JP2001294201A - Method and apparatus for boxing of farm product - Google Patents
Method and apparatus for boxing of farm productInfo
- Publication number
- JP2001294201A JP2001294201A JP2000112460A JP2000112460A JP2001294201A JP 2001294201 A JP2001294201 A JP 2001294201A JP 2000112460 A JP2000112460 A JP 2000112460A JP 2000112460 A JP2000112460 A JP 2000112460A JP 2001294201 A JP2001294201 A JP 2001294201A
- Authority
- JP
- Japan
- Prior art keywords
- holding means
- holding
- agricultural products
- tray pack
- agricultural
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Packaging Of Special Articles (AREA)
- Specific Conveyance Elements (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、農産物（例えばリ
ンゴ、梨、トマト、桃、スイカ、メロン等）を搬送ライ
ンから保持し、トレイパックの収納凹部内に収納する農
産物の箱詰め方法と箱詰め装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for packing agricultural products (for example, apples, pears, tomatoes, peaches, watermelons, melons, etc.) from a transport line and storing the agricultural products in a storage recess of a tray pack. About.
【０００２】[0002]
【従来の技術】従来の農産物の箱詰め方法と箱詰め装置
について図６〜図８を基に説明する。まず、農産物の箱
詰め装置１０について説明する。この箱詰め装置１０
は、搬送ライン１２上を受け皿１４に載った状態で一列
に並んで搬送されてくる農産物１６を保持し、トレイパ
ック１８まで搬送し、トレイパック１８に形成された収
納凹部２０内に農産物１６を収納する機能を有するもの
である。保持手段２２は、一つの農産物１６を吊り下げ
た状態で着脱自在に保持する機能を有する。主たる構成
は、第１シリンダ(一例としてエアシリンダ)２４と、そ
の進退動する第１ロッド２４ａの先端に取り付けられた
農産物吸着用の吸着カップ２６で構成されている。第１
シリンダ２４が作動することで、吸着カップ２６は第１
ロッド２４ａと共に上下方向に移動する。2. Description of the Related Art A conventional packing method and a packing apparatus for agricultural products will be described with reference to FIGS. First, the boxing device 10 for agricultural products will be described. This box packing device 10
Holds the agricultural products 16 which are transported in a line in a state of being placed on the receiving tray 14 on the transport line 12, transports the agricultural products 16 to the tray pack 18, and places the agricultural products 16 in the storage recess 20 formed in the tray pack 18. It has the function of storing. The holding means 22 has a function of detachably holding one agricultural product 16 in a suspended state. The main configuration includes a first cylinder (an air cylinder as an example) 24 and an agricultural product suction cup 26 attached to the tip of a first rod 24a that moves forward and backward. First
The operation of the cylinder 24 causes the suction cup 26 to move to the first position.
It moves up and down together with the rod 24a.
【０００３】支持手段２８は、複数（本例では一例とし
て５個）の保持手段２２を直線的に一列に整列した状態
で支持する。詳細には、保持手段２２を、吸着カップ２
６が下方に位置する状態でその上部を基部として支持す
る構成である。また、各保持手段２２は、その整列方向
（支持手段２８の長手方向）に沿ってスライド可能に支
持手段２８に取り付けられており、保持した農産物１６
同士の間隔（ピッチ）を自在に変更できる構成となって
いる。この構成は、例えば支持手段２８をガイドレール
形状に形成し、支持手段２８に保持手段２２の基部２２
ａを摺動自在に連結することで可能となる。また、各保
持手段２２同士はパンタグラフ機構（不図示）で互いに
連結されているため、隣接する保持手段２２同士のピッ
チは常に同じになる状態で支持手段２８上をスライドす
る。このパンタグラフ機構は支持手段２８に取り付けら
れた伸縮機構（不図示）によって伸縮される。この各保
持手段２２とそれをスライド自在に支持する支持手段２
８とで搬送手段を構成している。The support means 28 supports a plurality of (five in this example, for example) holding means 22 in a state of being linearly aligned in a line. Specifically, the holding means 22 is connected to the suction cup 2
6 is a configuration in which the upper part is supported as a base in a state where it is located below. Each holding means 22 is slidably attached to the supporting means 28 along the alignment direction (longitudinal direction of the supporting means 28), and the holding agricultural products 16
The space (pitch) between them can be freely changed. In this configuration, for example, the support means 28 is formed in a guide rail shape, and the base 22 of the holding means 22 is attached to the support means 28.
This is made possible by slidably connecting a. Further, since the holding units 22 are connected to each other by a pantograph mechanism (not shown), the holding units 22 slide on the support unit 28 in a state where the pitch between the adjacent holding units 22 is always the same. This pantograph mechanism is expanded and contracted by an expansion and contraction mechanism (not shown) attached to the support means 28. Each holding means 22 and supporting means 2 for slidably supporting the holding means 22
8 together with the transport means.
【０００４】支持手段２８は、搬送ライン１２とトレイ
パック１８の上方領域に掛け渡されたガイドレール３２
上をスライドする移動体３４に取り付けられている。こ
のガイドレール３２と移動体３４とが、支持手段２８に
対する移動手段３０を構成する。移動体３４は、一例と
して支持手段２８の上部が取り付けられた移動体本体
（不図示）と、移動体本体に取り付けられ、移動体本体
をガイドレール３２上で移動可能とするための搬送ロー
ラ(不図示)と、移動体本体に取り付けられ、ガイドレー
ル３２を挟持する挟持ローラ（不図示）と、挟持ローラ
を回転駆動するモータ（不図示）と、移動体３４の現在
位置を検出する位置検出手段（不図示）とから構成され
る。制御手段３６は、コンピュータ等で構成され、箱詰
め装置１０の各構成要素を統括制御する。[0004] The support means 28 is provided with a guide rail 32 extending over the transport line 12 and the area above the tray pack 18.
It is attached to a moving body 34 that slides upward. The guide rail 32 and the moving body 34 constitute moving means 30 for the supporting means 28. The moving body 34 includes, as an example, a moving body (not shown) to which the upper portion of the support means 28 is mounted, and a transport roller (which is mounted on the moving body and enables the moving body to move on the guide rail 32). (Not shown), a holding roller (not shown) attached to the moving body, and holding the guide rail 32, a motor (not shown) for rotating the holding roller, and a position detection for detecting the current position of the moving body 34. (Not shown). The control means 36 is constituted by a computer or the like, and integrally controls each component of the box packing device 10.
【０００５】次に、箱詰め装置１０の動作と合わせて箱
詰め方法について説明する。最初に、農産物１６を箱詰
めするトレイパック１８に形成された収納凹部２０が、
図８に示すようにマトリックス状（一例として各列ａ、
ｂ、ｃに収納凹部２０が５個配置された５×３のマトリ
ックス）に配置されている場合について説明する。この
場合には、制御手段３６は、まず移動体３４を移動し
て、支持手段２８に支持された各保持手段２２を搬送ラ
イン１２上に位置させる。そして、支持手段２８上で各
保持手段２２を移動させ、保持手段２２のピッチを、搬
送ライン１２に取り付けられた受け皿１４の取り付けピ
ッチに合わせる。Next, a box packing method will be described together with the operation of the box packing apparatus 10. First, the storage recess 20 formed in the tray pack 18 for packing the agricultural products 16 in a box,
As shown in FIG. 8, a matrix (for example, each column a,
A case in which five storage recesses 20 are arranged in a matrix of 5 × 3 in which five storage recesses 20 are arranged in b and c will be described. In this case, the control means 36 first moves the moving body 34 to position each holding means 22 supported by the support means 28 on the transport line 12. Then, each holding means 22 is moved on the support means 28, and the pitch of the holding means 22 is adjusted to the mounting pitch of the tray 14 attached to the transport line 12.
【０００６】次に、制御手段３６は各保持手段２２の第
１シリンダ２４を作動させて第１ロッド２４ａを下方に
進めて（下方に延ばして）それぞれの吸着カップ２６
を、受け皿１４上に載置された農産物１６に接触させ
る。そして吸着カップ２６内を負圧にして農産物１６を
全保持手段２２で吸着する。これにより、５個の農産物
１６が保持手段２２によって保持された状態となる。続
いて、第１シリンダ２４を作動させて第１ロッド２４ａ
を上方に移動させて（縮めて）、農産物１６を受け皿１
４上から持ち上げる。そして移動体３４を移動させて、
保持手段２２で保持した農産物１６を、収納したい収納
凹部２０上に位置させる。Next, the control means 36 actuates the first cylinder 24 of each holding means 22 to advance the first rod 24a downward (extend downward) to each suction cup 26.
