping means are arranged side by side at intervals, and the distance between the gripping means is changed as the gripping means is sent out to the container side.According to the change in the distance, the interval of strawberries gripped by the gripping means is stored in the container. The strawberries are arranged in a row at a time so that they can be accommodated in a container at a time.After that, one row of containers is moved, a plurality of strawberries are simultaneously gripped, and two or more grippers are used. Simultaneous delivery and simultaneous storage of strawberries in the container were repeated so that strawberries could be stored in multiple rows in the container.

[0006] The strawberry automatic storage device of the present invention includes a gripper for gripping a strawberry vine, an operating device for operating the gripper so as to grip and open the strawberry vine, and sends the gripper to the container side. 'The reciprocating drive means to pull back and reciprocate, and the posture of the grasping means so that the posture of the strawberry grasped by the grasping means as the grasping means is sent out to the container side becomes a posture suitable for accommodation in the container. It is provided with guide means for changing, and setting means for setting a container for accommodating strawberries. The gripping means can be arranged two or more at a horizontal interval, and the guide means can also be arranged at two or more at a horizontal interval so that two or more strawberries gripped by the gripping means can be simultaneously arranged in a row and accommodated in a container. I did it. In each of the guide means, the interval of the gripping means sent out to the container side was changed so that the interval between the strawberries gripped by the gripping means was an appropriate interval for accommodating the container. The guide means has a structure that bends downward on the container side or a three-dimensional structure that bends downward and sideways.The gripping means sent out along it automatically changes downward and the strawberry's posture changes, or The strawberry was bent downward and sideways so that the strawberry's posture and spacing also changed.

[0007] In the strawberry storage container of the present invention, a receiving recess capable of accommodating strawberries is formed on the bottom surface of the container by a partition wall and formed in a plurality of rows and columns, and the holding means approaches the container to accommodate the strawberries in the receiving recess. A relief portion is formed on the partition wall to prevent the clipping tool of the gripping means from colliding with the partition wall when performing. The relief portion was a hole opening on the bottom of the container, a dent on the bottom side, or the like. The receiving recesses were staggered, changed in direction, changed in size, and the like.

The invention's effect

[0008] The strawberry automatic accommodating method of the present application has the following effects.

(1) The gripper holding the strawberry is sent out to the container side, the strawberry is stored in the container, and the strawberry is gripped by the gripper, the gripper is sent out to the container side, the posture of the gripper is changed, and the strawberry grip is released. Repeatedly, the strawberry is automatically and sequentially contained in one container, so that the strawberry is automatically and efficiently stored and the labor is greatly reduced.

(2) The strawberry vines are gripped, so it is sanitary that the hands and gripping means do not touch the strawberry fruit, the strawberry fruit is not damaged, and the quality of the strawberry is not degraded by the containment work.

(3) As the gripping means holding the strawberry is sent out to the container side, the posture is controlled so that the strawberry is in a posture suitable for accommodation in the container, so that the force S for accommodating the strawberry in a predetermined direction can be obtained. . Further, since the strawberry which is released from the gripping means and accommodated in the container becomes small, the strawberry is not damaged or damaged by the impact.

(4) As the gripping means is sent out, the interval on the container side of the gripping means is changed so that the strawberry which is gripped by the gripping means is at an interval suitable for accommodation in the container, so that the strawberry is placed in the container. It can be stored neatly at regular intervals.

(5) Grasp the strawberry vines separately with two or more gripping means, store the strawberries in a container in one row at a time, move the container by one row, and store the next strawberry in the container Thus, by repeating this, strawberries can be arranged in several rows in the container.

[0009] The automatic strawberry container according to the present invention has the following effects.

(1) gripping means for gripping a strawberry vine, operating means for operating the gripping means to grip and release the strawberry vine, reciprocating drive means for sending and pulling the gripping means back and forth and reciprocating; Guide means for changing the attitude of the gripping means so that the strawberry gripped by the gripping means as the gripping means is sent out to the container side becomes an attitude suitable for accommodation in the container, and setting means for setting the container. All of them are automatically operated Therefore, the strawberry can be automatically stored in the container with a simple configuration, and the labor required for the strawberry storing operation is greatly reduced. Since neither the hands nor the gripping means touch the fruit of the strawberry, it is sanitary, the strawberry is not damaged, and there is no quality deterioration due to the containment work.

(2) The orientation of the strawberry is changed by the guide means as the gripping means is sent out to the container side, so that the strawberry is in a posture suitable for being stored in the container. They can be aligned and stored in a container.

(3) Since the guide means has a three-dimensionally deformed shape in a downward direction and a horizontal direction, the strawberry can be controlled in posture and interval with a simple structure, and complicated driving means and electric means are not required. Further, maintenance such as assembly and maintenance becomes easy.

(4) The strawberry's posture and spacing can be changed simply by replacing the guide means with another one with a different degree of three-dimensional deformation, so the guide means can be changed according to the size of the strawberry to be stored, the shape of the container, etc. By selectively using the strawberry, it is possible to control the strawberry more easily in the posture and spacing that can be easily accommodated. In this case, since all means other than the guide means can be used as they are, there is no need to prepare all means, and maintenance and management become easy, which also contributes to cost reduction.

(5) Since the gripping means, the operating means for opening and closing the gripping means, the reciprocating driving means for reciprocating the gripping means, and the guide means are arranged in a plurality of rows horizontally, the strawberry is gripped by the plurality of gripping means. Several strawberries can be stored in a container at a time, and the storage operation is further improved.

The strawberry container of the present application has the following effects.

(1) Receiving recesses on the bottom of the container that can individually store strawberries are partitioned by partition walls and formed in multiple rows and columns, so individual strawberries can be partitioned and stored in the container, and Strawberries are not damaged by contact with each other due to vibration of the strawberry.

(2) A relief portion is formed on the partition wall of the container to prevent the clipping tool of the gripper from colliding with the partition wall when the gripper approaches the container and stores the strawberry in the receiving recess. Therefore, when the strawberries are stored, the partition wall is not crushed and deformed by the clipper, and the strawberry is not damaged due to the pinch tool force W caused by the crushing of the partition wall.

(3) When the escape space is a hole opened in the partition wall, the container can be molded without difficulty even if it is a resin material or the like that is difficult to mold into a predetermined shape and has poor shapeability. (4) If the relief space is a dent formed in the partition wall, the cost is lower because a hole-piercing step is not necessary, and the cost is lower than when a hole is formed. Strawberries that are not deformed by shock or impact are easy to house, and strawberries are less likely to be damaged after storage.

(5) Strawberry containers are available in a variety of shapes, such as staggered receiving recesses, staggered receiving recesses, and different sizes of receiving recesses. By selecting and using containers according to the size, shape, storage form, etc. of strawberries, strawberries can be stored in a staggered arrangement, strawberries can be stored in different rows, or strawberries of different sizes can be stored in one. It can be stored in a container.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 (a) is a plan view showing an example of an embodiment of an automatic strawberry containing device of the present invention. (B) is a side view showing the strawberry automatic storage device shown in (a).

