Automatic boxing device, and automatic boxing system

Abstract

To provide an automatic boxing device capable of efficiently dense-filling a container with a spherical processed object that is susceptible to physical impact, without damage.SOLUTION: There are provided a plate-like container stage 45 on which a container 1 is placed; a pair of side wall parts 10a where a throw-in window for sequentially throwing in a plurality of processed objects Xs1, Xs2, Xs3 from a carrier device 23 is arranged above the container stage 45 by fixing the container stage 45 at a lower portion thereof; a lift box 11 vertically moving between the pair of side wall parts 10a so as to have a bottom part provided with an opening / closing door, and to enable the bottom part to be inserted into the container 1; an actuator 42 drivable so as to successively lower the lift box 11 at every unit movement length with dimensions into which height of the container 1 is divided as a unit movement length; and a rolling motion setting part 16 provided at the throw-in window for sequentially setting a direction and energy of rolling motion of each of the plurality of processed objects.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatic boxing device that automatically and densely packs spherical objects to be processed, such as fruits, that have been automatically conveyed inside a container, and to an automatic boxing system that uses this automatic boxing device. [Background technology]

[0002] Spherical objects to be processed such as apples are sorted by size and quality on the conveyor belt of a conveyor such as a belt conveyor, and then generally packed into containers by human hands. Conventionally, as an automatic boxing device for objects to be processed such as apples, a method has been proposed in which objects to be processed are sucked and captured by a robot hand with a vacuum suction function, transported onto a tray (honeycomb material) having pockets arranged in a matrix, and sequentially arranged on the tray (see Patent Document 1). However, in order to capture spherical objects to be processed with a robot hand, it is necessary to preliminarily arrange a large number of objects to be processed on a prearrangement tray or the like in advance. Furthermore, a robot hand with a vacuum suction function or the like is complicated, which makes the automatic boxing device expensive and also makes it prone to malfunctions. In addition, there is a risk of suction errors occurring with objects such as apples and pears with concave stalks, and persimmons and tomatoes with stems.

[0003] If the spherical objects to be processed could be continuously fed from a conveying device into a large container such as a wooden box by mechanical means, instead of a tray with pockets, it would be possible to automatically pack the objects densely in a shorter time and more efficiently. However, a wooden box (large box) for apples has a long side (width) W WB =62cm, short side (depth) D WB =31cm, height H WB When the automatic packing machine automatically puts the materials to be processed into containers such as cardboard boxes or wooden boxes, H WB=31cm high, the materials collide with the bottom of the wooden box with great force, which can easily damage the materials. Furthermore, if materials to be packed in the second or higher layers are placed on top of the materials packed in the bottom layer of the container, both the bottom layer and the materials in the second or higher layers may be damaged by the collision.

[0004] In the field of mineralogy, "hardness" and "firmness" are clearly distinguished. "Hardness" is an index of resistance to scratching, and is defined by the size of the indentation or notch that occurs when an indenter or another mineral is pressed or scratched, as typified by "Mohs hardness," "Brinell hardness," and "Vickers hardness." "Firmness" means robustness (or brittleness, as the opposite), but there is no particular attempt to standardize the measurement method, as there is for hardness. With regard to agricultural products, it seems that there is almost no clear distinction between "hardness" and "firmness." In the present invention, spherical objects to be treated are fruits and vegetables that are prone to notches and other scratches due to physical impact. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 48-38398 Summary of the Invention [Problem to be solved by the invention]

[0006] In view of the above-mentioned problems, the present invention aims to provide an automatic packing device that can efficiently and densely pack spherical objects that are vulnerable to physical impact inside a container without damaging the objects, and an automatic packing system that uses this automatic packing device. [Means for solving the problem]

[0007] In order to achieve the above object, a first aspect of the present invention relates to an automatic packing device disposed adjacent to a conveying device that automatically conveys a plurality of spherical objects to be processed in a fixed direction. The automatic packing device densely packs the objects into a container. Here, the container has a short side defined in the same direction as the conveying direction of the objects to be processed of the conveying device, a long side perpendicular to the short side, and a volume determined by a height perpendicular to the short side and the long side, and has an open top. In other words, the automatic packing device of the first embodiment of the present invention comprises (a) a flat container stage on which a container is placed, (b) a pair of side wall portions facing each other parallel to the same direction as the fixed direction in which the workpieces are transported, with the container stage fixed to its lower portion and an input window set above the container stage through which multiple workpieces are sequentially input from the transport device, (c) a lift box having an opening / closing door at its bottom and moving up and down between the pair of side wall portions so that the bottom can be inserted inside the container, (d) an actuator capable of driving the lift box to sequentially lower at each unit movement length, with the dimension obtained by dividing the height of the container being set as a unit movement length, and (e) a rolling motion setting unit provided at the input window for sequentially setting the energy and direction of the rolling motion of each of the multiple workpieces.

[0008] A second aspect of the present invention relates to an automatic packing system that densely packs a plurality of spherical objects to be processed into a container with an open top, the container having a volume determined by a short side, a long side perpendicular to the short side, and a height perpendicular to the short side and the long side. The automatic packing system according to a second aspect of the present invention comprises: (a) a conveying device having a conveying belt that automatically conveys multiple spherical objects to be processed in a fixed direction that is the same as the short side; (b) a flat container stage on which a container is placed; (c) a pair of side wall portions facing each other parallel to the direction of the short side of the container, with the container stage fixed to its lower portion and an input window set above the container stage through which the multiple spherical objects to be processed are sequentially input from the conveying device; (d) a lift box having an opening / closing door at its bottom and moving up and down between the pair of side wall portions so that the bottom can be inserted into the interior of the container; (e) an actuator that is capable of driving the lift box to sequentially lower for each unit movement length, with the dimension obtained by dividing the height being set as a unit movement length; and (f) a rolling motion setting unit provided at the input window that sequentially sets the energy and direction of the rolling motion for each of the multiple spherical objects to be processed. Effect of the Invention

[0009] According to the present invention, it is possible to provide an automatic packing device that can efficiently pack spherical objects into a container without damaging them, and an automatic packing system that uses this automatic packing device. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic left side view showing an outline of the technical concept of an automatic cartoning device and an automatic cartoning system according to a representative embodiment of the present invention; [Figure 2A] 2 is a bird's-eye view of the rolling motion setting unit provided in the input window as viewed from the front side of the automatic packing device according to the exemplary embodiment shown in FIG. 1, and the impact absorbing film and the like visible behind the input window. [Figure 2B] 2B is a schematic cross-sectional view for explaining the rolling motion setting portion shown in FIG. 2A and a drive mechanism for a movable wall provided below the rolling motion setting portion, etc.; FIG. [Diagram 3]FIG. 2 is a bird's-eye view of the shock absorbing membrane and other components lining the lift box as viewed from the front side of the automatic boxing device according to the exemplary embodiment. [Figure 4A] 1 is a schematic perspective view illustrating the operation of first and second optical sensors used in an automatic packing device according to a representative embodiment when no objects are present in a lift box. FIG. [Figure 4B] 11 is a schematic perspective view illustrating the operation of the first and second optical sensors when a small amount of workpieces is placed in the lift box. FIG. [Figure 4C] 13 is a schematic perspective view illustrating the operation of the first and second optical sensors when the lift box is nearly filled to its full depth with workpieces. FIG. [Diagram 5] FIG. 2 is a diagram showing an example of an operating region characteristic graph of first and second optical sensors used in the automatic boxing device according to the representative embodiment. [Figure 6A] 1A to 1C are schematic cross-sectional views illustrating an example of a typical mode of a series of processing operations of an automatic boxing method according to a typical embodiment. [Figure 6B] 6B is a schematic cross-sectional view illustrating a processing operation of the automatic packing method subsequent to the processing shown in FIG. 6A. [Figure 6C] FIG. 6C is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6B. [Figure 6D] 6D is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6C. [Figure 6E] FIG. 6E is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6D. [Figure 6F] FIG. 6F is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6E. [Figure 6G] FIG. 6C is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6F. [Figure 6H] FIG. 6F is a schematic cross-sectional view illustrating the processing operation of the automatic packing method subsequent to the processing shown in FIG. 6G. [Figure 7]FIG. 1 is a schematic bird's-eye view illustrating the discovery of a problem in which objects to be treated aggregate in a reference technique examined prior to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present invention will be described by way of example with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between thickness and planar dimensions, the ratio of the size of each member, and the like are different from the actual ones. For example, it should be noted that the shock absorbing film 12 and the movable wall 13 as illustrated in FIG. 2B are exaggerated in thickness for the sake of hatching. Therefore, the specific thickness, dimensions, size, and the like should be determined in a more diverse manner, taking into consideration the gist of the technical idea that can be understood from the following description. In addition, it goes without saying that the drawings include parts with different dimensional relationships and ratios.