Is brought into contact with the produce 16 placed on the saucer 14. Then, the inside of the suction cup 26 is set to a negative pressure, and the agricultural product 16 is sucked by the entire holding means 22. Thus, the five agricultural products 16 are held by the holding unit 22. Subsequently, the first cylinder 24 is operated to release the first rod 24a.
Is moved upward (shrinked), and the produce 16 is
4 Lift from above. Then move the moving body 34,
The agricultural product 16 held by the holding means 22 is positioned on the storage recess 20 to be stored.
【０００７】次に、制御手段３６はパンタグラフ機構を
作動させて各保持手段２２をスライドさせ、各農産物１
６のピッチを、収納凹部２０のピッチに合わせる。そし
て制御手段３６は、第１シリンダ２４を作動させて第１
ロッド２４ａを下方へ延ばし、吸着カップ２６で吸着・
保持された農産物１６を、対応する収納凹部２０内に一
括して入れる。この動作が完了したら、制御手段３６は
吸着カップ２６による農産物１６の吸着を解除し、第１
ロッド２４ａを上方へ移動させる。これによって、農産
物１６の箱詰め、具体的にはトレイパック１８の一列分
の収納凹部２０への農産物１６の収納が完了する。その
後、次の農産物１６の保持のために、移動体３４を移動
させて支持手段２８を搬送ライン１２上に移動させる。
制御手段３６は、以上の動作を収納凹部２０の列の数だ
け繰り返して行い、トレイパック１８の全ての収納凹部
２０に農産物１６を収納して、箱詰め動作を完了する。
このように、トレイパック１８に形成された収納凹部２
０がマトリックス状に形成されている場合には非常に効
率よく農産物１６の収納が行える。[0007] Next, the control means 36 operates the pantograph mechanism to slide each holding means 22, and each agricultural product 1
The pitch of 6 is matched with the pitch of the storage recess 20. Then, the control means 36 operates the first cylinder 24 to
The rod 24a is extended downward and sucked by the suction cup 26.
The held agricultural products 16 are collectively put into the corresponding storage recesses 20. When this operation is completed, the control means 36 releases the suction of the agricultural product 16 by the suction cup 26, and
The rod 24a is moved upward. This completes the packing of the agricultural products 16 into the boxes, more specifically, the storage of the agricultural products 16 in the storage recesses 20 for one row of the tray pack 18. Thereafter, in order to hold the next agricultural product 16, the moving body 34 is moved to move the support means 28 onto the transport line 12.
The control means 36 repeats the above operation by the number of rows of the storage recesses 20, stores the agricultural products 16 in all the storage recesses 20 of the tray pack 18, and completes the boxing operation.
Thus, the storage recess 2 formed in the tray pack 18
When 0s are formed in a matrix, the agricultural products 16 can be stored very efficiently.
【０００８】次に、図９に示すように、トレイパック１
８に形成された収納凹部２０が千鳥状に配置されている
場合の箱詰め方法について説明する。なお、搬送ライン
１２で農産物１６を全保持手段２２に一括して吸着・保
持し、トレイパック１８上まで搬送してくるまでの手順
は上述した場合と同様であり、相違する点についてのみ
説明する。千鳥状に収納凹部２０が形成されている場合
には、保持手段２２で保持した５個の農産物１６を一括
してトレイパック１８に形成された収納凹部２０内に収
納することができない。なぜなら、５個の農産物１６は
同一直線上に一列に並んでいるからである。このため、
まず保持手段２２で保持した５個の農産物１６内の２個
の農産物１６を、最初のａ列の２個の収納凹部２０内に
収納し、その後支持手段２８をｂ列に移動させ、残りの
３個の農産物１６をｂ列の３個の収納凹部２０内に収納
する。斜線の部分が農産物１６が収納された収納凹部２
０である。以下同様。そして、以上の動作を、あと２回
繰り返して、ｃ列とｄ列、ｅ列とｆ列の各収納凹部２０
に農産物１６を収納することで、トレイパック１８の全
収納凹部２０内に農産物１６を収納できる。[0008] Next, as shown in FIG.
A box packing method in a case where the storage recesses 20 formed in FIG. 8 are arranged in a staggered manner will be described. In addition, the procedure until the agricultural products 16 are collectively adsorbed and held by the entire holding means 22 on the transport line 12 and transported to the tray pack 18 is the same as the above-described case, and only the differences will be described. . When the storage recesses 20 are formed in a staggered manner, the five agricultural products 16 held by the holding means 22 cannot be stored together in the storage recesses 20 formed in the tray pack 18. This is because the five agricultural products 16 are arranged in a line on the same straight line. For this reason,
First, two agricultural products 16 in the five agricultural products 16 held by the holding means 22 are stored in the two storage recesses 20 in the first row a, and then the supporting means 28 is moved to the row b, and the remaining The three agricultural products 16 are stored in the three storage recesses 20 in row b. The hatched portion indicates the storage recess 2 in which the agricultural product 16 is stored.
0. The same applies hereinafter. Then, the above operation is repeated two more times, and each of the storage recesses 20 in the c-th row and the d-th row, and the e-th row and the f-th row
By storing the agricultural product 16 in the tray pack 18, the agricultural product 16 can be stored in all the storage recesses 20 of the tray pack 18.
【０００９】[0009]
【発明が解決しようとする課題】しかしながら、上述し
た従来の箱詰め方法や装置では、千鳥状に収納凹部２０
が形成されたトレイパック１８に農産物１６を収納する
場合に、例えば千鳥状に配置された２列分の５個の収納
凹部２０に一括して全部の農産物１６を収納できず、３
個、２個に分けて収納する必要があるため、農産物の収
納に手間がかかるという課題がある。However, in the above-described conventional method and apparatus for packing a box, the storage recesses 20 are staggered.
When the agricultural products 16 are stored in the tray pack 18 in which are formed, for example, all the agricultural products 16 cannot be stored collectively in five storage recesses 20 for two rows arranged in a staggered manner, and 3
There is a problem that it takes time and effort to store agricultural products because it is necessary to store the products separately.
【００１０】したがって、本発明は上記課題を解決すべ
くなされ、その目的とするところは、千鳥状に配置され
たトレイパックの２列分の収納凹部にも一括して農産物
を収納できる農産物の箱詰め方法と箱詰め装置を提供す
ることにある。SUMMARY OF THE INVENTION Therefore, the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to pack agricultural products into a plurality of storage recesses for two rows of tray packs arranged in a staggered manner. It is to provide a method and a boxing device.
【００１１】[0011]
【課題を解決するための手段】本発明は上記目的を達成
するため次の構成を備える。すなわち、本発明に係る請
求項１記載の農産物の箱詰め方法は、一つの農産物を吊
り下げた状態で着脱自在に保持する保持手段を複数一列
に整列して構成される搬送手段を用いて、農産物をトレ
イパックに形成された収納凹部内に収納する農産物の箱
詰め方向において、一列に整列した状態の前記保持手段
で農産物を保持した後、前記搬送手段を前記トレイパッ
ク上に移動させる間に、保持手段を一つ置きに保持手段
の整列方向と平行な軸線を中心として同方向へ所定角度
だけ回動させて保持した農産物を残りの農産物の斜め側
方に移動させて千鳥状に配置し、この状態で保持手段で
保持された全農産物を一括してトレイパックの前記収納
凹部内に収納することを特徴とする。これによれば、千
鳥状に配置された隣接する２列の収納凹部内に一括して
農産物を収納することができ、効率の良い箱詰めが可能
となる。The present invention has the following arrangement to achieve the above object. That is, the method for packing agricultural products according to claim 1 of the present invention uses a transporting means configured by arranging a plurality of holding means for detachably holding one agricultural product in a suspended state in a row. After the agricultural products are held by the holding means arranged in a line in the boxing direction of the agricultural products to be stored in the storage recess formed in the tray pack, the holding means is moved while the transport means is moved onto the tray pack. Agricultural products are rotated by a predetermined angle in the same direction about the axis parallel to the alignment direction of the holding device every other means and the held agricultural products are moved diagonally to the remaining agricultural products and arranged in a staggered manner. In this state, all the agricultural products held by the holding means are collectively stored in the storage recess of the tray pack. According to this, the agricultural products can be collectively stored in the adjacent two rows of storage recesses arranged in a staggered manner, and efficient packing can be performed.