FIG. 2 (a) is a front view showing guide means used in the strawberry automatic storage and filling device shown in FIG. 1. (B) is a plan view showing the guide means shown in (a). (C) is a side view showing the guide means shown in (a). (D) is an A-A sectional view in (b).

FIG. 3 is a plan sectional view showing a gripping means used in the automatic strawberry container shown in FIG. 1.

FIG. 4 (a) is a partial side view showing another example of the gripping means in the automatic strawberry holding device of the present invention. (B) is an overall plan view of the holding means shown in (a).

FIG. 5 (a) is a plan view showing guide means used for the holding means of FIG. 4. (B) is a side view of the guide means shown in (a), and (c) is a cross-sectional view taken along line AA in (a).

FIG. 6 (a) is a plan view showing an example of an embodiment of a strawberry container according to the present invention. (B) is a side view showing the strawberry container shown in (a).

FIG. 7 is a plan view showing another example of the embodiment of the strawberry container of the present invention.

FIG. 8 is a perspective view showing another example of the embodiment of the strawberry automatic storage device of the present invention.

FIG. 9 is an explanatory side view showing the operation of the automatic strawberry containing apparatus shown in FIG. 8.

[FIG. 10] (a) and (b) are perspective views showing the operation of the guide means of the automatic strawberry containing device shown in FIG. FIG. 11 (a) is an explanatory perspective view showing a configuration of guide means of the automatic strawberry containing device shown in FIG. 8. (B) is a perspective view of a guide bar used for the guide means shown in (a).

[FIG. 12] (a) and (b) are perspective views showing the operation of the reciprocating drive means of the automatic strawberry containing device shown in FIG.

FIG. 13 is an explanatory perspective view showing the state of the reciprocating drive means shown in FIG.

FIG. 14 is an explanatory view showing the operation of the automatic strawberry containing apparatus shown in FIG. 8.

FIG. 15 is an explanatory view showing the operation of the automatic strawberry containing apparatus shown in FIG. 8.

Explanation of reference numerals

1 Strawberry supply section

2 Strawberries

4 Carrier

20 Set means

30 Holding means

31 Air tube

32 clip

40 Guide Means

50 Reciprocating drive means

60 Punoure Cape Nore

61 core cable

70 containers

71 Receiving recess

72 Escape Space

73 holes

74 dent

80 Guide Bar

85 Tip material 90 Posture holder

101 Opening restriction

110 air cylinder

121 cushioning material (pane)

BEST MODE FOR CARRYING OUT THE INVENTION

[0013] The strawberry automatic accommodating method of the present invention is a method for grasping a strawberry vine and automatically accommodating it in a container without touching a fruit portion, and the strawberry automatic accommodating apparatus is an apparatus for realizing the accommodating method. It is. Automatically sorts strawberries by size, grade, etc., and combines them with an automatic strawberry sorting and conveying device that transports them in a single row, which can fully automate the process from sorting strawberries to storing them in containers. It is. Strawberry containers are suitable for containing in a strawberry automatic container.

Example

(Example of Automatic Strawberry Containment Method)

The strawberry automatic accommodating method of the present invention is a method for automatically sorting strawberries 2 according to size, grade, etc., and as shown in FIG. As shown in FIG. 15, the gripper 30 is gripped by the gripper 32 of the gripper 30, and the gripper 30 is sent out above the container 70 along the guide means 40, and the gripper 32 of the gripper 30 is fed by the guide means 40 during feeding. The strawberry 2 gripped in the container 70 is changed to a posture and an interval suitable for storage in the container 70, and in that state, the gripping of the strawberry 2 by the pincer 32 is released, and the strawberry 2 is stored in the container 70. (Packing or packing). In this case, the strawberries 2 gripped in a single row by the holding members 32 of the gripping means 30 arranged at intervals horizontally are simultaneously accommodated in the container 70, and are accommodated in one horizontal row at a time. . After the strawberry is stored, the container 70 is moved by one row in the direction of the arrow to stand by for the next storage, and the gripping means 30 is pulled back to grip the vine 6 of the strawberry 2 as before, and thereafter, The sending out of the strawberry 2 onto the container 70, the change of the posture and the interval therebetween, and the release of the holding of the strawberry 2 were repeated, so that the strawberry 2 was accommodated in all the rows in the container 70 as shown in FIG. In the present invention, in some cases, during sending, the posture of the strawberry 2 may be changed without changing the interval.

(Example 1 of Automatic Strawberry Container and Strawberry Container) As shown in FIGS. 1 and 2, the automatic strawberry containing apparatus of the present invention comprises a setting means 20 for placing (setting) a container 70, a plurality of gripping means 30 for gripping the vine 6 of the strawberry 2, and a gripping means therefor. An operating means such as air for operating the means 30 so that the vine 6 of the strawberry 2 can be gripped and released, a reciprocating drive means 50 for reciprocating the gripping means 30 to the container 70 side, and the gripping means 30 sent out to the container 70 side. Guide means 40 for changing the posture and the interval of each gripping means 30 so that the posture and the interval of the strawberry 2 gripped by each gripping means 30 become suitable for accommodating in a container as the gripping means 30 Things.

[0016] The gripping means 30 is arranged near the strawberry supply unit 1 as shown in Fig. 1 so as to grip the vine 6 of the strawberry 2 supplied to the strawberry supply unit 1 in a row. As the strawberry supply unit 1, for example, an automatic strawberry sorting and filling system disclosed in Japanese Patent Application Laid-Open No. 2003-266024 filed by the present applicant is used. This system automatically sorts strawberries according to size, grade, etc., and arranges them in a row to transport them. The strawberry transport unit is the strawberry supply unit 1 in FIG. As shown in FIGS. 3 (a) and 3 (b), the strawberry supply unit 1 has two thin belts 3 arranged in parallel, and when the belt 3 is rotated, it is fed onto the belt 3. The carrier 4 can be transported. In this case, the transport body 4 is transported on the two belts 3 while holding the vine 6 of the strawberry 2 with the clipping tool 5. As shown in FIG. 1 (b), the clamp 5 is opened by pushing down a pin 13 projecting from the center of the upper surface of the carrier 4 and closed when the pushing down of the pin 13 is released.

As shown in FIGS. 1 (a) and 1 (b), the strawberry supply unit 1 is provided with a carry-in side stopper 10 on the carry-in side and a carry-out side stopper 11 on the carry-out side. Each of the stoppers 10 and 11 has a rod shape, and is made to protrude between the belts 3 so that a force S for stopping the conveyance of the conveyance body 4 conveyed on the belt 3 is provided. In FIG. 1 (a), both stoppers 10 and 11 are positioned at an interval where eight carriers 4 can be arranged therebetween. As shown in FIGS. 1 (a) and 1 (b), an elevating plate 12 is provided above the eight carriers 4 which are closed and accommodated between the stoppers 10 and 11. When the elevating plate 12 is lowered onto the carrier 4 stopped between the stoppers 10 and 11, the pin 13 protruding into the center of the upper surface of the carrier 4 is pushed in to open the clamp of the clamping device 5, and the clamp is opened. The pinching of the vine 6 by the clothing 5 is released.