[0012] In addition, the definitions of directions using words such as "right" and "left" in the following description are merely definitions for the convenience of explanation and do not limit the technical idea of ​​the present invention. For example, if the front and back of an object are reversed, right and left will naturally be read in reverse. In addition, the representative embodiments shown below are examples of methods for embodying the technical idea of ​​the present invention and devices used in the methods, and the technical idea of ​​the present invention does not specify the materials, shapes, structures, arrangements, etc. of the components, or the steps of the methods, etc., as described below. The technical idea of ​​the present invention is not limited to the contents described in the representative embodiments, and various modifications can be made within the technical scope defined by the invention-specifying matters described in the claims.

[0013] (Automatic Packaging Equipment and Automatic Packaging System) As shown in FIG. 1, the automatic packing device according to the representative embodiment of the present invention is a device for packing a plurality of spherical objects to be processed X. s1 ,X s2 ,X s3, ... in a fixed direction. In other words, the "automatic packing device" according to the representative embodiment is a concept of a configuration that does not include the conveying device 23. In contrast, the automatic packing system according to the representative embodiment, as shown in FIG. 1, is a machine device arranged adjacent to the conveying device 23 that automatically conveys the workpieces X, ... in a fixed direction. s1 ,X s2 ,X s3 The automatic packing device according to the representative embodiment is equipped with a transport device 23 having a transport belt (conveyor belt) that automatically transports the spherical objects X, ... in a fixed direction. In this specification, the transport direction of the transport belt, which is the above-mentioned "fixed direction", is defined as the "x direction". In addition, this specification adopts a Cartesian coordinate system (orthogonal coordinate system) in which the direction perpendicular to the x direction on the transport surface of the transport belt is the "y direction" and the normal direction of the transport surface, i.e., the direction of gravity, is the "z direction". The automatic packing device according to the representative embodiment automatically transports the spherical objects X, ... transported by the transport device 23. s1 ,X s2 ,X s3 , ... are densely packed inside the container 1 shown by hidden lines in the lower center of FIG. 1. Here, the container 1 is packed with the workpieces X by the conveying device 23. s1 ,X s2 ,X s3 ,…… is the length of the short side D measured in the same direction (x direction) as the automatic transport direction WB , the length of the long side perpendicular to this short side W WB , and the height H perpendicular to both the short side and the long side WB The volume (V WB =W WB ×D WB ×H WB 1, the automatic case packing device according to the representative embodiment has a flat container stage 45 on which a container 1 is placed, and a pair of side walls (10a, 10b) that fix the container stage 45 to a lower portion.

[0014] Length of the short side of container 1 D WB and the length of the long side W WB Whereas, the length of the short side of the container stage 45 is D CS and the length of the long side W CS D CS >DWB , W CS >W W In FIG. 1, if a view of the automatic packing device according to the representative embodiment seen from the conveying device 23 side along the x direction is defined as a "front view," then FIG. 1 shows a "left side view" seen along the y direction, and so the first side wall 10a located on the left side is shown in FIG. 1. The first side wall 10a and the second side wall 10b located at the back of the page indicate the distance that the conveying device 23 moves the workpiece X. s1 ,X s2 ,X s3 The container stage 45 is sandwiched between a pair of slide rails and has a slide mechanism that can slide left and right between a pair of side walls (10a, 10b). The length W of the long side of the container stage 45 is CS On the other hand, the inner wall surface of the first side wall portion 10a on the left and the inner wall surface of the second side wall portion 10b on the right are W SWS ≒W CS The two are spaced apart by 100 mm.

[0015] As shown in FIG. 1, the automatic packing device according to the representative embodiment includes a lift box 11 that moves up and down between a pair of side walls (10a, 10b), an actuator 42 that drives the lift box 11, and a device for loading workpieces X into the lift box 11. s1 ,X s2 ,X s3 The rolling motion setting unit 16 is provided with a rolling motion setting unit 16 that sequentially inputs the workpieces X, ... s1 ,X s2 ,X s3 , ... is sequentially given energy for rolling motion, and the direction of the rolling motion is sequentially set to be irregular (random). s1 ,X s2 ,X s3 , . . . are set to have a non-uniform rolling motion direction, so that the workpiece X in the lift box 11 s1 ,X s2 ,X s34A, the rolling motion setting section 16 is provided in an input window set on the front side between the inner wall surfaces of a pair of side wall sections (10a, 10b) facing each other in parallel along the xz plane. As described above, the view of the structure in FIG. 1 seen from the conveying device 23 side along the x direction is defined as the "front view", and in accordance with this definition, the surface from which the automatic packing device according to the representative embodiment can be seen from the conveying device 23 will be referred to as the "front" in this specification. That is, above the container stage 45 shown in FIG. 1, the workpieces X are projected from the conveying device 23. s1 ,X s2 ,X s3 An input window through which the pieces of material are sequentially input into the lift box 11 is provided between the inner wall surfaces of the pair of side walls (10a, 10b). The input window is provided at a position that is approximately at the same horizontal level (height) as the conveying surface of the conveying device 23.

[0016] The lift box 11 is the workpiece X s1 ,X s2 ,X s3 It is a metal box for temporarily filling the object X with the material. s1 ,X s2 ,X s3 , ... are transferred en bloc to the inside of the container 1 placed on the container stage 45, and are packed densely inside the container 1. The external shape of the lift box 11 can be estimated to be roughly a rectangular parallelepiped, with the top surface of the rectangular parallelepiped being an open surface. Furthermore, of the four sides of the rectangular parallelepiped from which the external shape of the lift box 11 is estimated, one side located on the loading window side (front side) is an open surface except for a portion of the bottom side, and is therefore not a "complete box shape." In other words, the lift box 11 has an external shape in which the volume of the main internal space (existence space) is defined by the bottom surface and the three side surfaces connected at right angles to this bottom surface.

[0017] The three sides are connected to each other in a U-shape so as to connect to the three adjacent sides of the bottom surface. WB Whereas, the length D of the short side of the lift box 11 LB D LB <D WBIn addition, the length of the long side of container 1 is W WB Whereas, the length (width) W of the long side of the lift box 11 LB is W LB <W W The lift box 11 is sized so that it can be inserted from above into the container 1, as shown in FIG. 6E described later. As shown in FIG. 2B, the lift box 11 has a width W LB The movable wall 13 is made of a flexible film. The lower end of the movable wall 13 is fixed to the lift box 11 by a fastener 14. Note that the thickness of the movable wall 13 is exaggerated in Fig. 2B, and in reality, a vinyl sheet or the like having a thickness of about 0.35 mm is used.

[0018] That is, in the elevator space above the bottom surface of the container 1, the lift box 11 is driven by the actuator 42 to move up and down along the normal direction (z direction) of the bottom surface of the container 1. The movable wall 13 provided at the lower part of the side surface of the lift box 11 on the input window side is linked to the operation of the actuator 42 so as to change its length with the up and down movement of the lift box 11 using the winding roller 21 and the auxiliary roller 22 shown in FIG. 2B. An electric motor 41 such as a gear motor for driving the rotation of the winding roller 21 is provided at the upper right of the first side wall portion 10a in FIG. 1. A left guide rail for moving the lift box 11 in the up and down direction (z direction) is provided on the inner wall surface of the first side wall portion 10a located on the left, and a right guide rail for moving the lift box 11 in the up and down direction is also provided on the inner wall surface of the second side wall portion 10b located on the right, parallel to the left guide rail.