【００１２】また、本発明に係る請求項２記載の農産物
の箱詰め方法は、一つの農産物を吊り下げた状態で着脱
自在に保持する保持手段を複数一列に整列して構成され
る搬送手段を用いて、農産物をトレイパックに形成され
た収納凹部内に収納する農産物の箱詰め方向において、
一列に整列した状態の前記保持手段で農産物を保持した
後、前記搬送手段を前記トレイパック上に移動させる間
に、整列方向に沿った奇数番目の保持手段を該整列方向
と平行な軸線を中心として同方向へ所定角度だけ回動さ
せると共に偶数番目の保持手段を前記軸線を中心として
逆の方向に所定角度だけ回転させて保持した農産物を千
鳥状に配置し、この状態で保持手段で保持された全農産
物を一括してトレイパックの前記収納凹部内に収納する
ことを特徴とする。これによれば、千鳥状に配置された
隣接する２列の収納凹部内に一括して農産物を収納する
ことができ、効率の良い箱詰めが可能となる。また、保
持手段は当初の一列の状態から両側に互い違いに回動し
て農産物を千鳥状に配置するため、個々の農産物の傾き
を少なくでき、傾きの少ない状態で農産物をトレイパッ
クに収納できる。[0012] The method for packing agricultural products according to the second aspect of the present invention uses a transporting means configured by arranging a plurality of holding means for detachably holding one agricultural product in a suspended state in a row. In the boxing direction of the produce to be stored in the storage recess formed in the tray pack,
After holding the agricultural products by the holding means in a state of being aligned in a row, while moving the transport means onto the tray pack, the odd-numbered holding means along the alignment direction is centered on an axis parallel to the alignment direction. Agricultural products which are rotated by a predetermined angle in the same direction and rotated by a predetermined angle in the opposite direction about the axis and the even-numbered holding means are arranged in a staggered manner, and held in this state by the holding means. All agricultural products are collectively stored in the storage recess of the tray pack. According to this, the agricultural products can be collectively stored in the adjacent two rows of storage recesses arranged in a staggered manner, and efficient packing can be performed. In addition, since the holding means alternately rotates to the both sides from the initial row state and arranges the agricultural products in a staggered manner, the inclination of the individual agricultural products can be reduced, and the agricultural products can be stored in the tray pack in a state where the inclination is small.
【００１３】また、前記農産物を千鳥状に配置した後、
前記トレイパックの収納凹部内に収納する前に、保持手
段間のピッチを収納凹部のピッチに合わせて変更するこ
とで、種々のトレイパックに対応することが可能とな
る。[0013] After arranging the agricultural products in a staggered manner,
By changing the pitch between the holding means according to the pitch of the storage recess before storing the tray pack in the storage recess, it is possible to cope with various tray packs.
【００１４】また、本発明に係る請求項４記載の農産物
の箱詰め装置は、一つの農産物を吊り下げた状態で着脱
自在に保持可能な保持手段と、該保持手段を複数一列に
整列した状態で支持する支持手段と、該支持手段を移動
させる移動手段と、前記保持手段による前記農産物の着
脱の制御および前記移動手段による支持手段の移動の制
御を行う制御手段とを具備し、農産物を搬送ラインから
保持してトレイパック上に搬送し、該トレイパックに形
成された収納凹部内に収納する農産物の箱詰め装置にお
いて、前記保持手段は一つ置きに保持手段の整列方向と
平行な軸線を中心に回動可能に前記支持手段に支持さ
れ、前記各保持手段には、保持手段を回動させる回動手
段がそれぞれ設けられ、前記制御手段は、前記回動手段
を制御して一列に前記保持手段を整列させ、この状態で
前記搬送ライン上の前記農産物を保持すると共に、前記
移動手段を制御して前記搬送手段を前記トレイパック上
に移動させる間に、回動手段を制御して保持手段を一つ
置きに同方向へ所定角度だけ回動させて保持した農産物
を残りの農産物の斜め側方に移動させて千鳥状に配置
し、この状態で全農産物を一括してトレイパックの前記
収納凹部内に収納することを特徴とする。According to a fourth aspect of the present invention, there is provided an apparatus for packing agricultural products, comprising: holding means for detachably holding one agricultural product in a suspended state; and a plurality of holding means arranged in a line. A supporting means for supporting, moving means for moving the supporting means, and control means for controlling the attachment / detachment of the agricultural product by the holding means and controlling the movement of the supporting means by the moving means; In the apparatus for packing agricultural products to be held from above and conveyed onto a tray pack and stored in a storage recess formed in the tray pack, the holding means are arranged on every other axis about an axis parallel to the alignment direction of the holding means. Each holding means is rotatably supported by the support means, and each of the holding means is provided with a rotating means for rotating the holding means, and the control means controls the rotating means so as to be in a line. Aligning the holding means, holding the agricultural product on the transport line in this state, and controlling and holding the rotating means while controlling the moving means to move the transport means onto the tray pack. The agricultural products held by rotating the means every other direction in the same direction by a predetermined angle are moved obliquely to the remaining agricultural products and arranged in a staggered manner, and in this state, all the agricultural products are collectively collected in the tray pack. It is characterized in that it is stored in the storage recess.
【００１５】また、本発明に係る請求項５記載の農産物
の箱詰め装置は、一つの農産物を吊り下げた状態で着脱
自在に保持可能な保持手段と、該保持手段を複数一列に
整列した状態で支持する支持手段と、該支持手段を移動
させる移動手段と、前記保持手段による前記農産物の着
脱の制御および前記移動手段による支持手段の移動の制
御を行う制御手段とを具備し、農産物を搬送ラインから
保持してトレイパック上に搬送し、該トレイパックに形
成された収納凹部内に収納する農産物の箱詰め装置にお
いて、前記保持手段は保持手段の整列方向と平行な軸線
を中心に回動可能に前記支持手段に支持され、前記各保
持手段には、保持手段を回動させる回動手段がそれぞれ
設けられ、前記制御手段は、前記回動手段を制御して一
列に前記保持手段を整列させ、この状態で前記搬送ライ
ン上の前記農産物を保持すると共に、前記移動手段を制
御して前記搬送手段を前記トレイパック上に移動させる
間に、回動手段を制御して整列方向に沿った奇数番目の
保持手段を前記軸線を中心として同方向へ所定角度だけ
回動させると共に偶数番目の保持手段を軸線を中心とし
て逆の方向に所定角度だけ回転させて保持した農産物を
千鳥状に配置し、この状態で全農産物を一括してトレイ
パックの前記収納凹部内に収納することを特徴とする。According to a fifth aspect of the present invention, there is provided an apparatus for packing agricultural products, comprising: holding means for detachably holding one agricultural product in a suspended state; and a plurality of holding means arranged in a line. A supporting means for supporting, moving means for moving the supporting means, and control means for controlling the attachment / detachment of the agricultural product by the holding means and controlling the movement of the supporting means by the moving means; In the apparatus for packing agricultural products to be held from above and conveyed onto a tray pack and stored in a storage recess formed in the tray pack, the holding means is rotatable about an axis parallel to the alignment direction of the holding means. The holding means is supported by the holding means, and each of the holding means is provided with a rotating means for rotating the holding means, and the control means controls the rotating means to form the holding means in a line. While aligning and holding the agricultural product on the transport line in this state, while controlling the moving means to move the transport means onto the tray pack, controlling the rotating means along the alignment direction The agricultural products held by rotating the odd-numbered holding means by a predetermined angle in the same direction about the axis and rotating the even-numbered holding means by a predetermined angle in the opposite direction about the axis are arranged in a staggered manner. Then, in this state, all the agricultural products are collectively stored in the storage recess of the tray pack.