The setting means 20 places a strawberry container (pack) 70 as shown in FIGS. 1 (a) and 1 (b). And a transport body 29 for transporting the container 70 and a positioning body 28 for stopping and positioning the transported container at a predetermined position. The transport body 29 has two slender belts 22 arranged in parallel at an interval and inclined downward in the traveling direction (the direction of the arrow a in FIG. 1). When rotated in the direction, the container 70 placed on the belt 22 is conveyed in the same direction. The positioning body is arranged so as to be able to move up and down between the two belts 22.When raised, the positioning body projects to the front of the container 70 conveyed by the carrier and stops the container. And wait for the next ascent. A servo motor is used as the motor 25. The belt 22 is rotated by rotation of a drive pulley 26 using the servo motor as a driving source. When an empty container 70 is placed on the belt 22, the container 70 hits the positioning body 28 and stops. After the strawberry 2 is stored in the container 70 in one horizontal row, the container 70 is intermittently transported one row at a time, and this is repeated. The container 70 that has finished holding the strawberry 2 is sent out by the carrier 29 to a discharge carrier 77 (FIG. 1 (b)) disposed in front of the carrier 29, and the discharge carrier 77 is used for the next process. It is designed to be transported. Side guides 27 are provided upright on both sides of the carrier 29 to prevent lateral displacement of the container 70.

In the present invention, any container 70 of various shapes, structures, and materials can be used, but in this embodiment, as shown in FIGS. It is made of a soft resin sheet having the receiving recess 71 provided. In this container 70, a total of 12 receiving recesses 71 are provided in a 3 × 4 arrangement, but the number and arrangement of the receiving recesses 71 are not limited thereto, and may be any number and arrangement. As shown in FIG. 6 (a), each receiving recess 71 is inclined at an angle of 30 degrees in the horizontal direction to reduce the length of the container in the longitudinal direction and to improve the appearance of the strawberries contained therein. I try to get better. Each receiving recess 71 is partitioned by a partition wall 75 so that the housed strawberries 2 do not come into contact with each other, and an escape space 72 is provided in the partition wall 75. The escape space 72 holds and holds the vine 6 of the strawberry 2 approaching the container 70 when storing strawberries, so that the tip 38 of the pinching tool does not collide with the partition wall 75, and It is intended to be housed, and is made as wide as possible so that it does not come into contact with the partition wall 75 when the tip 38 of the clipper is opened to open the vine 6, for example, about 10 mm in length and 10 mm in width Degree. The escape space 72 is not a dent.A hole 73 is formed in the partition wall 75 as shown in Fig. 7 (b). You may open it.

[0020] As shown in FIG. 1 (b), the gripping means 30 of FIG. 1 is a pinching tool among the vines 6 of the strawberry 2 gripped by the pinching tool 5 of the carrier 4 of the strawberry supply unit 1. The portion not gripped by 5 is gripped, the strawberry 2 is taken over from the carrier 4, transported to the container 70 and stored in the container 70. Eight gripping means 30 in FIG. 1 are arranged side by side at intervals. As shown in FIG. 3, the gripping means 30 includes a long air tube 31, a metal cap 33 inserted and attached to the end of the air tube 31, and a connecting part 3 protruding from a side of the cap 33. 5, a panel clip-like holding member 32 attached to the connecting part 35, and a piston 37 slidably mounted on the tip of the cylindrical portion 36. The air tube 31 is an elongated tube made of resin such as urethane or nylon having an outer diameter of about 6 mm and an inner diameter of about 4 mm. The shape of the cap 33 can be any shape such as a shell type. A mounting hole is opened on the side of the cap 33, and a cylindrical connecting part 35 having an outer diameter of about 4 mm is mounted on the mounting hole. An air passage 34 communicating with the inside of the air tube 31 and the cap 33 is opened in the connection part 35, and high-pressure air supplied from the air tube 31 passes through the cap 33 and the connection part 35, When the air reaches the air passage 34, the piston 37 is pushed out by the air pressure, the base side of the clamp 32 is pushed outward to open the clamp tip 38, and when the supply of air is stopped, the piston 37 is pushed. It is released so that the pinch tip 38 is closed. When the pinching tool tip 38 is closed, the vine 6 of the strawberry 2 can be grasped from the side and the strawberry 2 can be hung, and when opened, the grasp of the vine is released and the strawberry falls. The high-pressure air is an operation means for opening and closing the clamp, and is supplied from an air pump or the like. The pressure of the high-pressure air is preferably 0.6-0.8 MPa.

The guide means 40 in FIG. 1 is for guiding the gripping means 30 sent out to the container side, and as shown in FIGS. 2 (a)-(d), a metal guide tube 40 having a diameter of about 10 mm. An elongate groove-shaped opening 43 having a width of about 5 mm is formed on one side surface to have a substantially C-shaped cross section as shown in FIG. 2 (d). The inner space of the guide tube 40 is a tube passage 44 so that the air tube 31 can slide back and forth. The opening 43 is a groove through which the connecting part 35 of the gripping means 30 passes, and also serves as a guide for guiding the part 35. It plays the role of protruding right beside the bu 40. The four guide tubes 40 are arranged side by side at intervals, and the four guide tubes 40 can guide the strawberries 2 in a row in a single container 70.In FIG. 1, two sets of four tubes are provided. A total of eight strawberries are arranged so as to guide one row of strawberries in two containers 70, that is, eight strawberries at a time.

[0022] The guide tube 40 is a front view (YZ plan view) in Fig. 2 (a), a plan view (XY plan view) in (b), and a side view (ZX plan view) in (c). As shown in the figure, the container 70 is curved downward (three-dimensionally) toward the container 70 side. In this case, as shown in the plan view of FIG. 2 (b), the four guide tubes 40 of each set are bent sideways at different positions, and the end 41 of the strawberry supply unit 1 side is formed. that the spacing of each guide tube 40 is about 56 mm, so as to be about 40mm is the spacing receiving recess 71 of the container 70 at the end 42 of the container 70 side, thereby, the container ₇₀ side of the Gaidochu over Bed ₄₀ The strawberries 2 gripped by the gripper 32 of the gripping means 30 guided and sent out by the end 42 of the nose 2 are surely accommodated one by one in the receiving recesses 71 arranged in a horizontal row. In addition, the end portion 42 of the guide tube 40 on the container 70 side is bent obliquely at an angle of 30 degrees to the container longitudinal direction, and the container formed obliquely at an angle of 30 degrees as shown in FIG. The strawberry 2 gripped by the holding member 32 of the gripping means 30 which is guided by the container side end 42 of the guide tube 40 and is aligned with the receiving recess 71 of the container 70, It is designed to be smoothly accommodated in 71 in that direction. Further, the end 42 of the guide tube 40 on the container 70 side is curved downward to the container 70 side as shown in FIG. 2 (c), whereby the strawberry is supported on the tip side (lower side) of the strawberry 2 as a fulcrum. The container 70 placed on the setting means 20 inclined downward by 30 degrees in the transport direction so as to gradually lie softly, so that the container 70 can be accommodated (placed) in the receiving recess 71. The numerical values are not limited to these, and can be arbitrarily selected.