[0019] When a workpiece having a mass m [kg] falls from the bottom of the rolling motion setting unit 16 at a height h [m] from the bottom of the lift box 11, the center of gravity of the workpiece is at the bottom of the lift box 11. The velocity v in the direction of gravity (z direction) is zg [m / s] is the gravitational acceleration g [m / s 2 ] as mgh=1 / 2mvzg 2 ……(1) As will be described later, the center of gravity of the workpiece is determined by the rolling motion setting unit 16 according to the horizontal velocity component v h0 =v h0 (v x0 ,v y0 ) is also given as the initial velocity at the lower end of the rolling motion setting portion 16. x0 is the initial velocity in the x direction at the lower end of the rolling motion setting part 16, and v y0 is the initial velocity in the y direction at the lower end of the rolling motion setting unit 16. In detail, the center of gravity of the workpiece is adjusted by the rolling motion setting unit 16 to the initial velocity component v z0 is also given, but the z-direction velocity v in Eq. (1) zg Since it is small compared to z direction, the following evaluation will be approximated by the initial velocity component v z0 However, the horizontal initial velocity component v of the center of gravity of the object to be processed h0 The vector of cannot be ignored. The center of gravity of the workpiece is the horizontal initial velocity component v h0 Since the center of gravity of the workpiece at the bottom of the lift box 11 has a vector v, the workpiece falls along a parabola. zg teeth, v zg =(2gh) 1 / 2 ……(2) is given by:

[0020] That is, due to the energy of gravity, the center of gravity of the workpiece moves in the direction of gravity at the bottom of the lift box 11 by mv zg For simplicity, we will make a rough evaluation assuming a perfectly inelastic collision in which the workpiece loses all of its energy component in the z direction at the bottom of the lift box 11. On the assumption that a perfectly inelastic collision occurs in the z direction, the impact force F in the direction of gravity (z direction) at the drop point (bottom of the lift box 11) is zg[N] for a period of time Δt [s], and the momentum becomes zero. During the period of time Δt, the force F in the direction of gravity (z direction) zg Assuming that is constant (approximation), F zg Δt=mv zg ……(3) Since F zg =mv zg / Δt=m(2gh) 1 / 2 / Δt ……(4) The impact force F in the direction of gravity received by the bottom of the lift box 11 at the center of gravity of the workpiece is zg Equation (4) expresses the distance (height) h between the bottom of the lift box 11 and the lower end of the rolling motion setting part 16 as the impact force F due to the energy of gravity. zg This shows that this is a factor in the magnitude of

[0021] If the condition of a completely inelastic collision is not satisfied, the workpiece will move at a velocity v due to an elastic collision at the bottom of the lift box 11. zup If the momentum jumps up, then equation (3) follows from the law of conservation of momentum: F zp Δt=mv zg -mv zup ……(5) This is rewritten as the impact force F in the direction of gravity, as shown in equation (5). zp In an actual collision, the shape of the workpiece changes over time Δt, increasing the contact area, and the bottom of the opposing lift box 11 also deforms, making it a complex phenomenon. When a light bulb is dropped from a high place, if the light bulb does not break, it bounces up high, but if the light bulb breaks (deformation is large), it does not bounce up. Here, we will not consider the case of an elastic collision in equation (5), but will return to the assumption of a completely inelastic collision in equation (4).

[0022] The difficulty in evaluating formula (4) is estimating the value of the time Δt until the energy in the z direction is lost, assuming a completely inelastic collision in the z direction. The center of gravity of the workpiece that has fallen from the lower end of the rolling motion setting unit 16 is at the bottom of the lift box 11, and moves in the direction of gravity with a velocity v zg For the sake of simplicity, assuming a completely inelastic collision, the workpiece has a velocity Δh in the direction of gravity after colliding with the bottom of the lift box 11. z [m] and absorb the shock, moving at speed v zg Consider that Δh has become zero. z [m] depends on the thickness and shock absorbing capacity of the shock absorbing film 12 used to line the inside of the lift box 11 (the shock absorbing film 12 will be described later). In reality, the bottom of the metal lift box 11 will also be slightly displaced. If the workpiece is moved in the direction of gravity by approximately Δh z If we assume that the object travels only 100 meters, ignoring the spring constant of the shock absorbing film 12, the velocity in the direction of gravity after the collision is v zg The time it takes for the value of z / v zg [s]. Therefore, from dimensional analysis, Δt=Δh z / v zg ……(6) Therefore, when the assumption of a completely inelastic collision in the z direction is valid, the impact force F in the direction of gravity received by the bottom of the lift box 11 at the center of gravity of the workpiece can be calculated from the formula (4). zg teeth, F zg =mv zg / Δt=mv zg 2 / Δh z =m(2gh) / Δh z ……(7) It becomes.

[0023] On the other hand, a constant force acts and the acceleration is -α[m / s 2 ] with a velocity v in the direction of gravity zgIf we assume a completely inelastic collision in which the spring constant of the shock absorbing film 12 can be ignored, then v zg = αΔt, Δh z =(1 / 2)α(Δt) 2 from Δt=2Δh z / v zg ……(8) (Actually, in addition to the spring, there is a force with a velocity v zg It is necessary to take into account the viscous resistance proportional to the z-axis.) When the assumption of a completely inelastic collision is valid in the z-axis direction, the impact force F in the direction of gravity received by the bottom of the lift box 11 at the center of gravity of the workpiece is calculated from equation (4). zg teeth, F zg =mv zg / Δt=mv zg 2 / 2Δh z =m(gh) / Δh z ……(9) Equation (7) and equation (9) differ by a factor of 2, but assuming a completely inelastic collision, the impact force F in the direction of gravity at the drop point (the bottom of the lift box 11) is zg It can be seen that [N] depends on the height of the lower end of the rolling motion setting portion 16 and the distance h [m] from the bottom of the lift box 11.

[0024] So, the height of container 1, H WB The dimension divided into multiple meters is called the "unit travel length ΔH (=H WB The impact force F is defined as "the difference (length) h between the bottom of the filling depth set in the lift box 11 and the height of the lower end of the rolling motion setting section 16" (m is a positive integer of 2 or more). The position of the bottom surface of the lift box 11 is adjusted so that the difference (length) h between the bottom of the filling depth set in the lift box 11 and the height of the lower end of the rolling motion setting section 16 becomes the unit movement length ΔH. zg When the set filling depth is reached, the bottom of the lift box 11 is lowered so that the filling depth corresponds to a new unit movement length ΔH. In the automatic boxing device according to the representative embodiment, the impact force F zgBy repeating the operation of temporarily filling the filling depth of the lift box 11 where the pressure is weakened m times, the height H WB From equation (7) or (9), the height H of container 1 is calculated as WB The unit travel length ΔH (=H WB By defining the filling depth of the lift box 11 in units of ΔH <H WB ), the impact force F in the direction of gravity (z direction) on the workpiece at the drop point zg It can be seen that the distance can be reduced to 1 / m. Note that, by using the winding roller 21 and the auxiliary roller 22 shown in FIG. 2B, when the bottom of the lift box 11 is lowered by the unit movement length ΔH, the length of the movable wall 13 is extended by the unit movement length ΔH.

[0025] The actuator 42 moves the bottom of the lift box 11 downward in units of movement length ΔH, and gradually moves the workpiece X into the lift box 11. s1 ,X s2 ,X s3 , …… are temporarily filled m times, and mΔH = H WB As mentioned at the beginning, the height of the apple crate (large box) is H WB = 31cm. WB If an apple that is vulnerable to physical shock hits the bottom of a wooden box with force in the direction of gravity from a height of ΔH = 31 / 2 = 15.5 cm, the apple is likely to be damaged. For example, if m = 2, the apple will fall to the bottom of the wooden box from a height of ΔH = 31 / 2 = 15.5 cm, and as can be seen from equation (7) or equation (9), damage to apples that are vulnerable to physical shock can be reduced.