【００１６】また、前記保持手段は前記支持手段に、相
互のピッチを変更可能に支持され、前記支持手段には、
前記保持手段のピッチを変更するピッチ変更手段が設け
られ、前記制御手段は、前記農産物を千鳥状に配置した
後、前記トレイパックの前記収納凹部内に収納する前
に、前記ピッチ変更手段を制御して保持手段間のピッチ
を収納凹部のピッチに合わせて変更することを特徴とす
る。Further, the holding means is supported by the supporting means so as to be able to change a mutual pitch, and the supporting means comprises:
Pitch changing means for changing the pitch of the holding means is provided, and the control means controls the pitch changing means after arranging the agricultural products in a staggered manner and before storing the produce in the storage recess of the tray pack. The pitch between the holding means is changed according to the pitch of the storage recess.
【００１７】[0017]
【発明の実施の形態】以下、本発明に係る農産物の箱詰
め方法と農産物の箱詰め装置の好適な実施の形態につい
て添付図面を基に説明する。 （農産物の箱詰め装置の構成）まず、農産物の箱詰め装
置４０の構成について図１〜図３を用いて説明する。な
お、従来例と同じ構成については同じ符合を付し、詳細
な説明は省略する。保持手段２２は、支持手段２８に連
結される基部２２ａと、基部２２ａに取り付けられる第
１シリンダ(一例としてエアシリンダ)２４と、その進退
動（上下動）する第１ロッド２４ａの先端に取り付けら
れた農産物吸着用の吸着カップ２６で構成され、一つの
農産物１６を吊り下げた状態で着脱自在に保持し、上下
方向に移動させる機能を有する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the method for packing agricultural products and the device for packing agricultural products according to the present invention will be described below with reference to the accompanying drawings. (Configuration of Agricultural Product Boxing Device) First, the configuration of the agricultural product boxing device 40 will be described with reference to FIGS. The same components as those in the conventional example are denoted by the same reference numerals, and detailed description thereof will be omitted. The holding means 22 is attached to a base 22 a connected to the support means 28, a first cylinder (eg, an air cylinder) 24 attached to the base 22 a, and an end of a first rod 24 a that moves forward and backward (moves up and down). It has a function of holding one agricultural product 16 detachably in a suspended state and moving it in the vertical direction.
【００１８】支持手段２８は、複数（本例では一例とし
て５個）の保持手段２２を直線的に一列に整列した状態
で支持する。詳細には、保持手段２２を、吸着カップ２
６が下方に位置する状態で支持する構成である。各保持
手段２２は、その整列方向（支持手段２８の長手方向）
に沿ってスライド可能に支持手段２８に取り付けられて
おり、保持した農産物１６同士の間隔（ピッチ）を自在
に変更できる構成となっている。例えば支持手段２８を
ガイドレール形状に形成し、支持手段２８に保持手段２
２の基部を摺動自在に連結し、各保持手段２２同士をパ
ンタグラフ機構（不図示）で連結し、パンタグラフ機構
を伸縮機構（不図示）で伸縮する構成が考えられる。各
保持手段２２と支持手段２８とで搬送手段を構成する。The support means 28 supports a plurality of (five in this example, for example) holding means 22 in a state of being linearly aligned in a line. Specifically, the holding means 22 is connected to the suction cup 2
6 is configured to be supported in a state of being located below. Each holding means 22 is arranged in its alignment direction (longitudinal direction of the supporting means 28).
Is attached to the supporting means 28 so as to be slidable along, so that the interval (pitch) between the held agricultural products 16 can be freely changed. For example, the support means 28 is formed in a guide rail shape, and the holding means 2 is attached to the support means 28.
A configuration is conceivable in which the two bases are slidably connected, each holding means 22 is connected to each other by a pantograph mechanism (not shown), and the pantograph mechanism is expanded and contracted by an expansion and contraction mechanism (not shown). Each holding means 22 and the support means 28 constitute a transport means.
【００１９】支持手段２８は、搬送ライン１２とトレイ
パック１８の上方領域間に掛け渡されたガイドレール３
２上をスライドする移動体３４に取り付けられている。
このガイドレール３２と移動体３４とが、支持手段２８
に対する移動手段３０を構成する。制御手段３６は、コ
ンピュータ等で構成され、箱詰め装置４０の各構成要素
を統括制御する。The support means 28 is provided on the guide rail 3 spanned between the transport line 12 and the area above the tray pack 18.
2 is attached to a moving body 34 that slides on the top.
The guide rail 32 and the moving body 34 are
Of the moving means 30 with respect to. The control means 36 is composed of a computer or the like, and controls the components of the box packing device 40 as a whole.
【００２０】以上の構成は従来例と同じ構成であり、次
に述べる構成が本発明の特徴点となる。まず、保持手段
２２は、その整列方向に沿って一つ置きに、保持手段２
２の整列方向と平行な軸線Ｗを中心に回動可能に支持手
段２８に支持された構成となっている。そして、保持手
段２２の回動方向は、回動前の元の位置を基準として同
方向、つまり左右いずれか一方の方向である。また回動
する角度は同じ所定角度である。これにより、回動した
保持手段２２に保持された農産物１６は、回動しない保
持手段２２に保持された農産物１６の斜め側方に移動し
（左右いずれか一方の側方に移動し）、その位置で新た
に整列方向に沿って一列に並ぶ。この結果、元の位置に
止まっている農産物１６と合わせて全体として農産物１
６が千鳥状に配列されることになる。The above configuration is the same as that of the conventional example, and the following configuration is a feature of the present invention. First, the holding means 22 is provided with every other holding means 2 along the alignment direction.
2 is supported by the supporting means 28 so as to be rotatable about an axis W parallel to the alignment direction. The rotation direction of the holding means 22 is the same direction with reference to the original position before the rotation, that is, one of the left and right directions. The angle of rotation is the same predetermined angle. Thereby, the agricultural product 16 held by the rotated holding means 22 moves diagonally to the side of the agricultural product 16 held by the non-rotating holding means 22 (moves to one of left and right sides), and Newly line up at the position along the alignment direction. As a result, the agricultural product 1 as a whole is combined with the agricultural product 16 remaining at the original position.
6 are arranged in a staggered manner.
【００２１】なお、新たな位置に並ぶ農産物１６は保持
手段２２が垂下した位置から回動して斜めになるため、
農産物１６自体も傾き、かつ元の位置にある農産物に対
して若干上昇するが、通常千鳥状に配置される農産物１
６の２つの列間の距離は約２〜４センチメートル程度で
あるから、軸線Ｗから農産物１６までの距離をある程度
長くすることによって、その傾きやその上昇の程度は全
農産物１６を一括してトレイパック１８の収納凹部２０
に収納するのに問題のないレベルにできる。また、回動
可能に支持された各保持手段２２には、保持手段２２を
回動させる回動手段４２がそれぞれ設けられている。本
実施の形態では回動手段４２は一例としてエアシリンダ
で構成されているが、電動モータでも構成することがで
きる。Since the agricultural products 16 lined up at the new position are turned obliquely from the position at which the holding means 22 hangs down,
The agricultural product 16 itself is also inclined and slightly rises with respect to the agricultural product in the original position, but the agricultural product 1 which is usually arranged in a staggered manner is used.
Since the distance between the two rows of 6 is about 2 to 4 centimeters, by increasing the distance from the axis W to the produce 16 to some extent, the inclination and the degree of the rise are collectively adjusted for all the produce 16. Storage recess 20 for tray pack 18
It can be at a level that does not have a problem to store in. Each of the holding means 22 rotatably supported is provided with a turning means 42 for turning the holding means 22. In the present embodiment, the turning means 42 is constituted by an air cylinder as an example, but may be constituted by an electric motor.