[0023] The reciprocating means 50 in Fig. 1 (a) is for sending the gripping means 30 to the container 70 side and then returning the gripping means 30 to the original position. The reciprocating means 50 sandwiches the air tube 31 between the upper and lower pinch rollers 51 and 52 shown in Fig. 1 (b), and sends out the roller in the direction of arrow b in the figure or pulls it back in the direction of arrow c by rotating the rollers 51 and 52. Or something. The lower pinch roller 52 is driven by a servo motor 53, and the upper pinch roller 51 is pushed down by a spring 54 to tighten the air tube 31 and generate a frictional force to feed it out. / Enables pullback drive. In the reciprocating means 50, a ring-shaped stopper 57 is attached to the rear end of each of the eight air tubes 31, and when the stopper 57 comes into contact with the locking member 58 on the end face of the reciprocating means 50, the air tubes 31 are moved. This prevents the air tube 31 from being sent out too much when the driving force slips and the feeding is stopped. The stop position 56 of the jaw tube 31 is that the gripping means 30 reaches the end 42 of the guide tube 40 on the container 70 side, and the length of each guide tube 40 is slightly different in FIGS. 1 (a) and 1 (b). Therefore, the mounting position of the stopper 57 is slightly different for each air tube 31. The gripping means 30 is in a standby state at a standby position 55 shown in FIG. 1 (b) except during the operation, and when the gripping means 30 is sent out to the stop position, the holding member 32 at the tip thereof is positioned above the container 70. It is.

[0024] The gripping means 30 of the present invention may be provided with a core cable 61 inside a pull cable 60 as shown in Figs. 4 (a) and 4 (b). In this case, a clipping member 32 is provided at the distal end of the punole cable 60, and the clipping member 32 also moves in the guide tube 40. For this reason, as shown in FIG. 5, the opening 43 of the guide tube 40 is provided on the lower side, and the vine 6 of the strawberry 2 gripped by the pinching tool 32 is projected below the guide tube 40 so that the guide tube 40 To be able to slide back and forth inside. In this case, at the end 41 on the strawberry supply section 1 side of the guide tube 40, a cutting means comprising a combination of two rotating cutters 62 and 63 is provided, and the upper margin of the vine 6 of the strawberry 2 is cut. Thus, the vine 6 of the strawberry 2 grasped by the pincer 32 can enter the guide tube 40 and move.

[0025] The gripping means 30 of the present invention can be configured by attaching a clamping device having a structure driven by electricity (electromagnetic force) to the distal end of a linear member such as a cable or a tube, or by using a gas such as air. Instead, it is better to attach a clamp with a structure that can be opened and closed using a liquid such as oil as the driving force.

As the guide means 40 in the present invention, as shown in FIGS. 1 to 3, a method of using a tube having a C-shaped cross section for guiding the inside through a linear member such as a tube or a cable, or any other desired method Various guide means bent downward and to the side along the guide path along the guide path can be used. For example, a curtain rail-shaped guide means and a traveling tool attached to the curtain rail-shaped guide means for traveling are provided. There are also structures for attaching means. In short, the guide means for guiding the gripping means may have any other configuration as long as the guide means can reciprocate along a three-dimensional path instead of complicated drive control.

The shape of the guide tube 40 in the guide means shown in FIGS. 1, 2 and 5 described above is a limited example, and the conveying interval of the strawberry 2 in the strawberry supply unit 1 and the accommodation in the container 70 '' The shape is not limited to the shape shown in the figure, but may be any shape as long as it is bent downward and sideways to the container side so as to provide an appropriate guide path according to the arrangement position and / or posture, etc. Power S can.

[0028] (Example of use)

In order to store the strawberry 2 in the container 70 using the strawberry automatic storage device of FIG.

(1) The discharge side stopper 11 is protruded above the two belts 3 of the strawberry supply unit 1 to stop the carrier 4 conveyed onto the belt 3 by pinching the vine 6 of the strawberry 2 Let it.

(2) When the eight transporters 4 are stopped, the loading-side stopper 10 is protruded above the belt 3 to stop the feeding of the subsequent transporter 4, and the eight transporters are transported between the stoppers 11 and 10. Stop body 4.

(3) Supply high-pressure air to the air tube 31 of the gripping means 30 at the standby position 55 in FIG. 1B, and push out the piston 37 in FIG.

(4) The two gripping pieces 38a of the tip 38 are arranged outside the vine 6 of the strawberry 2.

(5) Rotate the pinch rollers 51 and 52 in Fig. 1 (b) and Fig. 5 (a) to send out the air tube 31 from the standby position 55 to just before the strawberry supply unit 1, and the pinch tool tip 38 is the strawberry 2 Feeding is stopped at a position where the vine 6 can be grasped from the side.

(6) The supply of high-pressure air into the air tube 31 is stopped, the push of the piston 37 is released, the tip end portion 38 of the clipper is closed, and the vine 6 of the strawberry 2 is gripped by the lateral force.

(7) The supply of high-pressure air to the air tube 31 is stopped, the piston 37 in Fig. 3 is returned, and the tip 38 of the holding tool is automatically closed by the panel characteristics of the holding tool 32, and two pieces are gripped. Hold the strawberry vine between the pieces 38a.

(8) Lower the lifting plate 12 (Fig. 1 (a) and (b)) above the carrier 4, To release the strawberry 2 from the carrier 4 and switch the strawberry 2 to gripping by the gripper tip 38 of the gripping means 30 (takeover).

(9) The empty container 70 set in the setting means 20 is conveyed by the two narrow belts 22, and the container 70 is stopped by abutting the leading end of the container 70 against the raised positioning body 28. Decide.

(10) Reactivate the pinch rollers 51 and 52 of the reciprocating drive means 50, send out the air tube 31 to the container 70 side, stop the end of the guide tube 40 of the gripping means 30 at the stop position 56, and stop the guide tube 40. The strawberry 2 gripped by the clamp 32 at the tip of the container 70 is positioned above the receiving recess 71 in the first row of the container 70.

(11) Supply high-pressure air to the air tube 31 of the gripping means 30, push out the piston 37 in FIG. 3 to open the tip 38 of the clipper, release the gripping of the vine 6 of the strawberry 2, and put the strawberry 2 in the container. The container 70 is housed in the receiving recess 71 in the first row.