[0026] The diameter of apples varies depending on the variety, but is generally around 6 to 12 cm in Japan. If we assume that the diameter of apples is 10 cm, when a second layer of apples is packed on top of the apples packed flat in the bottom layer of container 1, they will fall from a height of 15.5 - 10 = 5.5 cm. This reduces the possibility that the apples in the bottom layer and the apples in the second layer that fall on top of them will both be damaged by collision. Note that the height H of container 1 is 10 cm. WB The number m to divide is the workpiece X s1,X s2 ,X s3 , …… diameter and workpiece X s1 ,X s2 ,X s3 The length of the lift box 11 may be determined in consideration of the susceptibility of the lift box 11 to damage. The lift box 11 has a swing door at the bottom, which is driven by an open-close link mechanism 43 having an open loop structure.

[0027] As shown in FIG. 1, the opening / closing link mechanism 43 includes a human-shaped action mechanism in which two action links and one intermediate link are connected to two swing doors (opening / closing doors) that can open like a double door, respectively, and a L-shaped drive mechanism in which the intermediate link of the action mechanism and a drive link are connected to an upper joint. The drive link of the drive mechanism is connected to an actuator 42, and the opening / closing link mechanism 43 is driven by the actuator 42. With the bottom of the lift box 11 inserted inside the container 1, the bottom opening / closing door is opened, and the workpieces X temporarily loaded inside the lift box 11 are lifted up and down. s1 ,X s2 ,X s3 , ... are transferred collectively to the inside of the container 1 as shown in FIG. 6G, which will be described later.

[0028] As shown in Fig. 1, the rolling motion setting section 16 is provided in an input window set on the front side between the inner wall surfaces of a pair of side wall sections (10a, 10b) facing each other in parallel. Figs. 2A and 3 are bird's-eye views of the input window as seen from the front side, and it can be seen that the rolling motion setting section 16 is provided on the front side of the pair of side wall sections (10a, 10b). As shown in Figs. 1 and 2B, the rolling motion setting section 16 has an inclination, so that the spherical workpiece X conveyed by the conveying device 23 can be easily moved. s1 ,X s2 ,X s3, ... are sequentially given the energy of a rotational motion (rolling motion) in which the rotation axis is not fixed, and are dropped (thrown) into the lift box 11. In reality, since the end of the conveyor belt of the conveyor 23 is curved, even when the workpiece X is transferred from the end of the conveyor belt to the rolling motion setting unit 16, the workpiece X is moved in a direction parallel to the conveyor belt by the inertial force caused by the conveyor 23 and the frictional force with the surface of the conveyor 23. s1 ,X s2 ,X s3 Each of the ,... is given energy through rolling motion.

[0029] That is, the object to be treated X s1 ,X s2 ,X s3 At the same time that the centers of gravity of the workpieces X, ..., perform translational motion, the energy of the rolling motion, which is a combination of the rotational motion and the frictional force with the surface of the rolling motion setting unit 16, is added by the rolling motion setting unit 16. s1 ,X s2 ,X s3 The center of gravity of each of the rolling motion setting unit 16 is the initial velocity component v 0s1 ,v 0s2 ,v 0s3 ,……. The initial velocity component v 0s1 v 0s1 =v 0s1 (v x0s1 ,v y0s1 ,v z0s1 ) is a vector with x-, y-, and z-directional velocity components. The initial velocity component v 0s2 ,v 0s3 , ... are similarly different vectors each having a velocity component in the x-direction, a velocity component in the y-direction, and a velocity component in the z-direction.

[0030] The rolling motion setting part 16 is a film (layer) with a certain resilience and shock absorbing ability (flexibility). In reality, as can be seen from the cross-sectional view of FIG. 2B, it is provided on the rolling motion setting part support plate 15 made of a metal inclined plate, realizing a certain rigidity and enhancing the resilience. s1 ,X s2 ,X s3, …… are each given a rotational torque of a rolling motion, so that the workpiece X is rotated by the energy of gravity. s1 ,X s2 ,X s3 The acceleration of the translational motion of each center of gravity of the workpiece X is reduced by the energy of the rotational motion. s1 ,X s2 ,X s3 The collision energy due to the translational motion of the centers of gravity of the objects X, … is reduced, and the object X, which is vulnerable to physical impact, s1 ,X s2 ,X s3 The damage to the workpiece X to which the rolling motion energy is imparted in the rolling motion setting unit 16 is reduced. s1 ,X s2 ,X s3 After dropping to the bottom side of the lift box 11, each of the workpieces X is moved to the bottom of the lift box 11 by the inertia of the rotation torque. s1 ,X s2 ,X s3 The center of gravity of each of the objects X, … continues to move in a straight line. s1 ,X s2 ,X s3 Each of the balls collides with the walls of the lift box 11, including the movable wall 13, and is bounced off the walls of the lift box 11 in accordance with the law of conservation of energy.

[0031] The workpiece X is placed on the bottom surface of the lift box 11 shown in FIG. p1 ,X p2 ,X p3 ,X p4 In order for the objects to be uniformly packed on a flat surface, the object X must be p1 ,X p2 ,X p3 ,X p4 , ..., but the degree of freedom is required for readjusting the stopping position by performing an irregular random walk. In the automatic boxing device according to the representative embodiment, as shown in FIG. 2A, a roughly triangular pyramid-shaped sorting mechanism 18 is provided in the center of the rolling motion setting section 16. The sorting mechanism 18 is a mechanism for sorting the workpieces X, which are weak against physical impacts. p1 ,X p2 ,X p3 ,Xp4 ,……Shock absorption ability (flexibility) that does not damage the object to be treated X p1 ,X p2 ,X p3 ,X p4 , ... is a film (layer) having a predetermined resilience modulus that allows for inelastic collision with the object. Here, "inelastic collision" does not mean a completely inelastic collision in which all energy is lost due to the collision, as assumed in equations (1) to (9), but a collision in which some energy is consumed due to the shock absorbing capacity (not an elastic collision). In order to establish an inelastic collision, as can be seen from the cross-sectional view of FIG. 2B, the sorting mechanism 18 is actually provided so as to cover the base layer made of the metal sorting mechanism support part 17, thereby realizing a predetermined rigidity.

[0032] A triangular pyramid is a tetrahedron, but as can be seen from FIG. 2A, the sorting mechanism 18 is a polyhedron having five or more faces. However, if the sorting mechanism 18 is approximated by a triangular pyramid for convenience, then two triangular faces having different normal vectors are disposed in the center of the rolling motion setting unit 16. For this reason, by providing the sorting mechanism 18 in the center of the rolling motion setting unit 16, the workpiece X p1 ,X p2 ,X p3 ,X p4 The vectors of the linear motion (translational motion) of the center of gravity of each of the objects 20, ... p1 ,X p2 ,X p3 ,X p4 , ... are the directions in which the workpiece collides non-elastically with the sorting mechanism 18. That is, in Fig. 2A, the direction of movement of the center of gravity of the workpiece that collides non-elastically with the approximately triangular slope on the front side of the sorting mechanism 18 and the direction of movement of the center of gravity of the workpiece that collides non-elastically with the approximately triangular slope on the back side of the sorting mechanism 18 are different from each other.

[0033] On the other hand, the moving direction of the center of gravity of the workpiece that is transported at a position away from the center of the transport belt of the transport device 23 and does not collide with the sorting mechanism 18 is maintained in the automatic transport direction of the transport device 23. As shown in FIG. 4A, on both sides of the upper end (the end on the side closer to the transport device 23) of the rolling motion setting section 16, a plate-like first control wall 20a and a plate-like second control wall 20b of the same shape and size are arranged in a mirror image relationship. Therefore, a vector component in the right direction is given to the moving direction of the center of gravity of the workpiece that is transported near the left end of the transport belt of the transport device 23 and collides with the first control wall 20a on the left side. On the other hand, a vector component in the left direction is given to the moving direction of the center of gravity of the workpiece that is transported near the right end of the transport belt of the transport device 23 and collides with the second control wall 20b on the right side. Therefore, when considering the collision between the first control wall 20a and the second control wall 20b, the moving direction of the center of gravity of the workpiece X p1 ,X p2 ,X p3 ,X p4 The centers of gravity of each of the ,... undergo a rolling motion that involves linear motion (translational motion) vectors in five different directions.

[0034] Then, the workpiece X that has fallen to the bottom of the lift box 11 p1 ,X p2 ,X p3 ,X p4 The centers of gravity of the workpieces X, ... move freely in different directions on the bottom surface of the lift box 11 by the energy of rolling motion. p1 ,X p2 ,X p3 ,X p4 , ... collide with the side of the lift box 11, causing the workpiece X to be lifted on the bottom surface. p1 ,X p2 ,X p3 ,X p4 Random walking of the center of gravity of each of the objects X, … is realized, and uniform planar dense packing is possible. p1 ,X p2 ,X p3 ,X p4If the energy and direction of the rolling motion of each of the elements are insufficient and the randomness of the movement of the center of gravity is insufficient, uniform planar close-packed packing will not be achieved, and vacancies and aggregation (riding over) of the processed material will occur. Even if a new planar non-close-packed layer is piled up on top of a uniform planar non-close-packed layer to create a multi-layer structure, uniform three-dimensional close-packed packing will not be achieved, and uneven distribution of internal pressure will occur inside the multi-layer structure.

[0035] As shown in FIG. 3, the workpiece X collides with the inner wall of the lift box 11 in a rolling motion. p1 ,X p2 ,X p3 ,X p4 ,……(see FIG. 2A) are equipped with shock absorbing membranes 12 having a resilience that changes the direction of the momentum vector of the center of gravity of each of the boxes by inelastic collision. A 3 mm thick PVC foam sheet is used for the shock absorbing membranes 12. Initially, the inventors used plastic cardboard sheets made of polypropylene (PP) resin as shock absorbing membranes 92a, 92b, 92c as linings for the inner walls of the lift box 11, as shown in FIG. 7. In order to prevent damage to the apples to be processed, the inner surface of the metal lift box 11 was thought to require a protective material with high shock energy absorption performance close to a completely inelastic collision, and so a plastic cardboard sheet with a hollow structure made of PP resin was selected.

[0036] In the initially adopted interior structure, the shock absorbing membranes 92a and 92b were perpendicular to each other as shown in FIG. 7, reflecting the rectangular inner corner structure of the lift box 11. However, in the structure of the reference technology shown in FIG. 7, when the opening and closing door at the bottom of the lift box 11 is opened, some of the apples X z1 ,X z2 ,X z3 ,X z4 ,X z5In the structure of the reference technology, apples X, . . . are piled up (hereinafter referred to as "bridge state") B, and remain in the corners of the lift box 11, and do not fall into the container 1. y(k-1) ,X yk ,X y(k+1) ,X y(k+2) The state B occurs when the apples are not uniformly packed densely inside the lift box 11, but are concentrated in specific areas such as the corners of the lift box 11, causing the apples X to fall at specific positions. y(k-1) ,X yk ,X y(k+1) ,X y(k+2) This is thought to be because the adhesion between the particles is strong.

[0037] Therefore, even if the inner corner of the lift box 11 is filled with a sheet metal part to form a chamfered corner surface (hereinafter referred to as "C surface") at an angle of 45° instead of a perpendicular surface, the apple X that contributes to the bridge state B can be obtained. z1 ,X z2 ,X z3 ,X z4 ,X z5 Although the number of ,…… decreased, crosslinking state B still occurred. Rebound elasticity is one of the indices of impact energy absorption performance. The measurement method for rebound elasticity is specified in JIS K6400-3, etc. JIS6401, which relates to urethane foam, specifies that a rebound elasticity of 15% or less is a low rebound type, and 50% or more is a high rebound type. Impact absorbing materials absorb impact energy applied from the outside by dissipating it as heat through intramolecular friction of the polymer. When impact energy is completely absorbed, it is called a completely inelastic collision.

[0038] The smaller the resilience modulus of a material, the better its impact energy absorption performance, and the closer it is to a completely inelastic collision. Thus, there is a trade-off between resilience modulus and impact energy absorption performance. Therefore, the inventors have considered the conditions under which a cross-linked state B occurs, by trial and error in selecting the resilience modulus and impact energy absorption performance. As a result, they have found that by adopting a PVC foam sheet in a structure having a C surface as shown in FIG. 3, and further using a distribution mechanism 18 as shown in FIG. 2A, it is possible to obtain conditions under which a cross-linked state B is prevented from occurring, resulting in a completely inelastic collision. Furthermore, even if a PVC foam sheet is adopted as the impact absorbing film 12 under these conditions under which a cross-linked state B occurs, the apple X is not affected. z1 ,X z2 ,X z3 ,X z4 ,X z5 ,……and confirmed that no damage would occur.

[0039] As explained in the equation (5), when the kinetic energy at the time of collision is large and the deformation of the workpiece is large, the collision approaches a completely inelastic collision, and when the kinetic energy at the time of collision is small and the deformation of the workpiece is small, the collision approaches an elastic collision. The velocity v of the workpiece in the direction of gravity (z direction) shown in equation (2) zg In comparison, the horizontal velocity component v applied to the workpiece by the rolling motion setting unit 16 h0 Therefore, the kinetic energy of the workpiece colliding with the shock absorbing film 12 on the side wall of the lift box 11 is smaller than the kinetic energy of the collision with the shock absorbing film 12 on the bottom surface of the lift box 11. Therefore, even in a situation where the workpiece does not bounce up after colliding with the shock absorbing film 12 on the bottom surface, by selecting the resilience modulus of the shock absorbing film 12, a bounce close to an elastic collision can be expected in the collision with the shock absorbing film 12 on the side wall.

[0040] As already mentioned, apples X are placed inside the lift box 11 as the object to be treated. z1 ,X z2 ,X z3 ,X z4 ,X z5In order to uniformly pack the pores in the cavity and distribute the internal pressure uniformly to suppress the occurrence of the cross-linked state B, the apple X must be packed evenly. z1 ,X z2 ,X z3 ,X z4 ,X z5 ,…… move randomly (swim) and require kinetic energy and directional freedom to readjust their respective stopping positions. In the case of plastic cardboard sheets, the impact energy absorption performance of the impact absorbing films 92a, 92b, 92c is sufficient, but the resilience modulus is insufficient to realize an inelastic collision that does not completely consume kinetic energy. A 3mm thick PVC foam sheet has an impact energy absorption performance inferior to that of a plastic cardboard sheet, but the resilience modulus required for an inelastic collision is greater than that of the plastic cardboard sheet. In fact, the impact absorbing film 12 is used as a lining for the metal lift box 11, so the rigidity of the metal lift box 11 strengthens the resilience modulus of the composite structure as a whole, realizing the kinetic energy by inelastic collision.

[0041] For this reason, in the automatic boxing machine according to the representative embodiment using the shock absorbing film 12 as the inner lining as shown in FIG. z1 ,X z2 ,X z3 ,X z4 ,X z5 , ... can obtain sufficient kinetic energy through inelastic collision. In addition, the flexible wall 13 made of a flexible film can have its tension adjusted by the winding roller 21 and the auxiliary roller 22 as shown in FIG. 2B, so that it has the elasticity of a balloon and can contribute to inelastic collision. By obtaining sufficient kinetic energy through inelastic collision between the shock absorbing film 12 and the flexible wall 13, apple X can be moved. z1 ,X z2 ,X z3 ,X z4 ,X z5 , ... are able to walk (migrate) randomly inside the lift box 11. As a result, it can be considered that the occurrence of the cross-linked state B is suppressed.

[0042] In the automatic packing device according to the representative embodiment, the sequential unit movement length ΔH (=HWB As the position of the bottom of the lift box 11 moves discretely (step-wise) downward at intervals of 1 / m, a new filling depth corresponding to the unit movement length ΔH is set inside the lift box 11 as the box moves. The set includes an operation of provisionally filling the capacity to this filling depth to fill it up, an operation of stopping the conveying device 23 when it is confirmed that the box is full, and an operation of moving the bottom of the lift box 11 further downward by the unit movement length ΔH. For this reason, as shown in Figures 4C, 6B, 6D, etc., the amount of workpieces X to be processed is increased for each of the filling depth capacities that are successively set by the unit movement length ΔH. r(j-1) ,X rj ,X r(j+1) , ... (see FIG. 4C) is temporarily filled and becomes full, and the conveying device 23 must be stopped immediately.

[0043] In order to detect when the capacity of the filling depth set at each stage of the successive descent is full, a first optical sensor 19a and a second optical sensor 19b are arranged in a mirror image relationship on both sides of the input window, as shown in Figures 4A to 4C. As shown in Figure 4A, the first optical sensor 19a is fixed to the left first side wall portion 10a, and irradiates a part of the right inner wall of the shock absorbing film 12, which is the lining of the lift box 11, with light at a predetermined solid angle from the position of the first side wall portion 10a, and measures an irradiation area S I (See the dashed circle.) The irradiation area S I The first optical sensor 19a detects reflected light from the shock absorbing film 12. However, since the light reflectance of the shock absorbing film 12 is low, the first optical sensor 19a cannot detect sufficient reflected light. Similarly, the second optical sensor 19b is fixed to the right second side wall portion 10b, and irradiates light at a solid angle that irradiates a part of the left inner wall of the shock absorbing film 12 from the position of the second side wall portion 10b, and detects reflected light. However, since the light reflectance of the shock absorbing film 12 is also low, the second optical sensor 19b cannot detect sufficient reflected light either.

[0044] FIG. 4B shows the workpiece X inside the lift box 11. q1 and the object to be treated X q2 is input, and the workpiece X q3 FIG. 4B shows a schematic diagram of the moment when two objects to be treated X are about to be put into the lift box 11. q1,X q2 Since only the first side wall portion 10a is present, the light emitted from the first optical sensor 19a located at the position of the first side wall portion 10a is q2 4A , and the majority of the impact absorbing film 12 is irradiated with a part of the right inner wall of the impact absorbing film 12 in the same irradiation area S I The light emitted from the first optical sensor 19a is incident on the workpiece X. q1 ,X q2 ,……The light with a wavelength that has a high reflectance from the workpiece X is selected. q2 Even if the reflectance of the light emitted from the first optical sensor 19a is high, the light is not reflected by the object to be processed X. q2 Since only a part of the workpiece X is irradiated with the reflected light, the first optical sensor 19a cannot detect a sufficient amount of reflected light. q2 In FIG. 4B, the light emitted from the second optical sensor 19b is incident on two workpieces X inside the lift box 11. q1 ,X q2 4A, the light is irradiated at a solid angle that irradiates a part of the left inner wall of the impact absorbing film 12. However, since the light reflectance of the impact absorbing film 12 is low, the second optical sensor 19b cannot detect a sufficient amount of reflected light.

[0045] FIG. 4C shows a lift box 11 with a large number of objects to be treated X r(j-1) ,X rj ,X r(j+1) 4C, the light emitted from the first optical sensor 19a on the first side wall portion 10a is the object to be treated X, . . . , . . . rj The remaining light is irradiated onto a part of the irradiated area S of the right inner wall of the impact absorbing film 12 similar to that shown in FIG. I The light that illuminates part of the workpiece X rj Since the reflectance of the light emitted from the first optical sensor 19a is high, the first optical sensor 19a receives sufficient reflected light indicating that a non-processed object is present in the full position. rj Reach from.

[0046] On the other hand, in FIG. 4C, the light emitted from the second optical sensor 19b on the right side is r(j+1)The majority of the light is incident on a portion of the left inner wall of the shock absorbing film 12 as shown in FIG. 4A and FIG. 4B. r(j+1) Even if the reflectance of the light emitted from the second optical sensor 19b is high, the light is not reflected by the object to be processed X. r(j+1) Since only a portion of the workpiece X is illuminated, the second optical sensor 19b does not receive enough reflected light to indicate the presence of a non-workpiece X in the full position. r(j+1) In the automatic boxing device according to the exemplary embodiment, when both the first optical sensor 19a and the second optical sensor 19b simultaneously receive sufficient reflected light indicating the presence of non-processed objects in the full position, the object X is detected inside the lift box 11. r(j-1) ,X rj ,X r(j+1) , ... are densely packed and the conveying device 23 is automatically stopped.

[0047] As an example, a diffuse reflection type optical sensor using a red LED with a wavelength of 624 nm is shown in the white rectangle at the top left of Fig. 5(a). The semicircle included in the right end of the white rectangle is the lens of the optical sensor. The rectangle hatched with diagonal lines slanting upwards to the left along the center line of the optical sensor in Fig. 5(a), a distance X away from the end face of the lens (lens surface) and a distance Y down from the center line of the lens surface, is the detection object to be detected by the optical sensor. Fig. 5(b) shows a 100 mm □ FIG. 5(a) shows an example of an operating range characteristic graph of the optical sensor in the arrangement shown in FIG. 5(a) when a piece of white paper is used as the standard detection object. The X-axis (horizontal axis) of FIG. 5(b) represents the detection distance (unit: mm) from the optical sensor to the detection object, and the Y-axis (vertical axis) represents the distance (unit: mm) over which the light emitted from the optical sensor spreads. The center of the lens surface of the optical sensor is located at 0 mm on the vertical axis of FIG. 5(b). FIG. 5(b) shows that when a piece of white paper is used as the standard detection object, the spread of light reaches a maximum value of approximately 35 mm when the detection distance to the standard detection object is approximately 350 mm.

[0048] In the operating region characteristic graph shown in FIG. 5(b), when the detection object is smaller than the standard detection object or is dark, the amount of reflected light is reduced. Therefore, when a spherical apple with a diameter of 80 to 120 mm is detected as the detection object, the characteristics deviate from those of the operating region characteristic graph shown in FIG. 5(b). When red light with a wavelength of 624 nm is used, the reflectance from the apple increases when a red apple is detected as the detection object. For example, assume that the width of the input window shown in FIG. 4A etc. is 560 mm, and the first optical sensor 19a and the second optical sensor 19b are each disposed at a position 40 mm outwardly away from the width. In this example, if the deviation of the operating region characteristic from the standard detection object is ignored, the amount of reflected light from the workpiece X is 100 nm. rj At a detection distance of 600 mm, the light spread is approximately 20 mm, and at a detection distance of 500 mm, the light spread is approximately 30 mm.

[0049] A control circuit 44 is provided at the upper left of the first side wall 10a in FIG. 1. The control circuit 44 receives output signals from the first optical sensor 19a and the second optical sensor 19b, which indicate that the capacity of the lift box 11 is full, and controls the operation of the actuator 42. Although not shown in FIG. 1, a position sensor is provided on the first side wall 10a to detect the position of the lift box 11. The control circuit 44 uses signals from the position sensor and the first optical sensor 19a and the second optical sensor 19b to control the operation of lowering the bottom of the lift box 11 successively for each unit movement length ΔH. The control circuit 44 further uses signals from the position sensor to control the operation of lifting the lift box 11 from the inside of the container 1 to the start position. In addition, in order to link (synchronize) the vertical movement of the lift box 11 with the operation of the movable wall 13, the control circuit 44 also controls the operation of the electric motor 41 that drives the rotation of the winding roller 21. The control circuit 44 further controls the operation of an opening / closing link mechanism 43 that drives the actuator 42 to open and close the door of the lift box 11.

[0050] As described above, according to the automatic packing device according to the representative embodiment, the unit movement length ΔH (=H WB / m), the filling depth is set shallower than the height of the container 1, so that the spherical objects to be processed, such as apples, which are weak against physical impact and have surfaces that are easily damaged, can be efficiently packed densely inside the container 1 without degrading the quality of the objects to be processed, such as apples, due to scratches, etc. In particular, the rolling motion setting unit 16 applies kinetic energy in irregular directions, and the impact absorbing film 12, which has a relatively large rebound elasticity compared to its impact absorbing capacity, is used, so that the objects to be processed can be densely and uniformly provisionally packed inside the lift box 11. In addition, by setting the filling depth shallower than the height of the container 1 at the unit movement length ΔH, it is also possible to densely and uniformly provisionally pack the objects to be processed without generating the cross-linked state B. In addition, according to the automatic boxing system according to the representative embodiment, by linking the operation of the conveying device 23 to the automatic boxing device, the objects to be processed can be efficiently packed densely inside the container 1 without degrading the quality of the objects to be processed, such as apples, due to scratches, etc.

[0051] (Automatic Packaging Method) In the automatic packing method using the automatic packing device and the automatic packing system according to the representative embodiment of the present invention (hereinafter referred to as the "automatic packing method according to the representative embodiment"), as shown in FIG. 6A, a plurality of spherical objects to be processed X are conveyed by a conveying device 23. t1 ,X t2 ,X t3 ,X t4 , ... are automatically transported in a fixed direction (x direction) and dropped into the lift box 11 through the input window of the automatic packing device via the rolling motion setting unit 16. The container 1 is mounted on the container stage 45 of the automatic packing device according to the representative embodiment, and the bottom surface of the lift box 11 is located above the open surface of the container 1. Three of the four side surfaces of the lift box 11 are lined with an impact absorbing film 12. A flexible wall 13 is provided on the side surface located below the input window of the lift box 11. In FIG. 6A, the first workpiece X to be processed is t1 is inserted into the lift box 11, and the second workpiece X t2 is passing through the rolling motion setting section 16, and the workpiece X t3 ,X t4, . . . are shown diagrammatically on the conveyor belt of the conveyor device 23.

[0052] In the state shown in FIG. 6B after a certain time has elapsed from the state shown in FIG. 6A, a large number of objects to be processed X uj ,X u(j+1) , ... are densely packed inside the lift box 11. The rolling motion setting unit 16 causes the workpiece X uj ,X u(j+1) , . . . are given energy of rolling motion, and the direction of translational motion of the center of gravity is set irregularly (randomly), so that the workpiece X moves in the lift box 11. uj ,X u(j+1) , ... are packed densely inside the lift box 11 by random walking. uj ,X u(j+1) , ... are approaching a state of being planarly densely packed in two layers inside the lift box 11. As shown in Fig. 6B, the packing depth is set shallow per unit moving length ΔH, so that the workpieces can be uniformly and densely provisionally packed without the occurrence of the bridging state B as shown in Fig. 7.

[0053] The bottom position of the lift box 11 in the state shown in Figure 6A is the same as the bottom position of the lift box 11 in the state shown in Figure 6B. Although not shown in Figures 6A and 6B, when the lift box 11 is in the state shown in Figure 6B, both the first optical sensor 19a and the second optical sensor 19b detect the workpiece X. uj ,X u(j+1) , ... are simultaneously input with sufficient reflected light indicating fullness. The control circuit 44, which receives the output signals of the first optical sensor 19a and the second optical sensor 19b, determines that the container is full and issues a command to automatically stop the transport device 23. Furthermore, the control circuit 44 issues a command to the actuator 42 to sequentially lower the bottom position of the lift box 11 by the unit movement length ΔH.

[0054] The control circuit 44 uses signals from position sensors (not shown in Figs. 6B and 6C) to lower the bottom position of the lift box 11 by the unit movement length ΔH as shown in Fig. 6C. As the bottom position of the lift box 11 lowers, the length of the movable wall 13 increases by the unit movement length ΔH. In Fig. 6C, the workpiece X is placed in the third layer of the planar dense packing. vj is put into the lift box 11, and the workpiece X v(j+1) is passing through the rolling motion setting section 16, and the workpiece X v(j+2) 13A and 13B are diagrammatically illustrating a state in which the sheet is placed on the conveyor belt of the conveyor 23.

[0055] In the state shown in FIG. 6D after a certain time has elapsed from the state shown in FIG. 6C, the third and fourth layers of the workpiece X are being planarly densely packed. wj , ... are temporarily loaded inside the lift box 11. In FIG. 6D, the workpiece X w(j+1) is passing through the rolling motion setting section 16, and the workpiece X w(j+2) The figure shows a state in which the workpiece X is on the conveyor belt of the conveyor 23. wj ,X w(j+1) , ... are given energy of a rolling motion, and the direction of the translational motion of the center of gravity is set irregularly, so that the workpiece X moves in the lift box 11. wj The particles move randomly and are densely packed inside the lift box 11. As shown in Fig. 6D, the packing depth is set shallow at the unit movement length ΔH, so that the workpieces can be uniformly and densely packed temporarily without the occurrence of the bridging state B.

[0056] The bottom position of the lift box 11 in the state shown in Figure 6C is the same as the bottom position of the lift box 11 in the state shown in Figure 6D. Although not shown in Figures 6C and 6D, when the lift box 11 is in the state shown in Figure 6D, both the first optical sensor 19a and the second optical sensor 19b detect the workpiece X. wj, ... are simultaneously input with sufficient reflected light indicating fullness. The control circuit 44, which receives the output signals of the first optical sensor 19a and the second optical sensor 19b, determines that the container is full and issues a command to automatically stop the transport device 23. Furthermore, the control circuit 44 issues a command to the actuator 42 to lower the bottom position of the lift box 11 into the inside of the container 1 to a position close to the bottom of the container 1.

[0057] The control circuit 44 lowers the bottom position of the lift box 11 into the container 1 as shown in FIG. 6E using signals from position sensors not shown in FIG. 6D and FIG. 6E. As shown in FIG. 6F, the bottom position of the lift box 11 is brought closer to the bottom position of the container 1 to a height where the opening and closing doors at the bottom of the lift box 11 can be opened. As the bottom position of the lift box 11 lowers, the length of the movable wall 13 extends by the length of the lowering of the bottom position. Then, as shown in FIG. 6F, the two swing doors (opening and closing doors) at the bottom of the lift box 11 are opened like double doors by the opening and closing link mechanism 43, making it possible to transfer the objects to be treated inside the lift box 11 to the inside of the container 1. Since the objects to be treated are densely packed with a uniform internal pressure so as not to generate the bridging state B, all of the objects to be treated inside the lift box 11 can be efficiently moved into the container 1, and all of the objects to be treated are densely packed inside the container 1. Thereafter, as shown in Fig. 6G, when the lift box 11 is raised by the actuator 42, the objects temporarily packed inside the lift box 11 are transferred to the inside of the container 1 and densely packed inside the container 1. Furthermore, as shown in Fig. 6H, the slide mechanism of the container stage 45 is used to pull out the container 1 densely packed with the objects to the back side of the automatic packing device according to the representative embodiment.

[0058] As described above, according to the automatic packing method of the representative embodiment, the workpieces can be transferred to the inside of the container 1 after repeating the operation of provisionally packing the inside of the lift box 11 with a shallow filling depth. Therefore, according to the automatic packing method of the representative embodiment, even if the workpieces are spherical, such as apples, which are weak against physical impact and have surfaces that are easily damaged, the workpieces can be efficiently packed densely inside the container 1 without reducing the quality of the workpieces due to scratches, etc. In particular, since the rolling motion setting unit 16 applies kinetic energy in an irregular direction and the impact absorbing film 12 having a relatively large rebound elasticity compared to the impact absorbing capacity is adopted, it becomes possible to provisionally pack the workpieces densely and uniformly inside the lift box 11. In addition, by setting the filling depth shallow at the unit movement length ΔH, it becomes possible to provisionally pack the workpieces densely and uniformly without the occurrence of the crosslinked state B.

[0059] (Other embodiments) The present invention has been described with reference to the above exemplary embodiments, but the description and drawings forming part of this disclosure should not be understood as limiting the present invention. Various alternative embodiments, examples and operation techniques will become apparent to those skilled in the art from this disclosure. For example, an automatic packing system may be configured in which a zone for measuring the number or weight of objects to be processed is provided on the conveyor belt of the conveyor device 23 that automatically conveys the objects to be processed, and the output signals of the first optical sensor 19a and the second optical sensor 19b and the number or weight are linked to the measurement results to automatically stop the conveyor device 23.

[0060] In order to efficiently link the measurement result of the number or weight with the operation of the conveying device 23, a third and fourth optical sensor may be provided to irradiate the objects being provisionally filled on the back side of the lift box 11, beyond the range irradiated by the first optical sensor 19a and the second optical sensor 19b, so that it is possible to detect when the box is nearly full. In this case, a conveying position adjustment device may be further added to switch the position of the objects being conveyed on the conveying belt of the conveying device 23 to conveying one object at a time midway. That is, when the overall output signal of the first to fourth optical sensors is used to detect that the provisional filling of the lift box 11 is close to full, the conveying position adjustment device may be used to set the objects to be conveyed one object at a time on the conveying belt of the conveying device 23, so that precise control of provisional filling on a one-by-one basis is possible. In addition, when the term "optical sensor" is used simply in this specification, it collectively means the entire first and second optical sensors, or the entire first to fourth optical sensors, or any of the first to fourth optical sensors, etc.

[0061] Furthermore, the automatic cartoning system according to the representative embodiment may further include a computer system. In this case, the output signal of the optical sensor and the result of the judgment of the pre-filling fullness of the lift box 11 are machine-learned into the computer system with precision to the unit of one, and the result of the machine learning can be used to enable precise control of the pre-filling to the unit of one.

[0062] In addition, in the above-described automatic boxing device and automatic boxing system according to the representative embodiment, apples have been described as an example. However, as long as the object to be processed is spherical and capable of being given a rolling motion, the technical idea of ​​the present invention can be applied to persimmons, peaches, pears, Unshu mandarins, Iyo mandarins, naples, melons, tomatoes, and the like. In general, fruits are displaced more when pressure is applied, and therefore correspond to Hooke's law and exhibit elastic deformation characteristics. In addition, within the range of elastic deformation, the hardness tends to decrease as the displacement caused by pressure increases. For example, in the case of apples (Sun Tsugaru), the hardness (resistance) measured by a universal hardness tester (or Magnes hardness tester) is about 2.4 to 2.73 kg when the displacement caused by pressure using compressed air is 0.02 to 0.03 mm, but the hardness decreases as the displacement increases. However, when stored in CA, the hardness of the apple decreases as the storage period increases.

[0063] In addition, the hardness of an apple (Kou) is about 1.95 to 2.37 kg at a displacement of 0.027 to 0.047 mm, but decreases as the displacement increases. In the case of a Nansui pear, the hardness is about 1.8 to 2.12 kg at a displacement of 0.03 to 0.06 mm. In the case of a Prince melon, the hardness is about 0.4 to 1.7 kg at a displacement of 0.02 to 0.075 mm. The technical idea of ​​the present invention can be appropriately applied to even these easily bruised fruits by adjusting the division number m that defines the unit movement length ΔH.

[0064] That is, in the description of the automatic packing device and automatic packing system according to the above representative embodiment, the height of the container is divided into m parts, and the unit movement length ΔH is set to m=2, but this is merely an example. It is of course possible to evaluate the susceptibility of the workpiece to damage through preliminary experiments and increase the number of divisions m to 3 or more. In order to reduce damage to the workpiece due to the acceleration of gravity, it is sufficient to appropriately select the number of divisions m and sequentially set the unit movement length ΔH in accordance with the nature of the susceptible workpiece.

[0065] As described above, the present invention is not limited to the above-mentioned representative embodiment, and various modifications are possible, and it goes without saying that these modifications are also included within the scope of the present invention. Therefore, the technical scope of the present invention is determined only by the invention-specifying matters related to the description of the claims appropriate from the above description. [Explanation of symbols]

[0066] 1...container, 10a...first side wall portion, 10b...second side wall portion, 11...lift box, 12...shock absorbing membrane, 13...free wall, 14...fastener, 15...rolling motion setting portion support plate, 16...rolling motion setting portion, 17...distributing mechanism support portion, 18...distributing mechanism, 19a...first optical sensor, 19b...second optical sensor, 20a...first control wall, 20b...second control wall, 21...winding roller, 22...auxiliary roller, 23...conveyor device, 41...electric motor, 42...actuator, 43...opening / closing link mechanism, 44...control circuit, 45...container stage, 92a, 92b, 92c...shock absorbing membrane

Claims

1. An automatic boxing device that is disposed adjacent to a conveying device that automatically conveys a plurality of spherical objects to be processed in a fixed direction, and that densely packs the plurality of spherical objects from the conveying device into a container with an open top, the container having a volume determined by a short side defined in the fixed direction, a long side perpendicular to the short side, and a height perpendicular to the short side and the long side, the automatic boxing device comprising: a flat container stage on which the container is placed; A pair of side walls facing each other in parallel along the certain direction, the container stage being fixed to a lower portion, and an input window for sequentially inputting the plurality of spherical objects to be processed from the conveying device being set above the container stage; a lift box having an opening / closing door at a bottom portion and moving up and down between the pair of side walls so that the bottom portion can be inserted into the container; a unit movement length defined by dividing the height; and an actuator capable of driving the lift box to sequentially lower for each unit movement length; a rolling motion setting unit provided in the input window and configured to sequentially set the energy and direction of a rolling motion of each of the plurality of spherical objects to be processed; An automatic boxing device comprising:

2. The rolling motion setting unit is A tilt that sequentially imparts rolling energy to each of the plurality of spherical objects to be processed that are fed from the transport device into the lift box; A sorting mechanism that sets the directions of translational motion of the centers of gravity of specific objects included in the plurality of spherical objects to be different from each other; 2. The automatic case packing apparatus according to claim 1, further comprising:

3. 2. The automatic packing device according to claim 1, wherein the inner wall of the lift box is provided with an impact absorbing membrane having a resilience that changes the direction of the momentum vector of the object colliding with the inner wall by inelastic collision.

4. an optical sensor for detecting a full state of the plurality of spherical objects densely packed inside the lift box before and between the incremental movements; a control circuit which receives an output signal from the optical sensor and controls the operation of the actuator; The automatic case packing device according to any one of claims 1 to 3, further comprising:

5. An automatic packing system for densely packing a plurality of spherical objects to be processed into a container having a short side, a long side perpendicular to the short side, and a volume determined by a height perpendicular to the short side and the long side, the container having an open top, A conveying device having a conveying belt that automatically conveys the plurality of spherical objects to be processed in a constant direction that is the same as the short side; a flat container stage on which the container is placed; A pair of side walls facing each other in parallel along the direction of the short sides, with the container stage fixed to a lower portion, and an input window for sequentially inputting the plurality of spherical objects to be processed from the conveying device set above the container stage; a lift box having an opening / closing door at a bottom portion and moving up and down between the pair of side walls so that the bottom portion can be inserted into the container; a unit movement length defined by dividing the height; and an actuator capable of driving the lift box to sequentially lower for each unit movement length; a rolling motion setting unit provided in the input window and configured to sequentially set the energy and direction of a rolling motion of each of the plurality of spherical objects to be processed; An automatic cartoning system comprising:

6. The rolling motion setting unit is A tilt that sequentially imparts rolling energy to each of the plurality of spherical objects to be processed that are fed from the transport device into the lift box; A sorting mechanism that sets the directions of translational motion of the centers of gravity of specific objects included in the plurality of spherical objects to be different from each other; 6. The automatic cartoning system according to claim 5, further comprising:

7. 7. The automatic boxing system according to claim 5, further comprising a zone for measuring the number or weight of the objects to be processed, provided midway along the conveyor belt.

Images