【００２２】また、この保持手段２２を回動させた際に
生ずる農産物１６の傾きや上昇に関する問題は以下の構
成とすることで緩和される。図３に示すように、全ての
保持手段２２が回動可能に支持手段２８に支持された構
成とし、かつ全ての保持手段２２に回動手段４２を設け
る。そして、制御手段３６が回動手段４２を制御して保
持手段２２を回動させ、保持された農産物１６を千鳥状
に配置する際には、整列方向に沿った奇数番目の保持手
段２２を軸線Ｗを中心として同方向へ所定角度だけ回動
させると共に偶数番目の保持手段２２を軸線Ｗを中心と
して逆の方向に所定角度だけ回転させる。このようにす
れば、千鳥状に配置された２列の農産物１６の各列間の
間隔が同じであるとすると、回動前の元の位置Ｘを基準
とした側方への移動量は保持手段２２が一つ置きに回動
する場合に比べて半分で良く、各農産物１６の傾きや上
昇も少なくできる。Further, the problem relating to the inclination and elevation of the agricultural product 16 caused when the holding means 22 is rotated can be alleviated by adopting the following configuration. As shown in FIG. 3, all the holding means 22 are rotatably supported by the supporting means 28, and all the holding means 22 are provided with the turning means 42. When the control means 36 controls the rotating means 42 to rotate the holding means 22 and arrange the held agricultural products 16 in a staggered manner, the odd-numbered holding means 22 along the alignment direction is moved along the axis. At the same time, the holding means 22 is rotated about the axis W by a predetermined angle in the same direction and the even-numbered holding means 22 is rotated about the axis W by a predetermined angle in the opposite direction. In this way, assuming that the intervals between the two rows of the agricultural products 16 arranged in a staggered manner are the same, the amount of lateral movement based on the original position X before rotation is maintained. Compared to the case where the means 22 is rotated every other one, it is sufficient to reduce the half, and the inclination and the rise of each agricultural product 16 can be reduced.
【００２３】次に、農産物の箱詰め装置４０の動作と共
に箱詰め方向について図４を用いて説明する。農産物を
箱詰めするトレイパック１８に形成された収納凹部２０
が、図８に示すようにマトリックス状（一例として各列
ａ、ｂ、ｃに収納凹部２０が５個配置された５×３のマ
トリックス）に配置されている場合については従来の箱
詰め装置１０の動作や従来の箱詰め方法と同じである。
つまり、保持手段２２は回動されず、垂下した位置で一
列になった状態で農産物１６を保持し、搬送し、トレイ
パック１８の各列の収納凹部２０に順次収納する。Next, the operation of the agricultural product box packing apparatus 40 and the box packing direction will be described with reference to FIG. Storage recess 20 formed in tray pack 18 for packing agricultural products
However, as shown in FIG. 8, in the case where they are arranged in a matrix shape (for example, a 5 × 3 matrix in which five storage recesses 20 are arranged in each row a, b, and c), the conventional box packing device 10 is used. It is the same as the operation and the conventional packing method.
In other words, the holding means 22 is not rotated, holds the agricultural products 16 in a line at the hanging position, transports the agricultural products 16, and sequentially stores the agricultural products 16 in the storage recesses 20 of each row of the tray pack 18.
【００２４】続いて、図４に示すように、トレイパック
１８に形成された収納凹部２０が千鳥状に配置されてい
る場合の箱詰め方法について説明する。なお、搬送ライ
ン１２で農産物１６を全保持手段２２に一括して吸着・
保持するまでは従来例と同様である。その概要は、制御
手段３６は、移動体３４を移動して、支持手段２８に一
列に垂下状態で支持された各保持手段２２を搬送ライン
１２上に位置させ、支持手段２８上で各保持手段２２を
移動させて保持手段２２のピッチを、受け皿１４の取り
付けピッチ、つまり農産物１６のピッチに合わせる。次
に、制御手段３６は各保持手段２２の第１シリンダ２４
を作動させて第１ロッド２４ａを下方に進め（下方に延
ばし）、それぞれの吸着カップ２６で農産物１６を吸着
する。これにより、全保持手段２２によって５個の農産
物１６が保持された状態となる。そして第１シリンダ２
４を作動させて第１ロッド２４ａを上方に移動させて
（縮めて）、農産物１６を受け皿１４上から持ち上げ
る。Next, a description will be given of a box packing method in a case where the storage recesses 20 formed in the tray pack 18 are arranged in a staggered manner as shown in FIG. In addition, the agricultural products 16 are collectively adsorbed on all the holding means 22 in the transport line 12.
Until it is held, it is the same as the conventional example. The outline is that the control means 36 moves the moving body 34 to position each holding means 22 supported in a row in a row on the support means 28 on the transport line 12, and 22 is moved so that the pitch of the holding means 22 is adjusted to the mounting pitch of the saucer 14, that is, the pitch of the produce 16. Next, the control means 36 controls the first cylinder 24 of each holding means 22.
Is operated to advance the first rod 24a downward (extend downward), and the agricultural products 16 are absorbed by the respective suction cups 26. As a result, five agricultural products 16 are held by the all holding means 22. And the first cylinder 2
4 is operated to move the first rod 24 a upward (shrink), and the agricultural product 16 is lifted from the receiving tray 14.
【００２５】次に、制御手段３６は、保持手段２２で農
産物１６を保持した後、支持手段２８をトレイパック１
８上に移動させる間に、若しくはトレイパック１８上に
移動させた後に、該当する保持手段２２を回動させ、全
ての保持手段２２に保持された農産物１６の配置を千鳥
状にする。具体的には、保持手段２２を一つ置きに保持
手段２２の整列方向と平行な軸線Ｗを中心として同方向
へ所定角度だけ回動させ、回動した保持手段２２に保持
された農産物１６を、垂下位置にある保持手段２２に保
持された残りの農産物１６の斜め側方に移動させて一列
に並べ、全体として千鳥状に配置する。あるいは、整列
方向に沿った奇数番目の保持手段２２を整列方向と平行
な軸線Ｗを中心として同方向へ所定角度だけ回動させて
一列に並べると共に、偶数番目の保持手段２２を軸線Ｗ
を中心として逆の方向に所定角度だけ回転させて一列に
並べ、保持した農産物１６を全体として千鳥状に配置す
る。この千鳥状に配置された農産物１６の位置は、後述
のように回動した保持手段２２の第１シリンダ２４を作
動させて第１ロッド２４ａを予め決められた長さだけ延
ばした状態で、保持された農産物１６が、対応するトレ
イパック１８の収納凹部２０の位置に一致するように予
め計算で求め、若しくは経験的に求めて設定される。Next, the control means 36 holds the agricultural product 16 by the holding means 22 and then moves the support means 28 to the tray pack 1.
During the movement on the tray 8 or after moving on the tray pack 18, the corresponding holding means 22 is rotated, and the arrangement of the agricultural products 16 held by all the holding means 22 is staggered. Specifically, every other holding means 22 is rotated by a predetermined angle in the same direction about the axis W parallel to the alignment direction of the holding means 22 in the same direction, and the agricultural product 16 held by the rotated holding means 22 is rotated. The remaining agricultural products 16 held by the holding means 22 at the hanging position are moved diagonally to the side and arranged in a line, and are arranged in a zigzag as a whole. Alternatively, the odd-numbered holding means 22 along the alignment direction are rotated in the same direction by a predetermined angle about the axis W parallel to the alignment direction and arranged in a line, and the even-numbered holding means 22 is
Are rotated in a direction opposite to each other by a predetermined angle and arranged in a line, and the held agricultural products 16 are arranged in a zigzag shape as a whole. The positions of the agricultural products 16 arranged in a staggered manner are held in a state in which the first cylinder 24 of the rotating holding means 22 is operated to extend the first rod 24a by a predetermined length as described later. The obtained agricultural product 16 is set in advance by calculation or empirically so as to match the position of the storage recess 20 of the corresponding tray pack 18.
【００２６】そして、必要に応じて、制御手段３６はパ
ンタグラフ機構を作動させて各保持手段２２を整列方向
にスライドさせ、各農産物１６のピッチを、収納凹部２
０のピッチに合わせる。そして制御手段３６は、第１シ
リンダ２４を作動させて第１ロッド２４ａを下方へ延ば
し、吸着カップ２６で吸着・保持された農産物１６を、
対応する収納凹部２０（ａ列とｂ列の収納凹部）内に一
括して入れる。この動作が完了したら、制御手段３６は
吸着カップ２６による農産物１６の吸着を解除し、第１
ロッド２４ａを上方へ移動させる。これによって、農産
物１６の箱詰め、具体的にはトレイパック１８の二列分
の収納凹部２０への農産物の収納が一回で完了する。Then, if necessary, the control means 36 operates the pantograph mechanism to slide each holding means 22 in the alignment direction, and adjusts the pitch of each agricultural product 16 to the storage recess 2.