(12) The pinch rollers 51 and 52 of the reciprocating drive means 50 are rotated in the reverse direction, the air tube 31 is returned to the original position, and the gripping means 30 is returned to the standby position 55. During this time, the high-pressure air pressure into the air tube 31 is released, and the pushing of the piston 37 is released to close the tip end portion 38 of the clipping tool.

(13) Raise the elevating plate 12 above the strawberry supply unit 1, pull back the unloading side stopper 11, and discharge the empty carrier 4 to the outside by rotating the two belts 3 of the strawberry supply unit 1. .

(14) When all the transport bodies 4 are discharged out of the strawberry supply unit 1, the carry-out side stopper 11 is projected onto the two belts 3 of the strawberry supply unit 1 and is fed into the strawberry supply unit 1. The subsequent transport members 4 are stopped, and when the eight transport members 4 are stopped, the carry-in side stoppers 10 are protruded above the two belts 3 so that the eight transport members 4 stand by between the two stoppers.

(15) The positioning body 28 of the setting means 20 is lowered, the two narrow belts 22 are rotated, and the container 70 is transferred by one row of the receiving recesses 71, and the receiving recesses 71 of the second row are strawberries. To the standby position.

(16) The steps (1) and (15) are repeated to accommodate the strawberry 2 in all the receiving recesses 71 in the container 70. (17) After the strawberries have been stored in all rows of the container 70, the servomotor 25 of the setting means 20 is rotated to place the packed container 70 in front of the container 70 as shown in FIG. Out to the conveyer 77.

(18) When the strawberry 2 is to be stored in the next container 70, the above steps (1)-(17) may be repeated.

(Example 2 of Automatic Strawberry Container and Strawberry Container)

Example 2 of the automatic strawberry container and the strawberry container according to the present invention will be described below. As shown in FIG. 8, this strawberry automatic storage device also includes a gripping means 30, operating means such as high-pressure air, reciprocating means 50, guide means 40, and setting means 20 for setting the container 70. A strawberry supply unit 1 for supplying strawberries to the present apparatus is also provided. Hereinafter, this embodiment will be described in detail with reference to FIG. 815, focusing on differences from the first embodiment.

As shown in FIGS. 8 and 9, the strawberry supply unit 1 is provided above the guide means 40 so as not to hinder the movement of the gripping means 30, the guide means 40, and the reciprocating drive means 50. is there. In this way, the empty carrier 4 is unloaded out of the strawberry supply unit 1 while the strawberry 2 is accommodated in the container 70 by guiding the gripping means 30 by the guide means 40. Thus, the next carrier 4 holding the strawberry 2 can be carried in and accommodated between the two stoppers 10 and 11, thereby improving the working efficiency. The setting means 20 and the container 70 in this embodiment are the same as those in the first embodiment.

The gripping means 30 includes a long air tube 31, a cap 33 provided at the tip of the air tube 31, a connecting part 35 protruding from a side of the cap 33, and a connecting part 35. It is the same as that described in the first embodiment in that it comprises a panel clip-shaped clamping device 32 attached, and a cylindrical portion 36 and a piston 37 are provided inside the clamping device 32. The difference is that, as shown in FIGS. 8, 9 and 13, a bar-shaped opening restricting device 101 is provided outside the clamping device 32, thereby preventing the clamping device 32 from being excessively opened. In order to prevent damage to the resilience (springiness) of the clipper 32, and to prevent the vines 6 of the strawberry 2 from being damaged, the gripping piece 38a of the tip 38 of the metal clipper is made of resin. It was covered with.

As shown in FIGS. 8 and 11, the guide means 40 of the present embodiment includes a guide bar 80 and a tip member 85 fixed to the tip of the guide bar 80. Posture holder 9 for tip member 85 0 is installed. As shown in FIGS. 9, 10 (a), (b) and 11 (a), (b), the guide bar 80 is a member for guiding the gripping means 30, and is made of a hard resin such as nylon. A tube passage 82 is formed along the longitudinal direction inside a rectangular rod-shaped block made of stainless steel, so that the air tube 31 of the gripping means 30 can be reciprocally slidably inserted along the tube passage 82. On one side surface of the guide bar 80, for example, an opening 81 having a width of about 5 mm is formed along the longitudinal direction of the guide bar 80. Further, the guide bar 80 has a tip side curved sideways at a predetermined angle (for example, 30 degrees), and the gripping means 30 sent out along the side is curved along the curve. The opening 81 is formed narrower than the outer diameters of the guide tube 31 of the gripping means 30 and the cap 33 as shown in FIGS. 10 (a), (b) and 11 (a), (b). a) As shown in (b), the guide tube 31 and the cap 33 inserted into the tube passage 82 can slide back and forth in the tube passage 82 without protruding from the opening 81, and 010 (a) (b) As shown in FIG. 7, only the connecting part 35 having an outer diameter smaller than the width of the opening is projected outward from the opening 81. For this reason, the connecting component 35 is always protruded from the guide bar 80 to the side, and the holding member 32 of the gripping means 30 is always kept in the horizontal position while being guided by the guide bar.

The tip member 85 is a plate-shaped member, and its lower edge 86 is formed in an arc shape that curves downward, and an elongated curved hole 87 is formed along the arc of the lower edge 86. The tip member 85 is inserted into and fixed to a groove 89 at the tip of the guide bar 80 shown in FIGS. 11 (a) and 11 (b). As shown in FIG. 11A, a posture holder 90 is attached to the curved hole 87 of the tip member 85 so as to be able to reciprocate and slide.

[0034] As described above, when the guide means 40 is formed by attaching the tip member 85 to the tip of the guide bar 80, both the guide bar 80 and the tip member 85 are easy to manufacture, so that various types of high precision are provided. It is possible to prepare the guide bar 80 and the tip member 85 of the path in advance, and a desired guide path can be formed by combining the guide bar 80 and the tip member 85, and accommodating strawberries of different sizes. Also, it is possible to more easily store strawberries in various types of containers. Also, when changing the guide route or replacing parts, it is possible to easily make changes or repairs without having to replace the entire guide means.

As shown in FIGS. 10 (a), (b) and 11 (a), the posture holder 90 is made of resin such as nylon. The contact tool 96 is attached to the side of the block 99. As shown in FIG. 11A, a groove 91 is formed in the upper part of the block 99, and two bearings 92 are mounted inside the groove 91. As shown in FIG. 11 (a), the posture holding device 90 inserts the lower edge 86 of the tip member 85 into the groove 91 so that the bearing 92 is fitted between the upper surface and the lower surface of the curved hole 87. Thus, it can slide back and forth along the curved hole 87.

Further, as shown in FIGS. 10 (a) and 10 (b), a plate-like panel 102 is connected to the posture holder 90 so that it can be constantly pulled in the direction of the arrow in the figure. The panel 102 is wound around a reel 104 rotatably attached to a tip member 85 by a support member 103, so that the posture holding device 90 waits at the upper end portion 88 of the curved hole 87 except during operation. Have been. As the spring 102, a constant load spring or a spring of another shape, structure, or material can be used.

As shown in FIGS. 10 (a) and 10 (b), the block 99 of the posture holder 90 at the standby position faces the surface of the guide bar 80 facing the outlet of the tube passage 82, as shown in FIGS. A cylindrical concave portion 94 larger than the outer diameter of the guide tube 31 is formed concentrically with the central axis of 82. The cap 33 at the end of the guide tube 31 guided in the tube passage 82 of the guide bar 80 is inserted into the recess 94. On one side of the concave portion 94, a window 95 formed by cutting out one side surface of the block 99 is opened. The window 95 is opened so that the tube passage 82 side becomes gradually narrower toward the back. The distal end of the connecting part 35 of the gripping means 30 abuts on the window 95 so that the connecting part 35 is gradually and tightly inserted into the window 95 as the connecting part 35 advances. As a result, the pincer 32 is projected right beside the block portion 99 so as to be positioned on the side of the block 99.

[0038] The contact tool 96 shown in Figs. 10 (a) and 10 (b) is formed in a bifurcated fork shape with a downward opening, and is used when the gripping means 30 gripping the strawberry 2 is guided by the attitude holding tool 90. In addition, the upper part (shoulder) of the strawberry 2 gripped by the holding member 32 is brought into contact with the forward force in the transport direction to support the strawberry 2. In this case, in order to prevent the shoulder of the strawberry 2 from being damaged, the outer periphery of a resin or metal lower member is covered with a resin.

Also in this embodiment, when the gripper 30 holding the strawberry 2 is sent out from the tube passage 82 of the guide bar 80, the cap 33 at the tip of the air tube 31 of the gripper 30 is moved. It is inserted into the concave portion 94, the connecting part 35 and the clip 32 come into contact with the window 95 and protrude from the posture holder 90 to the side, and the air tube 31 is guided by the posture holder 90 and pulls the panel 102. It is guided downward along the curved hole 87. At that time, the strawberry 2 gripped by the pincer 32 is supported by the contactor 96 at the shoulder thereof, so that the strawberry 2 does not face down due to the weight of the strawberry 2 and has a posture suitable for accommodation in the container. It is transported while being held.

As the reciprocating drive means 50, an air cylinder 110 is used as shown in FIGS. 8, 12 (a) and 12 (b). The reciprocating drive means 50 comprises a base portion 111 and an air cylinder 110. The base portion 111 has a plate-shaped front end support plate 113 and a rear end support plate 114 at the front and rear ends in the longitudinal direction of the support base 112. A plurality of storage pipes 116 are provided between the front end support plate 113 and the rear end support plate 114 to accommodate the air tube 31 of the gripping means 30, and a holding pipe 117 is provided in front of the front end support plate 113. The holding pipe 117 communicates with the housing pipe 116 so as to be able to hold the holding member 32 of the gripping means 30. As shown in FIG. 13, an opening 118 is formed on the lower side surface of the housing pipe 116 along the longitudinal direction. The air tube 31 is slidably housed inside the housing pipe 116. As shown in FIG. 13, the holding pipe 117 has a side opening so that the connecting member 35 of the gripping means 30 can pass therethrough. As shown in FIG. 12 (a), the gripping means 30 is housed in the housing pipe 116 and the holding pipe 117 and is on standby except during operation.

As shown in FIGS. 12A and 12B, the air cylinder 110 is disposed on the support base 112 so as to be located below the storage pipe 116. The air cylinder 110 includes an extensible rod 119 having one end fixed to the leg member 115 of the front end indicating plate 113 and the other end fixed to the push plate 120. When the rod 119 is extended or contracted, the push plate 120 moves back and forth. I have to do it. A plurality of cushioning materials (coil panel) 121 are arranged between the pressing plate 120 and the rear end of the air tube 31 of the gripping means 30 inserted into each of the storage pipes 116. In this case, the front end of the cushioning material (coil panel) 121 is connected to a connecting jig that projects downward from an opening 118 that is opened on the bottom surface of the storage pipe 116. Therefore, when the push plate 120 is moved back and forth by extending and contracting the rod 119 in FIGS. 12 (a) and 12 (b), the air tube 31 also moves back and forth accordingly, and the entire gripping means 30 is sent out or pulled back. Or This cushioning material 1 With the provision of 21, the impact when the posture holding tool pressed by the air tube 31 is pressed too much and hits the inner surface of the distal end of the curved hole of the distal end member 85 is reduced. For this reason, even if there is a difference in length between the plurality of guide means 40 and the air tube 31 is pushed out too much, the air tube 31 is prevented from being deformed or damaged. Further, the cushioning material 121 is not limited to the panel, and other arbitrary cushioning members, for example, rubber or resin having a male character can be used.

In this embodiment, the support 112 of FIG. 12 is moved forward in the direction of arrow a in FIG. 14 and then moved upward, or is moved backward and then lowered as indicated by arrow b in FIG. In addition, it can be moved forward. An air cylinder can be used as the driving source. By enabling this movement, as shown in FIG. 9, the gripping means 30 is moved to the position of the strawberry 2 gripped by the carrier 4 of the strawberry supply unit 1 arranged above the guide means 40. (See arrow a in FIG. 14). At that position, the vine 6 of the strawberry 2 is gripped by the pinching tool 32 of the gripping means 30, and the pinching tool 32 is moved in the direction of arrow b in FIG. (Corresponding to the direction b in FIG. 15), so that the clamp 3 holding the strawberry 2 can be moved to the entrance of the guide means 40. Accordingly, the strawberry supply unit 1 guides the gripping means 30 by the guiding means 40 which does not hinder the movement of the gripping means 30, the guiding means 40, and the reciprocating driving means 50, and stores the strawberry 2 in the container 70. While carrying out, the empty carrier 4 can be discharged to the outside of the strawberry supply unit 1, and the succeeding carrier 4 can be sent into the strawberry supply unit 1, thereby improving workability.

[0043] (Example of use)

The strawberry 2 is accommodated in the container 70 by using the strawberry automatic accommodating apparatus of the second embodiment shown in FIGS. 8 to 13 as follows.

(1) The empty container 70 set in the setting means 20 is conveyed by the two narrow belts 22, and the top end of the container 70 is stopped by abutting the tip of the container 70 against the raised positioning body 28, and the position of the container 70 is set. Make a decision.

(2) The carry-out side stopper 11 is protruded above the two belts 3 of the strawberry supply unit 1, and the vine 6 of the strawberry 2 is pinched and the carrier 4 conveyed on the belt 3 is stopped.

(3) When eight transporters 4 are stopped, project the loading-side stopper 10 onto the belt 3 Then, the eight carriers 4 are stopped between both stoppers.

(4) The support table 112 is moved until the gripping means 30 accommodated in the reciprocating drive means 50 is positioned immediately before the strawberry supply unit 1, and the pinch tool tip 38 moves the vine 6 of the strawberry 2 from the side. Stop the movement at a position where it can be grasped (see arrow a in Fig. 14).