Adjust to a pitch of 0. Then, the control means 36 operates the first cylinder 24 to extend the first rod 24a downward, and the agricultural product 16 sucked and held by the suction cup 26 is
They are collectively put into the corresponding storage recesses 20 (the storage recesses in the rows a and b). When this operation is completed, the control means 36 releases the suction of the agricultural product 16 by the suction cup 26, and
The rod 24a is moved upward. Thereby, the packing of the agricultural products 16 into the boxes, specifically, the storing of the agricultural products in the storage recesses 20 for the two rows of the tray pack 18 is completed at one time.
【００２７】その後、次の農産物１６の保持のために、
移動体３４を移動させて支持手段２８を搬送ライン１２
上に移動させる。制御手段３６は、以上の動作を繰り返
して行い、次はｃ列とｄ列の収納凹部２０内に、その次
はｅ列とｆ列の収納凹部２０内というように順番に農産
物１６を収納する。これにより、一つのトレイパック１
８の全収納凹部２０に農産物１６を収納して、箱詰め動
作を完了する。このように、トレイパック１８に形成さ
れた収納凹部２０が千鳥状の配置であっても、従来と異
なり２列分一括して収納でき、非常に効率の良い農産物
１６の収納が行える。After that, in order to keep the next agricultural product 16,
By moving the moving body 34, the supporting means 28 is moved to the transport line 12
Move up. The control means 36 repeats the above operation, and stores the agricultural products 16 in the storage recesses 20 in the c-th and d-rows, and then in the storage recesses 20 in the e-th and f-rows. . Thereby, one tray pack 1
The agricultural products 16 are stored in all the storage recesses 20 of FIG. 8, and the box packing operation is completed. In this way, even if the storage recesses 20 formed in the tray pack 18 are arranged in a staggered arrangement, unlike the conventional case, the storage can be collectively stored in two rows, and the storage of the agricultural products 16 can be performed very efficiently.
【００２８】上述した保持手段２２を支持手段２８に回
動自在に支持する支持構造は一例として図５に示す構成
が考えられる。リニアガイド構造に形成された支持手段
２８に、保持手段２２の基部（上部）２２ａが、支持手
段２８の長手方向に沿って（保持手段２２の整列方向に
沿って）移動自在に取り付けられている。保持手段２２
は、その基部２２ａが、一例として中空の直方体が約対
角線に沿って斜めにカットされて側面から見た形状が約
三角形に形成された固定ベース４４と、この固定ベース
４４の上面に取り付けられてリニアガイド構造の支持手
段２８とスライド自在に連結するスライド体４６とから
なる。As an example of the supporting structure for rotatably supporting the holding means 22 on the supporting means 28, the structure shown in FIG. 5 can be considered. The base (upper portion) 22a of the holding means 22 is movably attached to the supporting means 28 formed in the linear guide structure along the longitudinal direction of the supporting means 28 (along the alignment direction of the holding means 22). . Holding means 22
The base 22a is, as an example, a fixed base 44 in which a hollow rectangular parallelepiped is cut obliquely along a diagonal line to form a triangular shape as viewed from the side, and is attached to an upper surface of the fixed base 44. It comprises a slide means 46 slidably connected to the support means 28 having a linear guide structure.
【００２９】そして、固定ベース４４の内部上方に可動
板体４８が、その一方の辺が軸線Ｗを中心として回動自
在に取り付けられている。可動板体４８の下面には第１
シリンダ２４の上端部が固定されている。そして、可動
板体４８の揺動する他方の辺には回動手段４２としての
副シリンダ５０の一端側（図５中の上端側）が軸線Ｙを
中心として回動自在に連結され、副シリンダ５０の他端
側（図５中の下端側）が、固定ベース４４の下端部に軸
線Ｚを中心として回動自在に連結されている。この構造
により、副シリンダ５０が伸縮することで、可動板体４
８が軸線Ｗを中心として回動して他方の辺が揺動し、そ
の結果可動板体４８に取り付けられた第１シリンダ２４
が軸線Ｗを中心として回動する。A movable plate 48 is mounted above the inside of the fixed base 44 so that one side thereof is rotatable about an axis W. On the lower surface of the movable plate 48, a first
The upper end of the cylinder 24 is fixed. One end (upper end in FIG. 5) of a sub-cylinder 50 as a rotating means 42 is rotatably connected to the other swinging side of the movable plate 48 about an axis Y. The other end (the lower end in FIG. 5) of 50 is connected to the lower end of the fixed base 44 so as to be rotatable about the axis Z. With this structure, when the sub cylinder 50 expands and contracts, the movable plate 4
8 rotates about the axis W, and the other side swings, and as a result, the first cylinder 24 attached to the movable plate 48 is rotated.
Rotates about the axis W.
【００３０】なお、上述した箱詰め装置４０の構成は、
この構成に限定されるものではなく、本発明に係る箱詰
め方法を実施できる構成であれば、いかなる構成でも良
い。例えば、支持手段２８全体を移動体３４に、エアシ
リンダ等で構成された上下動機構を用いて連結し、この
上下動機構を作動させて保持手段２２に保持した農産物
１６をトレイパック１８に収納するようにすることも可
能である。また、所定の保持手段２２を回動させて保持
した農産物１６を千鳥状に形成した後に、各保持手段２
２を移動させて農産物１６間のピッチを調節する必要が
ない場合には、各保持手段２２を移動させる機構は設け
る必要がない。The configuration of the above-mentioned box packing device 40 is as follows.
The configuration is not limited to this configuration, and any configuration may be used as long as the configuration can implement the box packing method according to the present invention. For example, the entire support means 28 is connected to the moving body 34 using a vertical movement mechanism constituted by an air cylinder or the like, and the vertical movement mechanism is operated to store the agricultural products 16 held by the holding means 22 in the tray pack 18. It is also possible to do so. After the agricultural products 16 held by rotating the predetermined holding means 22 are formed in a staggered manner, the holding means 2
If there is no need to adjust the pitch between the agricultural products 16 by moving the two, there is no need to provide a mechanism for moving each holding means 22.
【００３１】[0031]
【発明の効果】本発明に係る農産物の箱詰め方法や農産
物の箱詰め装置によれば、トレイパックの千鳥状に配置
された隣接する２列の収納凹部内に一括して農産物を収
納することができ、効率の良い箱詰めが可能となるとい
う効果を奏する。According to the method and the apparatus for packing agricultural products according to the present invention, agricultural products can be collectively stored in two adjacent rows of storage recesses arranged in a staggered manner in a tray pack. This has the effect of enabling efficient packing.
【図１】本発明に係る農産物の箱詰め装置の構成を説明
するための説明図である。FIG. 1 is an explanatory diagram for explaining a configuration of a boxing device for agricultural products according to the present invention.
【図２】図１の保持手段とそれを吊り下げた状態で支持
する支持手段、つまり搬送手段の正面から見た説明図で
ある。FIG. 2 is an explanatory view of the holding means of FIG. 1 and a supporting means for supporting the hanging means in a suspended state, that is, a transporting means viewed from the front.
【図３】保持手段を一列に整列した位置から、奇数番目
と偶数番目に分けて互いに逆方向に回動できるようにし
た構成を説明するための説明図である。FIG. 3 is an explanatory diagram for explaining a configuration in which holding means can be divided into odd-numbered and even-numbered positions so that they can be rotated in opposite directions from a position aligned in a line.
【図４】本発明に係る農産物の箱詰め方法を説明するた
めの説明図であり、（ａ）はａ列とｂ列に、また（ｂ）
はさらにｃ列とｄ列に、また（ｃ）はさらにｅ列とｆ列
の収納凹部に農産物が順番に収納された状態を示す。FIG. 4 is an explanatory view for explaining a method for packing agricultural products according to the present invention, wherein (a) shows rows a and b and (b)
Shows the state in which agricultural products are stored in order in rows c and d, and (c) further in the storage recesses in rows e and f.
【図５】図１の保持手段の具体的な構成の一例を示す説
明図であり、（ａ）は一部切欠正面図、（ｂ）は側面図
である。5A and 5B are explanatory views showing an example of a specific configuration of the holding means of FIG. 1, wherein FIG. 5A is a partially cutaway front view, and FIG. 5B is a side view.
【図６】従来の農産物の箱詰め装置の構成を説明するた
めの説明図である。FIG. 6 is an explanatory diagram for explaining a configuration of a conventional agricultural product box packing apparatus.
【図７】図６の保持手段とそれを吊り下げた状態で支持
する支持手段、つまり搬送手段の正面から見た説明図で
ある。FIG. 7 is an explanatory view of the holding means of FIG. 6 and supporting means for supporting the hanging means in a suspended state, that is, the transport means as viewed from the front.
【図８】マトリックス状に収納凹部が配置されたトレイ
パックの平面図である。FIG. 8 is a plan view of a tray pack in which storage recesses are arranged in a matrix.
【図９】千鳥状に収納凹部が配置されたトレイパックに
農産物を箱詰めする従来の箱詰め方法を説明するための
説明図であり、（ａ）はａ列に、（ｂ）はさらにｂ列
に、（ｃ）はさらにｃ列に、（ｄ）はさらにｄ列に、
（ｅ）はさらにｅ列に、（ｆ）はさらにｆ列に農産物が
順番に収納された状態を示す。FIGS. 9A and 9B are explanatory diagrams for explaining a conventional boxing method for packing agricultural products in a tray pack in which storage recesses are arranged in a staggered manner, wherein FIG. 9A is in column a, and FIG. 9B is in column b. , (C) in column c, (d) in column d,
(E) shows a state in which agricultural products are sequentially stored in row e and (f) further in row f.
１２ 搬送ライン １４ 受け皿 １６ 農産物 １８ トレイパック ２０ 収納凹部 ２２ 保持手段 ２８ 支持手段 ３０ 移動手段 ３２ ガイドレール ３４ 移動体 ３６ 制御手段 ４２ 回動手段 DESCRIPTION OF SYMBOLS 12 Conveying line 14 Receiving tray 16 Agricultural product 18 Tray pack 20 Storage recess 22 Holding means 28 Supporting means 30 Moving means 32 Guide rail 34 Moving body 36 Control means 42 Rotating means
───────────────────────────────────────────────────── フロントページの続き (72)発明者 竹田 英雄 長野県長野市中御所１丁目19番１号 株式 会社柳原製作所内 Ｆターム(参考） 3E003 AA02 AB02 BA03 BB02 BB04 BC04 BD04 CA02 CB03 CB06 DA03 DA07 3E028 AA01 BA01 CA03 EA01 GA02 GA04 HA02 3E054 AA10 CA08 DC03 DC12 DC17 EA02 FA03 FC04 FC07 FC20 FE03 GA01 GA07 GB01 GC03 HA04 HA07 3F072 AA11 GA01 GC01 GC05 GD01 KD03 KD13 KD14 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hideo Takeda 1-19-1 Nakagosho, Nagano-shi, Nagano F-term in Yanagihara Works (reference) 3E003 AA02 AB02 BA03 BB02 BB04 BC04 BD04 CA02 CB03 CB06 DA03 DA07 3E028 AA01 BA01 CA03 EA01 GA02 GA04 HA02 3E054 AA10 CA08 DC03 DC12 DC17 EA02 FA03 FC04 FC07 FC20 FE03 GA01 GA07 GB01 GC03 HA04 HA07 3F072 AA11 GA01 GC01 GC05 GD01 KD14
Claims (6)
在に保持する保持手段を複数一列に整列して構成される
搬送手段を用いて、農産物をトレイパックに形成された
収納凹部内に収納する農産物の箱詰め方向において、 一列に整列した状態の前記保持手段で農産物を保持した
後、前記搬送手段を前記トレイパック上に移動させる間
に、保持手段を一つ置きに保持手段の整列方向と平行な
軸線を中心として同方向へ所定角度だけ回動させて保持
した農産物を残りの農産物の斜め側方に移動させて千鳥
状に配置し、この状態で保持手段で保持された全農産物
を一括してトレイパックの前記収納凹部内に収納するこ
とを特徴とする農産物の箱詰め方法。1. An agricultural product is stored in a storage recess formed in a tray pack by using a plurality of holding means for detachably holding one agricultural product in a suspended state and arranged in a row. In the packing direction of the produce, after holding the produce by the holding means in a state of being aligned in a row, while moving the transporting means onto the tray pack, every other holding means and the alignment direction of the holding means. Agricultural products held by being rotated by a predetermined angle in the same direction about the parallel axis are moved to the diagonal side of the remaining agricultural products and arranged in a staggered manner, and all the agricultural products held by the holding means in this state are collectively And storing it in the storage recess of the tray pack.
在に保持する保持手段を複数一列に整列して構成される
搬送手段を用いて、農産物をトレイパックに形成された
収納凹部内に収納する農産物の箱詰め方向において、 一列に整列した状態の前記保持手段で農産物を保持した
後、前記搬送手段を前記トレイパック上に移動させる間
に、整列方向に沿った奇数番目の保持手段を該整列方向
と平行な軸線を中心として同方向へ所定角度だけ回動さ
せると共に偶数番目の保持手段を前記軸線を中心として
逆の方向に所定角度だけ回転させて保持した農産物を千
鳥状に配置し、この状態で保持手段で保持された全農産
物を一括してトレイパックの前記収納凹部内に収納する
ことを特徴とする農産物の箱詰め方法。2. An agricultural product is stored in a storage recess formed in a tray pack by using a transporting means configured by arranging a plurality of holding means for detachably holding one agricultural product in a suspended state in a row. In the packing direction of the agricultural products to be packed, after the agricultural products are held by the holding devices arranged in a line, the odd-numbered holding devices along the alignment direction are aligned while moving the transporting device onto the tray pack. Agricultural products which are rotated by a predetermined angle in the same direction about the axis parallel to the direction and rotated by a predetermined angle in the opposite direction about the axis as well as the even-numbered holding means are arranged in a staggered manner. A method for packing agricultural products, wherein all the agricultural products held by the holding means in a state are collectively stored in the storage recesses of the tray pack.
トレイパックの収納凹部内に収納する前に、保持手段間
のピッチを収納凹部のピッチに合わせて変更することを
特徴とする請求項１または２記載の農産物の箱詰め方
法。3. A pitch between holding means is changed according to a pitch of the storage recess before the agricultural products are arranged in a staggered manner and before being stored in the storage recess of the tray pack. 3. The method for boxing agricultural products according to 1 or 2.
在に保持可能な保持手段と、 該保持手段を複数一列に整列した状態で支持する支持手
段と、 該支持手段を移動させる移動手段と、 前記保持手段による前記農産物の着脱の制御および前記
移動手段による支持手段の移動の制御を行う制御手段と
を具備し、農産物を搬送ラインから保持してトレイパッ
ク上に搬送し、該トレイパックに形成された収納凹部内
に収納する農産物の箱詰め装置において、 前記保持手段は一つ置きに保持手段の整列方向と平行な
軸線を中心に回動可能に前記支持手段に支持され、 前記各保持手段には、保持手段を回動させる回動手段が
それぞれ設けられ、 前記制御手段は、前記回動手段を制御して一列に前記保
持手段を整列させ、この状態で前記搬送ライン上の前記
農産物を保持すると共に、前記移動手段を制御して前記
搬送手段を前記トレイパック上に移動させる間に、回動
手段を制御して保持手段を一つ置きに同方向へ所定角度
だけ回動させて保持した農産物を残りの農産物の斜め側
方に移動させて千鳥状に配置し、この状態で全農産物を
一括してトレイパックの前記収納凹部内に収納すること
を特徴とする農産物の箱詰め装置。4. A holding means capable of detachably holding one agricultural product in a suspended state, a supporting means for supporting the holding means in a state of being arranged in a plurality of rows, and a moving means for moving the supporting means. Control means for controlling the attachment / detachment of the agricultural product by the holding means and control of the movement of the support means by the moving means, holding the agricultural product from a transport line and transporting the agricultural product onto a tray pack, In the apparatus for packing agricultural products to be stored in the formed storage recess, the holding means is supported by the supporting means so as to be rotatable about an axis parallel to an alignment direction of the holding means every other one of the holding means. Is provided with rotating means for rotating the holding means, and the control means controls the rotating means to align the holding means in a line, and in this state, While holding the agricultural product, while controlling the moving means to move the transporting means onto the tray pack, controlling the rotating means and rotating every other holding means in the same direction by a predetermined angle. The agricultural products held and moved to the oblique side of the remaining agricultural products are arranged in a staggered manner, and in this state, all the agricultural products are collectively stored in the storage recess of the tray pack. apparatus.
在に保持可能な保持手段と、 該保持手段を複数一列に整列した状態で支持する支持手
段と、 該支持手段を移動させる移動手段と、 前記保持手段による前記農産物の着脱の制御および前記
移動手段による支持手段の移動の制御を行う制御手段と
を具備し、農産物を搬送ラインから保持してトレイパッ
ク上に搬送し、該トレイパックに形成された収納凹部内
に収納する農産物の箱詰め装置において、 前記保持手段は保持手段の整列方向と平行な軸線を中心
に回動可能に前記支持手段に支持され、 前記各保持手段には、保持手段を回動させる回動手段が
それぞれ設けられ、 前記制御手段は、前記回動手段を制御して一列に前記保
持手段を整列させ、この状態で前記搬送ライン上の前記
農産物を保持すると共に、前記移動手段を制御して前記
搬送手段を前記トレイパック上に移動させる間に、回動
手段を制御して整列方向に沿った奇数番目の保持手段を
前記軸線を中心として同方向へ所定角度だけ回動させる
と共に偶数番目の保持手段を軸線を中心として逆の方向
に所定角度だけ回転させて保持した農産物を千鳥状に配
置し、この状態で全農産物を一括してトレイパックの前
記収納凹部内に収納することを特徴とする農産物の箱詰
め装置。5. A holding means capable of detachably holding one agricultural product in a suspended state, a supporting means for supporting the holding means in a state of being arranged in a plurality of rows, and a moving means for moving the supporting means. Control means for controlling the attachment / detachment of the agricultural product by the holding means and control of the movement of the support means by the moving means, holding the agricultural product from a transport line and transporting the agricultural product onto a tray pack, In the apparatus for packing agricultural products to be stored in the formed storage recess, the holding means is supported by the support means so as to be rotatable about an axis parallel to an alignment direction of the holding means, and each of the holding means has Turning means for turning the means are provided, and the control means controls the turning means to align the holding means in a line, and in this state, the agricultural product on the transport line While controlling the moving means and moving the transporting means onto the tray pack, the rotating means is controlled so that the odd-numbered holding means along the alignment direction is centered on the axis. The agricultural products that are rotated by a predetermined angle in the direction and the even-numbered holding means are rotated and rotated by a predetermined angle in the opposite direction about the axis are arranged in a staggered manner, and in this state, all the agricultural products are collectively tray-packed. A boxing device for agricultural products, which is stored in the storage recess.
ピッチを変更可能に支持され、 前記支持手段には、前記保持手段のピッチを変更するピ
ッチ変更手段が設けられ、 前記制御手段は、前記農産物を千鳥状に配置した後、前
記トレイパックの前記収納凹部内に収納する前に、前記
ピッチ変更手段を制御して保持手段間のピッチを収納凹
部のピッチに合わせて変更することを特徴とする請求項
４または５記載の農産物の箱詰め装置。6. The holding means is supported by the support means such that a mutual pitch can be changed, and the support means is provided with a pitch changing means for changing a pitch of the holding means. After arranging the agricultural products in a staggered manner, before storing the produce in the storage recess of the tray pack, controlling the pitch changing means to change the pitch between the holding means to match the pitch of the storage recess. A boxing device for agricultural products according to claim 4 or 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000112460A JP3583345B2 (en) | 2000-04-13 | 2000-04-13 | Boxing method and boxing equipment for agricultural products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000112460A JP3583345B2 (en) | 2000-04-13 | 2000-04-13 | Boxing method and boxing equipment for agricultural products |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001294201A true JP2001294201A (en) | 2001-10-23 |
| JP3583345B2 JP3583345B2 (en) | 2004-11-04 |
Family
ID=18624625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000112460A Expired - Fee Related JP3583345B2 (en) | 2000-04-13 | 2000-04-13 | Boxing method and boxing equipment for agricultural products |
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| Country | Link |
|---|---|
| JP (1) | JP3583345B2 (en) |
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| JP2017024812A (en) * | 2015-07-15 | 2017-02-02 | ヤンマー株式会社 | Fruit sorting system |
| EP3135614A4 (en) * | 2014-10-15 | 2018-01-10 | Nabel Co., Ltd. | Distributing and transporting device, distributing and transporting method, sorting and packaging device, and sorting and packaging facility |
| WO2018105690A1 (en) * | 2016-12-09 | 2018-06-14 | 川崎重工業株式会社 | Food item holding device |
| JP2018094712A (en) * | 2016-12-09 | 2018-06-21 | 川崎重工業株式会社 | Food product holding device |
| CN108516134A (en) * | 2018-06-08 | 2018-09-11 | 安徽海思达机器人有限公司 | A kind of boxing apparatus |
| JP2021050045A (en) * | 2018-02-15 | 2021-04-01 | 株式会社ナベル | Egg pack transferring device |
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| JPH04352618A (en) * | 1991-05-28 | 1992-12-07 | Maki Seisakusho:Kk | Device for changing arrangement of item and device for boxing the same |
| JPH06321204A (en) * | 1993-05-12 | 1994-11-22 | Toyo Suisan Kaisha Ltd | Automatic boxing device |
| JPH08133233A (en) * | 1994-11-09 | 1996-05-28 | Kyoto Seisakusho:Kk | Method and apparatus for collecting cup-like objects and suction pad for holding the object |
| JPH08197471A (en) * | 1995-01-30 | 1996-08-06 | Nippon Kyodo Kikaku Kk | Fruits and vegetables conveying method and fruits and vegetables conveying device used therefor |
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| JPS57160822A (en) * | 1981-03-31 | 1982-10-04 | Miyake Seisakusho:Kk | Vessel arrangement changing device |
| JPS6333218A (en) * | 1986-07-21 | 1988-02-12 | 井関農機株式会社 | Boxing device for fruit |
| JPS6344425A (en) * | 1986-08-08 | 1988-02-25 | 井関農機株式会社 | Extracting aligner for selected fruit |
| JPS6344411A (en) * | 1986-08-08 | 1988-02-25 | 井関農機株式会社 | Boxing device for fruit |
| JPH03256820A (en) * | 1990-02-27 | 1991-11-15 | Maki Seisakusho:Kk | Arrangement changing mechanism and case-packing machine using same mechanism |
| JPH04352618A (en) * | 1991-05-28 | 1992-12-07 | Maki Seisakusho:Kk | Device for changing arrangement of item and device for boxing the same |
| JPH06321204A (en) * | 1993-05-12 | 1994-11-22 | Toyo Suisan Kaisha Ltd | Automatic boxing device |
| JPH08133233A (en) * | 1994-11-09 | 1996-05-28 | Kyoto Seisakusho:Kk | Method and apparatus for collecting cup-like objects and suction pad for holding the object |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3135614A4 (en) * | 2014-10-15 | 2018-01-10 | Nabel Co., Ltd. | Distributing and transporting device, distributing and transporting method, sorting and packaging device, and sorting and packaging facility |
| JP2017024812A (en) * | 2015-07-15 | 2017-02-02 | ヤンマー株式会社 | Fruit sorting system |
| WO2018105690A1 (en) * | 2016-12-09 | 2018-06-14 | 川崎重工業株式会社 | Food item holding device |
| JP2018094712A (en) * | 2016-12-09 | 2018-06-21 | 川崎重工業株式会社 | Food product holding device |
| JP2021050045A (en) * | 2018-02-15 | 2021-04-01 | 株式会社ナベル | Egg pack transferring device |
| JP7349152B2 (en) | 2018-02-15 | 2023-09-22 | 株式会社ナベル | Egg carton transfer device |
| CN108516134A (en) * | 2018-06-08 | 2018-09-11 | 安徽海思达机器人有限公司 | A kind of boxing apparatus |
| CN108516134B (en) * | 2018-06-08 | 2023-12-29 | 安徽海思达机器人有限公司 | Boxing device |
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| Publication number | Publication date |
|---|---|
| JP3583345B2 (en) | 2004-11-04 |
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