(5) Supply high-pressure air to the air tube 31 of the gripping means 30 and push out the piston 37 to open the distal end portion 38 of the clamp 32.

(6) The supply of high-pressure air into the air tube 31 is stopped, the push of the piston 37 is released, the tip end portion 38 of the clamp is closed, and the vine 6 of the strawberry 2 is laterally placed between the two gripping pieces 38a. To be grasped.

(7) Lower the elevating plate 12 above the carrier 4, press the pin 13 on the upper surface of the carrier 4, open the clamp 5, release the strawberry 2 from the carrier 4, and grasp the strawberry 2 Switch to gripping by the tip 38 (take over).

(8) The support table 112 is moved again, so that the strawberry 2 gripped by the clipping tool 32 is moved backward and then lowered so that the strawberry 2 gripped by the guide means 40 is moved downward, and the gripping means 30 is accommodated. The movement of the holding pipe 117 is stopped by positioning the end of the holding pipe 117 at the entrance of the tube passage 82 of the guide bar 80 (see the arrow b in FIGS. 9 and 15). At the same time, in the strawberry supply unit 1, the elevating plate 12 above the transport body 4 is raised, the unloading side stopper 11 is pulled back, the empty transport body 4 is discharged by the belt 3, and both empty transport bodies 4 are discharged. The stoppers 10 and 11 are all ejected, and the next eight carriers 4 holding the strawberries 2 are again loaded and accommodated.

(9) Operate the air cylinder 110 to send out the air tube 31 into the tube passage 82 (see the arrow c in FIGS. 9 and 15).

(10) The cap 33 at the tip of the air tube 31 protruding from the tube passage 82 is inserted into the concave portion 94 of the posture holder 90, and the gripping means 30 is guided by the posture holder 90 while pulling the sprung panel 102. It moves downward along the curved hole 87. The strawberry 2 gripped by the clamp 32 is positioned in the receiving recess 71 in the first row of the container 70 (see the arrow d in FIGS. 9 and 15). At this time, the upper part (shoulder) of the strawberry 2 gripped by the holding device 32 is pressed down by the contact device 96 from the front side in the transport direction, and the strawberry 2 faces downward by the weight of the strawberry 2. The container is transported while maintaining its posture without becoming unsuitable.

(11) Supply high-pressure air to the air tube 31 of the gripping means 30, push out the piston 37, open the tip 38 of the pincer 32, release the vine 6 of the strawberry 2, and release the strawberry 2. The container 70 is housed in the receiving recess 71 in the first row.

(10) The air cylinder 110 is operated again, the air tube 31 is pulled back, and the holding means 30 is housed in the reciprocating drive means 50. At this time, the supply of the high-pressure air into the air tube 31 is stopped, the push of the piston 37 is released, and the tip end portion 38 of the clamp is closed.

(11) The two narrow belts 22 are rotated to move the container 70 by one row of the receiving concave portion 71, and the next row of the receiving concave portion 71 is arranged at the receiving position of the strawberry 2 (see FIGS. 9 and 15). See arrow e).

(12) When the strawberry 2 is stored in all the receiving recesses 71 in the container 70 by repeating the above (4) step (11), the two narrow belts 22 are rotated to move the container 70 from the setting means 20. , And is carried out to another carrying-out carrier 77 etc.

(13) When the strawberry 2 is stored in another container 70, the steps (1) and (12) may be repeated.

(Other Embodiments)

The number, shape, structure, material and the like of the setting means 20, the gripping means 30, the guide means 40, the reciprocating drive means 50 and the like of the present invention are not limited to those shown in the embodiment 112, but can be arbitrarily selected.

Industrial applicability

[0045] The strawberry automatic accommodating method, strawberry automatic accommodating apparatus, and strawberry accommodating container of the present invention do not touch or damage vines and vegetables having vines such as cherries and persimmons. It can be used to be stored in a container.

Claims

The scope of the claims

[1] According to an automatic strawberry storing method in which strawberries are aligned and automatically packed in a container, a strawberry vine is grasped by a grasping means, and the grasping means is moved to the container side and grasped by the grasping means. The strawberry is sent out to the top of the container, and as the holding device is sent out, the posture of the holding device is changed so that the strawberry held by the holding device is in a position suitable for accommodation in the container. The strawberry vine is released from the vine by the means and the strawberry is stored in the container.After the strawberry is stored, the gripping means is returned, the container is stopped when the strawberry is stored, and after the strawberry is stored, the next storage point in the container is in the strawberry storage position. The strawberry by the gripping means, moving the gripping means, changing the posture of the gripping means, releasing the strawberry gripping by the gripping means, and storing the strawberries in the container, automatically and sequentially in one container. Ichi Strawberry automatic receiving method characterized by housing the.

[2] In the strawberry automatic storage method in which strawberries are lined up and automatically packed in a container, a gripping means is sent out to the strawberry supply unit, the strawberry vine is gripped by the gripping means, and the gripping means is moved to the container side and gripped. The strawberry gripped by the gripping means is sent out onto the container, and as the gripping means is sent out, the posture of the gripping means is changed so that the strawberry gripped by the gripping means is in a posture suitable for accommodation in the container, and thereafter, After releasing the strawberry vine by the gripping means, the strawberry is stored in the container, the strawberry is returned to the container after storing, the container is stopped when the strawberry is stored, and the force of the next storage location in the container after storing the strawberry. S Move the strawberry until it comes to the strawberry storage position, and repeat the steps of gripping the strawberry by the gripping means, moving the gripping means, changing the attitude of the gripping means, releasing the strawberry gripping by the gripping means, and storing strawberries in the container. , Strawberry automatic receiving method characterized by sequentially automatically accommodating the strawberries into one container.

[3] Two or more gripping means provided at an interval are simultaneously sent out to the container side, and as the gripping means is sent out, the strawberries held by the gripping means are held at an interval suitable for accommodation in the container. 3. The method for automatically storing strawberries according to claim 1, wherein the interval between the means is changed.

[4] A plurality of strawberries are arranged in a row in a container and stored simultaneously, and then the container is moved by one row to set the next storage location in the container at the storage location, and a plurality of strawberries are placed in the storage location. After arranging them in a line and storing them at the same time, moving the container and collecting multiple strawberries simultaneously 4. The method for automatically storing strawberries according to any one of claims 1 to 3, wherein the contents are repeated to store the strawberries in a plurality of rows and columns in the container.

[5] In an automatic strawberry container for automatically arranging strawberries in a container, a grasping means for grasping the strawberry vine, and an operating means for operating the grasping means so as to grasp and open the strawberry vine. Reciprocating drive means for reciprocating the gripping means to the container side, and the gripping means so that the strawberry gripped by the gripping means becomes a posture suitable for being accommodated in the container as the gripping means is pushed out to the container side. An automatic strawberry containing device comprising a guide means for changing a posture and a setting means for setting a container.

[6] A strawberry automatic storage device that arranges strawberries and automatically stores them in a container. The gripping means for gripping strawberry vines, and the gripping means is used to grip and release strawberry vines. Operating means, the reciprocating drive means for reciprocating the gripping means to the container side, and the posture and spacing of the strawberries being gripped by the gripping means as the gripping means is pushed out to the container side. And a guide means for changing a posture and an interval of the gripping means so as to provide a container, and a setting means for setting a container.

[7] A moving means is provided for moving the gripping means not gripping the strawberry to the strawberry supply section, causing the strawberry supply section to grip the strawberry vine, and then moving the gripping means to the guide means. The strawberry automatic storage device according to claim 5 or 6, wherein

[8] The automatic strawberry according to any one of claims 5 to 7, wherein a plurality of rows of gripping means, moving means, operating means, reciprocating drive means, and guide means are arranged in a row.

[9] The gripping means is provided with an openable / closable clamp at the end of the reciprocally movable air tube. The clamp is driven to open and close by controlling the air pressure in the air tube to clamp and release the strawberry vine. The reciprocating drive means of the air tube is an air cylinder, and the air tube is pushed out and retracted by the expansion and contraction of its rod, and the air tube is pulled back and pulled back. Strawberry automatic containment device.

[10] The gripping means is provided with an openable / closable clamp at the tip of the reciprocally movable air tube, and the clamp is driven to open and close by controlling the air pressure into the air tube so that strawberry vines can be removed. The air tube is a reciprocating drive means of the air tube which can be pinched and released, and the air tube is pushed and pulled back by the expansion and contraction of the rod, so that the impact when each air tube is pushed out too much is alleviated. 10. The automatic strawberry holding device according to claim 5, wherein a cushioning material is provided.

[11] The gripping means is provided with an openable / closable clamp at the end of the reciprocating air tube, and the clamp is driven to open and close by controlling the air pressure in the air tube to clamp the strawberry vine. 11. The automatic strawberry containing apparatus according to claim 5, wherein the reciprocating drive means of the air tube can be opened and reciprocated by pushing and pulling back and forth by a rotating force of a pinch roller.

[12] The gripping means is provided with an openable / closable clamp at the tip of a reciprocally movable air tube, and the clamp is driven to open and close by air pressure control into the air tube to clamp and release the strawberry vine. 12. The automatic strawberry containing device according to claim 5, wherein the holding device is provided with an opening restricting device for preventing the holding device from being excessively opened.

[13] The guide means includes a tube passage in which the air tube of the gripping means is slidably housed, and an opening for leading out the clipping tool attached to the air tube, and the tube passage is formed by the air tube. The opening is communicated along the tube passage and is opened to the side.The tube passage is bent downward toward the container side, and the air tube sent out inside is downward along the curve. So that the posture of the strawberry gripped by the pinch at the tip of the air tube changes with the turn so that the strawberry is in a position suitable for being stored in the container. 13. The strawberry automatic storage device according to claim 9, wherein the strawberry is automatically stored.

[14] The guide means includes a tube passage in which the air tube of the gripping means is slidably housed, and an opening for leading a clipping tool attached to the air tube to the outside, and the tube passage has an air tube. The opening is communicated along the tube passage and is opened to the side, and the tube passage is bent downward to the container side and bent laterally, and the inside of the tube passage is sent out. The air tube should bend downward and sideways along its bend, and with those bends, the posture of the strawberry, which is gripped by the clip at the tip of the e-tube, is suitable for storage in the container. 14. The strawberry automatic storage device according to claim 9, wherein the posture and the interval of the clipping tool are changed so as to become the posture and the interval.

[15] The guide means uses a C-shaped cross-section guide tube having an opening on the side surface, and the inside of the guide tube is used as a tube passage. The tubing is bent downward so that the air tube fed inside is bent downward toward the container side along the bend, and the strawberry gripped by the clamp at the tip of the air tube is accompanied by the bend. 15. The automatic strawberry-containing apparatus according to claim 9, wherein the posture of the clipping tool is changed so that the posture becomes suitable for storing the strawberry in the container.

[16] The guide means uses a guide tube having a C-shaped cross section having an opening on the side surface, and the inside of the guide tube is used as a tube passage. The tube passage is bent downward to the container side and bent sideways, so that the air tube sent out inside is bent downward and sideways to the container side along the bend, and the air tube is accompanied by the bend. 10. The posture and the interval of the holding device are changed so that the posture of the strawberry held by the holding device at the tip of the container becomes a position and an interval suitable for being stored in the container. The strawberry automatic accommodating device according to any one of claims 15 to 15, wherein:

[17] The guide means is fixed at the tip of a guide bar having an opening on the side of the tube passage and the side face, with a tip member having a curved hole formed so that the tip side is inclined downward, and the holding tool is pushed out along the curved hole. Wherein the posture of the clipping tool is changed so that the posture of the strawberry becomes a posture suitable for being accommodated in the container. Strawberry automatic containment device.

[18] In the guide means, a distal end member having a curved hole whose distal end is inclined downward is fixed to the tip of a guide bar having an opening on the tube passage and the side surface, and the distal end of the guide bar is bent laterally. Then, when the clipping tool is pushed out along the curved hole, the posture and the interval of the clipping tool are changed so that the posture and the interval of the strawberry are suitable for accommodating in the container. The strawberry automatic storage device according to any one of claims 9 to 14, or claim 17, characterized in that:

[19] The guide means is fixed at the tip of a guide bar having a tube passage and a side opening with a tip end member having a curved hole with a tip end inclined downward, and a gripping means pinched at the tip of the guide bar. A posture holder that supports the strawberry sandwiched between the holders and holds it in a posture suitable for storage in a container is arranged so as to be reciprocally slidable along the curved hole, and a retraction device is connected to the posture holder. The posture holding device is pushed by the air tube and pushed out to the container side, and when the pushing is released by the return of the air tube, the posture holding device is pulled back by the retraction device. 19. The strawberry automatic storage device according to claim 14 or claim 17 or claim 18.

[20] The setting means includes a transfer means for transferring the container, a transfer control means capable of stopping and releasing the stop of the container, and a discharge means for discharging the container containing the strawberries to the outside. The strawberry automatic storage device according to any one of claims 5 to 19.

[21] Provided in the bottom of the container are a plurality of rows and columns of receiving recesses that can individually house strawberries, providing an escape space for preventing collision between the container and the clipping means of the gripping means approaching the container when the strawberries are stored. The strawberry automatic container according to any one of claims 1 to 4, and the strawberry automatic container used in the strawberry automatic storage device according to any one of claims 5 to 20.

22. The strawberry container according to claim 21, wherein the escape space is a hole opened in the container.

23. The strawberry container according to claim 21, wherein the escape space is a recess formed in the container.

[24] The receiving recesses formed in a plurality of rows are staggered for each row, and / or the angle of the receiving recess for each row is changed, and / or the size of the receiving recess for each row is changed. The strawberry container according to any one of claims 21 to 23, characterized in that: