Conveying device and containing device

Abstract

To provide a conveying device capable of conveying an object downstream while suppressing positional deviation in a width direction of the object when the object is conveyed.SOLUTION: A conveying device according to one embodiment has a conveying surface on which agricultural products are placed and which moves in a predetermined direction as a conveying direction, and one or more first protrusions provided on the conveying surface along the conveying direction to support the agricultural products.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a conveying device for conveying target agricultural crops, and a housing device having the conveying device for housing the agricultural crops in a container.

Background Art

[0002] After agricultural crops such as vegetables and fruits are harvested from arable land, they are aggregated at a collection and shipping yard and delivered to wholesalers and retailers, and then reach consumers. In this distribution process, at the collection and shipping yard, operations such as washing, inspection, and sorting are performed on the agricultural crops. The agricultural crops are then transferred into a container, housed, and packaged.

[0003] When performing such operations and transferring the agricultural crops into the container, the agricultural crops are conveyed by a conveying device such as a conveyor. When conveying the agricultural crops by the conveying device, due to the vibration of the conveying device, the conveying speed of the agricultural crops on the conveying device, and other influences, the agricultural crops may deviate from the intended position in the conveying path, and in some cases, may roll out of the conveying path (outside the conveying device) and fall outside the conveying path.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a conveying device capable of conveying downstream while suppressing positional deviation in the width direction of agricultural crops when the target agricultural crops (objects) are conveyed, and a housing device having the conveying device for housing the agricultural crops in a container.

Means for Solving the Problems

[0006] A conveying device according to one embodiment has a conveying surface on which agricultural products are placed and which moves in a predetermined direction as a conveying direction, and one or a plurality of first protrusions provided on the conveying surface along the conveying direction and supporting the agricultural products.

Effect of the Invention

[0007] According to the present invention, when the target agricultural product (object) is conveyed, it is possible to provide a conveying device capable of conveying the agricultural product downstream while suppressing the positional deviation in the width direction of the agricultural product, and a housing device having the conveying device and housing the agricultural product in a container.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3A

Figure 3B

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

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Figure 16

Figure 17

Embodiments for Carrying Out the Invention

[0009] Hereinafter, the storage device 1 for agricultural products (objects) 2 according to the embodiments of the present invention will be described with reference to the drawings. In each figure, for the sake of explanation, the configuration is appropriately enlarged, reduced, or omitted. For this reason, the scales and the like of each figure are not necessarily accurate.

[0010] Examples of the agricultural products 2 according to the present embodiment include various products such as vegetables, fruits, cereals such as corn, and beans such as broad beans.

[0011] (First Embodiment) The upper figure in FIG. 1 is a plan view of the storage device 1 for agricultural products 2 according to the first embodiment, and the lower figure is a side view of the storage device 1 in the upper figure.

[0012] In FIG. 1, an XYZ orthogonal coordinate system is adopted. Assume that the +Y-axis direction is, for example, along the horizontal plane and is the direction in which the agricultural product 2 is conveyed. Assume that the +Z-axis direction is the upward direction orthogonal to the horizontal plane. Assume that the +X-axis direction is along the horizontal plane and is orthogonal to the Y-axis direction. Here, assume that the +X-axis direction is the right side when looking from the upstream side to the downstream side of the conveying device 20.

[0013] As shown in FIG. 1, the accommodating device 1 is a device that conveys agricultural products 2 such as agricultural crops one by one on the conveying path A1 and transfers and accommodates them in a container 3 arranged at a predetermined position, for example, on the side of the conveying path A1.

[0014] FIG. 2 shows a schematic block diagram of the accommodating device 1. As shown in FIGS. 1 and 2, the accommodating device 1 includes a conveying device 20 that conveys the agricultural product 2 along the conveying path A1, a transfer device 40 that picks up the agricultural product 2 and arranges it in the container 3, a detection device 50, and a control device 60 that controls the operations of the devices 20, 40, and 50. The transfer device 40 may be one for one conveying device 20, or may be a plurality as shown in FIG. 1.

[0015] The control device 60 is preferably, for example, in the vicinity of the conveying device 20. The control device 60 may be, for example, at a remote location away from the conveying device 20. In this case, the devices 20, 40, and 50 can be controlled using wireless or wired communication.

[0016] Further, the accommodating device 1 preferably has a pre-processing area 70 provided on the primary side of the detection device 50 arranged on the conveying device 20 and performing pre-processing such as loading processing and sorting processing before the agricultural product 2 is transferred to the conveying belt 26, and a container mounting table 80 adjacent to the conveying device 20 on which the container 3 is mounted.

[0017] The control device 60 controls a drive source 201 such as one or more motors of the transfer device 20 and an encoder 202 that detects the position (angle) of the rotation shaft of the motor as the drive source 201. The control device 60 controls the gripping of the agricultural product 2 by the holding hand 41 based on the detection result of the encoder 202. The control device 60 controls the conveyance speed of the conveyance belt 26 of the transfer device 20 to a constant speed, and can output where the agricultural product 2 conveyed on the conveyance belt 26 and detected by the detection device 50 is assumed to move to on the conveyance belt 26 after a lapse of a predetermined time. The control device 60 can output the timing for arranging the holding hand 41 (to be described later) of the transfer device 40 in the vicinity of the conveyance belt 26 based on the detection result of the encoder 202.

[0018] Note that although the plurality of drive sources 201 can be separately controlled by the control device 60, the description thereof is omitted for simplicity of explanation.

[0019] The control device 60 controls the drive sources 401 such as a plurality of motors of the transfer device 40 and the encoders 402 provided respectively on the drive sources 401. The control device 60 confirms the current position and posture of the holding hand 41 described later based on the detection results of the encoders 402, outputs a signal to the drive source 401 as necessary, and controls the drive source 401. Further, the control device 60 confirms the position and posture of the holding hand 41 after being controlled based on the detection results of the encoders 402. In this embodiment, the holding hand 41 switches the holding (pickup) / release of the agricultural product 2, for example, by the action of pneumatic pressure. For this reason, the control device 60 further controls the air supply mechanism 403 to switch the holding / release of the agricultural product 2. Also, in this embodiment, the control device 60 controls the rotation mechanism 404 that rotates the holding hand 41 described later around its axis and the lifting mechanism 405 that raises and lowers the holding hand 41 vertically. Therefore, the control device 60 controls one of the two transfer devices 40 to move with respect to the agricultural product 2 specified by the detection device 50, picks up the agricultural product 2 specified by the detection device 50 with the moved holding hand 41, and controls the transfer device 40 to place it on the container 3. Note that the control device 60 may not move either of the two transfer devices 40 depending on the agricultural product 2 specified by the detection device 50.

[0020] Note that the plurality of drive sources 401 can be controlled separately by the control device 60, but the description is omitted for simplicity of explanation.

[0021] The control device 60 controls the camera 501 of the detection device 50 to image the agricultural product 2 being conveyed on the conveyor belt 26. The control device 60 outputs the position of the agricultural product 2 and the posture (orientation) including the rotation angle around the axis of the agricultural product 2 based on the imaging result of the agricultural product 2 by the camera 501. For this reason, the control device 60 is also used as an image processing device that processes the image acquired by the camera 501. And the control device 60 can output at which positions on the conveyor belt 26 the agricultural product 2 that has passed through the detection device 50 and has been acquired as an image is located at appropriate timings respectively.

[0022] Note that the control device 60 controls the drive source 401, encoder 402, air supply mechanism 403, rotation mechanism 404, and lifting mechanism 405 of the transfer device 40 based on the detection timing of the agricultural product 2 by the detection device 50 and the transfer distance of the transfer belt 26 of the transfer device 20 (the moving distance detected by the encoder 202), and can pick up the agricultural product 2 with the holding hand 41 described later and place the agricultural product 2 in the desired orientation on the placement portion 3a of the container 3 at a predetermined position.

[0023] As shown in FIGS. 3A and 3B, in the present embodiment, the agricultural product 2 to be conveyed and stored in the container 3 is an agricultural product having, for example, a fragile property, a complex shape, or an unstable shape, such as vegetables or fruits. In the present embodiment, an example is shown in which the myoga shown in FIG. 3A is used as the agricultural product 2 as an example of an agricultural product having a fragile property, a complex shape, or an unstable shape. The myoga shown in FIG. 3A is defined in size, for example, as a length L along the longitudinal direction and a diameter D of a substantially circular cross section of the maximum diameter portion. Note that, for example, the diameter D < the length L.

[0024] Note that FIG. 3B shows a longitudinal section of a tomato as another agricultural product 2. The tomato shown in FIG. 3B may be a type whose longitudinal direction is not defined with respect to the transfer surface 260 described later. That is, one type of tomato can be defined as a diameter D in any longitudinal section. Depending on the type of tomato, there are also those defined as a length L and a diameter D, like myoga.

[0025] Hereinafter, the myoga as the agricultural product 2 will be described as having a shape with a substantially circular cross section (diameter D) and a substantially elliptical longitudinal section (length L). That is, here, the agricultural product 2 whose longitudinal length L and diameter D are defined as shown in FIG. 3A will be described. Such agricultural products 2 may include various agricultural products such as myoga, cucumber, eggplant, corn, etc. Also, depending on the type, tomatoes are included in the agricultural products 2 whose longitudinal length L and diameter D are defined. Examples of the agricultural product 2 as shown in FIG. 3B may include various agricultural products such as tomatoes, citrus fruits such as oranges, peaches, persimmons, etc.

[0026] Note that the material, size, and shape of the container 3 can vary depending on the agricultural product 2.

[0027] As shown in FIG. 1, the conveying device 20 is configured to convey the agricultural product 2 along the conveying path A1. The conveying device 20 is, for example, a belt conveyor type conveying mechanism unit. The conveying device 20 according to the present embodiment detects while conveying the agricultural product 2, picks up the detected agricultural product 2 with a robot hand (holding hand 41), and suppresses the pickup position deviation when automatically storing it in the container 3, and is used to more reliably pick up the agricultural product 2 with the robot hand and store it in the container 3. The conveying device 20 includes a guide member 25 installed along a predetermined conveying path A1, a conveying belt 26 supported by the guide member 25 and arranged across the conveying path, a plurality of conveying rollers 27 provided on the back side of the conveying belt 26 to feed the conveying belt 26, and a drive source 201 (see FIG. 2) for rotationally driving the conveying rollers 27. Note that this conveying device 20 feeds the agricultural product 2 arranged on the conveying belt 26 along the conveying path A1. The conveying path A1 is arranged along the Y direction in FIG. 1 as an example.

[0028] The conveying rollers 27 are spaced apart in the conveying direction of the conveying belt 26. The conveying rollers 27 are used as the tail pulley and the head pulley of the conveying device 20. One of the tail pulley and the head pulley of the conveying roller 27 rotates around the X-axis by, for example, a motor 201 as a drive source, and is used as the driving side for moving the conveying belt 26 in the Y-axis direction, and the rest is used as the driven side. For this reason, the conveying device 20 guides the agricultural product 2 placed on the conveying belt 26 along the conveying path A1 in a lying state (see FIG. 1) and conveys it toward the downstream side by the feeding movement of the conveying belt 26 accompanying the rotation of the conveying rollers 27. The control device 60 preferably controls the drive source 201 to maintain a state in which the conveying belt 26 moves downstream at a constant speed, for example. The moving speed of the conveying belt 26 is preferably set to a speed that prevents the agricultural product 2 from moving back and forth relative to the conveying belt 26 due to the vibration of the conveying device 20.

[0029] Note that the conveyance path A1 can be set as appropriate and may be curved, bent, or inclined with respect to the horizontal plane.

[0030] FIG. 4 is a schematic view of the conveyor belt 26 of the conveying device 20 as viewed from the upstream side toward the downstream side. FIG. 5 is a schematic view (side view) showing a part of the conveyor belt 26 of the conveying device 20 as viewed from the direction indicated by V in FIG. 4. FIG. 6 is a schematic view (top view) of the conveyor belt 26 of the conveying device 20 as viewed from the direction indicated by VI in FIG. 5. FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. 6.

[0031] As shown in FIG. 1, the conveyor belt 26 is formed in an endless (annular) shape. As shown in FIGS. 4 to 7, the conveyor belt 26 has a conveying surface 260 on which the agricultural product 2 is placed and moves in a predetermined direction as the conveying direction, one or a plurality of first protrusions 261 provided along the conveying direction on the conveying surface 260, and one or a plurality of second protrusions 262 provided along the conveying direction on the conveying surface 260. The agricultural product 2 is supported by the conveying surface 260 and the first protrusions 261, or the conveying surface 260, the first protrusions 261, and the second protrusions 262, or the first protrusions 261 and the second protrusions 262.

[0032] The conveying surface 260 is formed as a plane in a state where the agricultural product 2 is placed thereon.

[0033] As shown in FIG. 7, the conveying surface 260 has a base knitting layer 2601 and a coating layer 2602 provided on the surface of the knitting layer 2601 to prevent moisture from penetrating into the knitting layer 2601. The first protrusions 261 and the second protrusions 262 are integrally formed on the coating layer 2602, for example, or integrated by adhesion.

[0034] The fibers of the woven fabric layer 2601 are preferably those having appropriate stretchability. The fibers of the woven fabric layer 2601 are formed from polyester, nylon, aramid, glass, cotton yarn, etc. The fibers of the woven fabric layer 2601 may be a mixture of these fibers. Note that the weaving method of the fibers of the woven fabric layer 2601 may be either warp knitting or weft knitting. In the present embodiment, for example, a PET canvas is used for the woven fabric layer 2601. The thickness of the woven fabric layer 2601 is preferably about 0.4 mm to 3 mm, more preferably 0.6 mm to 1.2 mm. Thereby, the woven fabric layer 2601 exhibits strength and flexibility between the conveying rollers 27 that circulate the conveying belt 26.

[0035] Note that when, for example, ginger is used as the agricultural product 2, the full width of the woven fabric layer 2601 (the full width of the conveying surface 260) is, for example, 100 mm. When other agricultural products 2 are targeted, the width of the conveying surface 260 is changed according to the size of the general agricultural product 2.

[0036] The coating layer 2602 is formed so as to coat the entire surface (outer surface) of the woven fabric layer 2601. As the coating layer 2602, those having appropriate water resistance and water repellency are used. For the coating layer 2602, rubber, resin, and elastomer are appropriately used. For the coating layer 2602, for example, appropriate materials are selected and used from those of polyurethane-based, polyolefin-based, polyester-based, polyvinyl chloride-based, fluorine-based, and silicone-based. The coating layer 2602 may be formed by mixing these materials.

[0037] The pure water contact angle of the surface of the conveying belt 26 (the conveying surface of the agricultural product 2) obtained by coating the woven fabric layer 2601 with the coating layer 2602 is 50° or more, preferably having appropriate water repellency and low hydrophilicity. In the present embodiment, a polyurethane-based resin is used as an example of the conveying surface 260, and the pure water contact angle is 55° as an example. Also, the first protrusion 261 and the second protrusion 262 are made of a polyurethane-based resin having the same composition as the conveying surface 260, and the pure water contact angle is 59° as an example.

[0038] The coating layer 2602 only needs to be such that the braided fabric layer 2601 is not exposed to the conveying surface 260. The thickness of the coating layer 2602 is preferably about 0.1 mm to 1 mm, and more preferably about 0.2 mm to 0.5 mm, for example.

[0039] The first protrusion 261 and the second protrusion 262 provided on the coating layer 2602 are preferably formed of the same material as the coating layer 2602.

[0040] The first protrusion 261 and the second protrusion 262 continuously extend along the conveying direction. The first protrusion 261 and the second protrusion 262 can each support the agricultural product 2 alone or in cooperation with the conveying surface 260. Depending on the relationship between the width W (described later) between the first protrusion 261 and the second protrusion 262 and the diameter D of the agricultural product 2, the agricultural product 2 may be placed on the conveying surface 260 and picked up by the holding hand 41 without touching both the first protrusion 261 and the second protrusion 262.

[0041] In the present embodiment, it is assumed that both the first protrusion 261 and the second protrusion 262 are endless (annular) and there is one of them. Depending on the timing and position, the normal direction of the conveying surface 260 can be upward in the vertical direction or downward in the vertical direction. When the normal direction of the conveying surface 260 is upward in the vertical direction, the first protrusion 261 and the second protrusion 262 protrude upward (outward) from the conveying surface 260. When the normal direction of the conveying surface 260 is downward in the vertical direction, the first protrusion 261 and the second protrusion 262 protrude downward (outward) from the conveying surface 260. The second protrusion 262 is spaced apart from the first protrusion 261 in the width direction (X-axis direction) of the conveying surface 260 that intersects the conveying direction, is provided along the conveying direction (Y-axis direction) on the conveying surface 260, and supports the agricultural product 2 between it and the first protrusion 261. The first protrusion 261 and the second protrusion 262 are spaced apart from each other by a predetermined distance in the width direction of the conveying surface 260. The first protrusion 261 and the second protrusion 262 are each formed in a substantially trapezoidal shape when viewed from the upstream side to the downstream side along the conveying direction.

[0042] In the example shown in FIGS. 4 and 7, the bottom length (width along the X-axis) of the trapezoidal first protrusion 261 and second protrusion 262 in the cross-section is, for example, 5 mm, and the top length (width along the X-axis) is, for example, 2 mm. Also, the width W between the first protrusion 261 and the second protrusion 262 is defined as the width between their bottom surfaces. In this embodiment, as an example, it can be set to 35 mm.

[0043] It is assumed that there are the following advantages when the first protrusion 261 and the second protrusion 262 are each formed in a substantially trapezoidal shape when viewed from the upstream side to the downstream side along the conveying direction. The agricultural product 2 is loaded from the upstream side to the downstream side. Therefore, when viewed from the upstream side to the downstream side, the two protrusions 261, 262 and the conveying surface 260 cooperate to place the agricultural product 2 in a region formed in a substantially mortar shape. For this reason, it is easier for the agricultural product 2 to be placed more reliably within the desired range. Also, for example, when looking from the upstream side to the downstream side along the conveying direction, the corner on the side where the agricultural product 2 is arranged is easier to be arranged more outward in the width direction of the conveying belt 26, and it is easier to avoid contact with the holding hand 41 that picks up the agricultural product 2. On the other hand, since a corner can be formed on the side (inner side in the width direction) where the agricultural product 2 is arranged, compared with the case of using a semi-circular protrusion that is convex upward when looking from the upstream side to the downstream side along the conveying direction, it is easier to function as a stopper to prevent the agricultural product 2 from moving outward. Furthermore, during the cleaning of the conveying belt 26, when looking from the upstream side to the downstream side along the conveying direction, compared with a rectangular protrusion, the boundary between the conveying surface 260 and the protrusion 261, and the boundary between the conveying surface 260 and the protrusion 262 are obtuse angles. Therefore, foreign matters derived from the agricultural product 2 and the like are prevented from being caught between the first protrusion 261 and the second protrusion 262, the boundary part is easy to wipe off, and moisture and dust are less likely to accumulate compared with a rectangular protrusion. For this reason, the cleaning and washing of the conveying belt 26, the first protrusion 261, and the second protrusion 262 are easy, and the sanitary state of the conveying device 20 that handles agricultural products 2 such as fruits and vegetables can be maintained well. Also, in the manufacture of the conveying belt 26, since the protrusions 261 and 262 are attached to the coating layer 2602 of the flat belt, the attachment strength can be ensured. Specifically, since it is attached at the bottom of the trapezoidal part, the greater the width of the bottom part, the higher the adhesion strength. Also, the upper bottom part becomes the outermost shape side by the conveying roller 27 that supports the most upstream position and the most downstream position of the conveying belt 26, so it is the side that is stretched the most. Here, the narrower the width direction, the easier it is to stretch, and since the load of deformation of the protrusions 261 and 262 is small, it is advantageous for the life and driving surface of the conveying belt 26 compared with a rectangular protrusion.

[0044] In FIG. 7, the cross-sections of the first protrusion 261 and the second protrusion 262 are depicted as isosceles trapezoids, but they do not have to be isosceles trapezoids. For example, among the first protrusion 261 and the second protrusion 262, the outer surface on the side opposite to the surface (opposing surface) on which the agricultural product 2 is placed may be orthogonal to the conveying surface 260, for example. Also, the inclination angle of the opposing surfaces of the first protrusion 261 and the second protrusion 262 with respect to the conveying surface 260 is set as appropriate.

[0045] The width W between the first protrusion 261 and the second protrusion 262 is equal to or less than the length (length of the long side) L in the longitudinal direction of the agricultural product 2. In this case, one end (tip) along the long side L of the agricultural product 2 placed between the first protrusion 261 and the second protrusion 262 faces the conveyance direction side, for example, along the longitudinal direction of the first protrusion 261 and the second protrusion 262, and the other end (rear end) of the agricultural product 2 faces the side opposite to the conveyance direction.

[0046] The length of the long side L of ginger is understood to be about 90 mm, for example. On the other hand, by setting the width between the first protrusion 261 and the second protrusion 262 to 35 mm, it is possible to prevent the ginger from rotating due to the sway between the first protrusion 261 and the second protrusion 262 at the tip and the rear end along the long side L of the ginger. That is, it is possible to prevent the position of the root side and the tip side of the ginger from being unintentionally reversed during conveyance by the conveyor belt 26. Note that rotation around the longitudinal axis of the ginger is allowed.

[0047] It is preferable that the heights of the first protrusion 261 and the second protrusion 262 are the same, and it is preferable that the height is 1 / 10 or more of the length in the short direction of the agricultural product 2 or the maximum length of the cross-section of the diameter D, or 2 mm or more. For example, ginger has a maximum diameter D of 25 mm, for example, and 1 / 10 thereof is 2.5 mm. In the present embodiment, the height H of the first protrusion 261 and the second protrusion 262 is set to 3 mm.

[0048] In the case of the example of the present embodiment, the total length of the conveying device 20 (the length that functions as the conveying surface 260 of the conveyor belt 26) is about 1500 mm, for example.

[0049] In this embodiment, when the conveyor belt 26 is formed in this way and conveyed at about 150 mm / s, the Japanese ginger is conveyed to the position of the holding hand 41 while being maintained between the first protrusion 261 and the second protrusion 262.

[0050] As shown in FIG. 1, the transfer device 40 includes a holding hand 41 configured to be able to pick up and release the agricultural product 2, and a transfer arm 42 that supports and moves the holding hand 41 as a hand movement mechanism. The holding hand 41 has a size that can be disposed above the upper edge of various containers 3, and the transfer arm 42 can move the holding hand 41 to a position close to the placement portion 3a. As shown in FIG. 1, the transfer device 40 may be disposed on one side of the conveying device 20 or may be disposed on the downstream side (end side) of the conveying device 20.

[0051] An appropriate structure is applied to the holding hand 41. Here, an example of the holding hand 41 shown in FIGS. 8 and 9 will be described as an example. FIGS. 10 to 12 are explanatory diagrams showing the operation of transferring and storing the agricultural product 2 from the conveyor belt 26 of the conveying device 20 to the container 3 using the holding hand 41 shown in FIGS. 8 and 9.

[0052] FIG. 10 shows the process of picking up the agricultural product 2 using the holding hand 41 of the transfer device 40, FIG. 11 shows the process of moving with the agricultural product 2 picked up by the holding hand 41 of the transfer device 40, and FIG. 12 shows the process of releasing the agricultural product 2 at a desired destination with the agricultural product 2 picked up by the holding hand 41 of the transfer device 40. In FIG. 10, in order to facilitate the explanation of the movement path and the picking-up operation of the holding hand 41, the postures of the holding hand 41 and the agricultural product 2 are shown as being rotated 90 degrees.

[0053] As shown in FIGS. 8 and 9, the holding hand 41 includes a base portion 43, a holding member 44 and a pressing member 45 that extend downward from the base portion 43. As an example, the holding hand 41 includes a plurality of holding members 44 that are arranged to face each other in the horizontal direction and can pick up the agricultural crop 2 therebetween, and a pressing member 45 arranged between the plurality of holding members 44. The holding hand 41 can pick up and release the agricultural crop 2, and is configured to be able to approach and separate from the conveying path A1 of the conveying belt 26.

[0054] The holding member 44 is formed of a flexible and elastically deformable elastomeric resin material, a cushioning material such as silicone rubber. The holding member 44 has an air flow path 44a inside, and is configured to be pressurizable and depressurizable to atmospheric pressure under the control of the air supply mechanism 403. Each holding member 44 includes finger-like members configured to be bendable at a plurality of locations. For example, the holding member 44 has blade portions 44b arranged on opposite surfaces facing each other, and bellows-like expansion and contraction portions 44c arranged on the outer surface opposite to the blade portions 44b and capable of expanding and contracting. The air flow path 44a is connected to the air supply mechanism 403 and is configured such that the amount of air inside can be adjusted. The air supply mechanism 403 bends and deforms the holding member 44 and drives the holding hand 41 to close, for example, by supplying air to the holding member 44 under the control of the control device 60. Further, the air supply mechanism 403 deforms the holding member 44 and drives the holding hand 41 to open, for example, by sucking air from the holding member 44 or releasing the pressurized air to the atmosphere under the control of the control device 60.

[0055] In this way, the plurality of holding members 44 are configured to be switchable between a closed state in which the tip portions (lower end portions) are close to each other to pick up the agricultural crop 2 and an open state in which the tip portions are separated from each other to release the agricultural crop 2. That is, the holding member 44 becomes an active manipulator that is driven by the air supply mechanism 45d as a drive mechanism and operates actively.

[0056] For example, it is preferable that the holding member 44 is replaceable according to characteristics such as the shape of the object. For example, by changing the size, shape, or number of the holding member 44, a configuration adapted to the shape of the agricultural product 2 can be achieved.

[0057] The pressing member 45 is disposed between a plurality of holding members 44 arranged opposite to each other. The pressing member 45 includes a shaft portion 45a that extends downward from the base portion 43 of the holding hand 41 and is supported so as to be movable forward and backward with respect to the base portion 43, and a head portion 45b provided at the tip of the shaft portion 45a. The shaft portion 45a is supported by the base portion 43 so as to be movable forward and backward in the vertical direction. The shaft portion 45a moves upward when an external force is applied upward, and returns to the initial position when the application of the external force is released. For example, the shaft portion 45a has a resilience to return to a free state of protruding in the tip direction by gravity. Therefore, the pressing member 45 presses the agricultural product 2 in the tip direction with a predetermined pressing force at the lower end portion (contact portion) 45c, and is configured to be retractable, that is, retractable, by the force received from the agricultural product 2. That is, the pressing member 45 is a passive manipulator that operates passively in response to the behavior of the object accompanying the operation of the holding member 44.

[0058] For example, the head portion 45b is composed of a buffer body having flexibility such as an elastomer resin and capable of elastic deformation. The pressing member 45 can protrude below the tip of the holding member 44 in a free state where the object is not picked up (held). That is, in a free state where the agricultural product 2 is not picked up, the contact portion 45c of the pressing member 45 extends below the tip of the holding member 44 (see FIG. 8), is located at the same position (same height), or, although not shown, is located above the tip of the holding member 44 (retracted). In the latter case, the distance in the Z direction between the contact portion 45c of the pressing member 45 and the tip of the holding member 44 is set to be shorter than the width in the Z direction (diameter D) of the agricultural product 2 arranged on the conveyor belt 26.

[0059] The pressing member 45 presses the agricultural product 2 toward the tip side (downward) with a predetermined pressing force due to the self-weight of the pressing member 45. This pressing force is configured to be smaller than the holding force by the holding member 44. For example, the pressing force is configured to be such that when the agricultural product 2 is picked up by the operation of closing the holding member 44, the pressing member 45 retreats when it abuts against and is pushed by the agricultural product 2. That is, the pressing member 45 applies a force that stabilizes the posture of the agricultural product 2 without pressing or damaging the agricultural product 2 in the opposite direction when the agricultural product 2 is lifted by the holding member 44.

[0060] As shown in FIG. 1, the holding hand 41 is supported by the transfer arm 42 as a moving device and is configured to be movable within a predetermined range and rotatable about a predetermined rotation axis.

[0061] The transfer arm 42 extends, for example, from a base end portion disposed adjacent to the conveyance path A1 upward and in a planar direction across the conveyance path, and supports, for example, the base portion 43 of the holding hand 41 so as to be movable within a predetermined range and rotatable about a predetermined rotation axis. As a specific example, the transfer arm 42 includes a column portion 421, a first rotating arm 422, a second rotating arm 423, a rotation mechanism 404, and a lifting mechanism 405.

[0062] The column portion 421 is erected upward, for example, from a base end position adjacent to the side portion of the conveyance path A1 or the end position of the conveyance path A1, and supports the first rotating arm 422 so as to be rotatable about a rotation axis in the Z direction. Although not shown, the transfer arm 42 may have a structure in which the column portion 421 is connected to the ceiling and supports the first rotating arm 422.

[0063] The first rotating arm 422 is connected to the upper end portion of the column portion 421 and includes an arm portion 422a that extends orthogonally to the Z axis, which is the extending direction of the column portion 421, and a drive source 401 such as a rotation motor that rotates the arm portion 422a. The second rotating arm 423 is connected to the tip of the arm portion 422a.

[0064] The second rotating arm 423 is connected to the tip of the arm portion 422a of the first rotating arm 422, and includes an arm portion 423a extending orthogonally to the Z-axis and a drive source 401 such as a rotary motor that rotates the arm portion 423a. The base portion 43 of the holding hand 41 is connected to the tip of the arm portion 423a via a rotation mechanism 404 and a lifting mechanism 405.

[0065] For example, the rotation direction and rotation amount of the rotating arms 422 and 423 are determined based on the information detected by the detection device 50. That is, by adjusting the rotation amount according to the correction conditions calculated according to the position and posture of the agricultural product 2 in the width direction detected by the detection device 50, it can be moved to a position suitable for each agricultural product 2.

[0066] The rotation mechanism 404 is provided at the tip of the second rotating arm 423, and rotatably supports the base portion 43 of the holding hand 41 around a rotation axis along the Z direction. The rotation operation of the rotation mechanism 404 is controlled by the control device 60. For example, the rotation direction and rotation amount are determined based on the information detected by the detection device 50 in the transfer path A1. That is, the rotation mechanism 404 corrects the orientation of the holding hand 41 according to the posture of each agricultural product 2 by rotating the base portion 43 according to the correction conditions calculated according to the orientation of the detected agricultural product 2 at the time of transfer. An example of the orientation of the holding hand 41 adapted to the agricultural product 2 is, for example, a posture in which two sets of holding members 44 are arranged at positions where both sides of the agricultural product 2 can be sandwiched.

[0067] The lifting mechanism 405 supports the base portion 43 of the holding hand 41 so as to be movable in the Z direction with respect to the tip of the second rotating arm 423. The lifting mechanism 405 includes a cylinder mechanism capable of linear motion and has a lifting shaft movable in the Z direction. The lifting mechanism 405 supports the holding hand 41 so as to be liftable by supporting the base portion 43 at the lower end of the lifting shaft.

[0068] The lifting operation of the lifting mechanism 405 is controlled by the control device 60. For example, the stroke of the lifting operation is determined based on the information detected by the detection device 50. That is, when transferring, the lifting mechanism 405 raises and lowers the holding hand 41 under the correction conditions calculated according to the detected position of the agricultural product 2. To ensure that the agricultural product 2 can be reliably picked up without slipping off the holding hand 41, the distance in the Z direction between the holding member 44 and the conveying surface 260 during transfer is preferably longer than the height H of the protrusion 261 and the protrusion 262, and shorter than 1 / 2 (more preferably 1 / 4) of the maximum cross-sectional length of the diameter D of the agricultural product 2.

[0069] The transfer arm 42 configured as described above can position the holding hand 41 at an arbitrary position within a predetermined movable surface and movable range determined by the strokes of the plurality of arms from the base adjacent to the conveying path A1, and is configured such that the holding hand 41 can move up and down and rotate.

[0070] The container 3 is placed on a container mounting table 80 adjacent to the guide member 25, for example, outside the conveying device 20. The container 3 has, for example, a mounting portion 3a on which the agricultural product 2 is placed. The container 3 is open at the upper side, and after the agricultural product 2 is transferred from above, a cover such as a transparent packaging film (wrap) is covered from above, for example. A fourth position P4, which will be described later as the transfer destination of the agricultural product 2, is set on the mounting portion 3a of the container 3. It is preferable that the container 3 is supplied so as to be placed at a predetermined position and in a predetermined orientation on a container mounting table 80 adjacent to the conveying device 20 from a supply device (not shown). The container mounting table 80 may be at one location or, as shown in FIG. 1, may be at a plurality of locations.

[0071] The containers 3 are arranged upstream and downstream of the transfer device 40 in the conveying direction in advance. The containers 3 may be arranged, for example, on one side of the conveying device 20 or on both sides. Note that a container supply process may be performed so that the containers 3 are arranged at predetermined positions by a container conveying device (not shown).

[0072] As shown in FIG. 1, for example, the conveying device 20 is provided with a detection device 50 having a position sensor and an image sensor (camera 501) for detecting the position and state of the agricultural product 2 at a predetermined position on the conveying path A1.

[0073] Note that a preprocessing area 70 for performing preprocessing such as loading processing and sorting processing before the agricultural product 2 is transferred to the conveying belt 26 is provided on the primary side of the detection device 50 in the conveying path A1. The primary side of the conveying belt 26 may be connected to another conveying belt (not shown).

[0074] In the present embodiment, as an example, the transfer process includes a pickup process of holding and lifting the agricultural product 2 while moving the holding hand 41 in the conveying direction and approaching the conveying path A1, a movement process of moving the holding hand 41 to a fourth position P4 described later, and a release process of releasing the holding hand 41. Note that, as an example, the pickup process, the movement process, and the release process will be described in three stages, but the conditions of each process can be changed as appropriate. For example, the operations in the Z direction and the Y direction in the pickup process and the operation in the X direction in the movement process may be performed simultaneously as a series of movement operations.

[0075] These multiple processes are controlled by the control device 60, and a series of processes of loading, conveying, detecting, picking up, moving, and releasing are sequentially performed on each agricultural product 2.

[0076] Hereinafter, the operation of the storage device 1 according to the present embodiment will be described.

[0077] Here, the standby position (reference position) of the holding hand 41 is set as the 0th position P0. On the secondary side of the detection device 50, the pickup position (pickup start position) of the agricultural product 2 is set as the 1st position P1. Downstream of the 1st position P1, the pickup completion position of the agricultural product 2 by the holding hand 41 is set as the 2nd position P2. The lifting position where the holding hand 41 is separated from the conveyor belt 26 by moving along a path combining the upward movement of the holding hand 41 and the movement along the conveying direction from the 2nd position P2 is set as the 3rd position P3. The position of the placement part 3a of the container 3 moved from the 3rd position P3 is set as the 4th position P4.

[0078] The control device 60 controls the transfer device 40 and arranges the holding hand 41 at the standby position (0th position P0). As a pickup process for the agricultural product 2, the control device 60 moves the holding hand 41 at an appropriate position to the standby position P0 above the 1st position P1. Note that the standby position P0 is set to a predetermined position where the 1st position P1 can be reached, such as directly above a position shifted upstream of the conveying path A1 from the 1st position P1, by moving close to the subsequent conveyor belt 26.

[0079] In the pre - treatment area 70 upstream of the conveying path A1, a process of loading a plurality of agricultural products 2, for example, one by one, onto the conveyor belt 26 which is the conveying path of the conveying device 20 is performed. For example, in this embodiment, on the conveying path A1, the myoga which is the agricultural product 2 is arranged with its longitudinal direction between the 1st protrusion 261 and the 2nd protrusion 262 of the conveying surface 260 on the conveyor belt 26, and is conveyed in a lying - down state with the long axis of the agricultural product 2 along the conveying direction. Note that the myoga as the agricultural product 2 has a root side and a tip side, but in this embodiment, since the myoga is detected in orientation by the detection device 50 and the orientation is aligned by the holding hand 41 and then stored in the container 3, the orientation along the conveying direction can be any.

[0080] The agricultural product 2 is preferably sent downstream at the same speed as the conveying speed of the conveyor belt 26 which is preferably at a constant speed.

[0081] When the control device 60 passes through an inspection position upstream of the first position P1, which is the pickup position of the agricultural product 2 by the holding hand 41, it images the agricultural product 2 with the camera 501 of the detection device 50 and detects the state of each agricultural product 2, such as its position and posture (including orientation). Then, based on the image of the agricultural product 2 on the transport path A1, the control device 60 detects and identifies the position and posture of the agricultural product 2, and calculates the operating conditions of the holding hand 41 in the transfer process for the identified agricultural product 2. For example, as the operating conditions, which holding hand 41 to operate, the widthwise position and orientation of the holding hand 41 during pickup at the first position P1, the moving speed from the first position P1 to the second position P2, the correction amount for rotating the rotation mechanism 404 during movement from the third position P3 to the fourth position P4, and so on. Note that the control device 60 may also perform determinations of various items related to the commercial value of the agricultural product 2 based on this detected image of the agricultural product 2.

[0082] According to the calculated operating conditions, the control device 60 moves the holding hand 41 from the standby position at the zero position P0 to the first position P1 where the agricultural product 2 is picked up by the holding hand 41.

[0083] The agricultural product 2 is conveyed on the conveyor belt 26 in a state of being placed between the first protrusion 261 and the second protrusion 262. Also, the width W between the first protrusion 261 and the second protrusion 262 is smaller than the length L of the agricultural product 2. And due to the vibration caused by the driving of the conveying device 20, the widthwise position of the conveyor belt 26 of the agricultural product 2 imaged by the camera 501 of the detection device 50 and the widthwise position of the conveyor belt 26 at the pickup position (the first position P1) where the agricultural product 2 is conveyed downstream and picked up by the holding hand 41 are not likely to change.

[0084] The control device 60 moves the holding hand 41 along a curved path that combines a downward movement in the Z direction, which is the approach and separation direction toward the first position P1, and a movement in the conveyance direction at a predetermined timing before the agricultural product 2 is conveyed to the first position P1 on the conveyance path A1. At this time, when the agricultural product 2 and the holding member 44 at the tip of the holding hand 41 reach the first position P1 and enter between the holding members 44 of the holding hand 41, the control device 60 switches the holding members 44 to the closed state. The holding hand 41 moves at the same speed in the same direction as the conveyance direction of the conveyance belt 26 while starting to pick up the agricultural product 2. Further, the control device 60 moves the holding hand 41 at the same speed in the same direction as the conveyance movement at the first position P1 also from the first position P1 to the second position P2, that is, until the holding hand 41 changes from the open state to the closed state and completes the pickup of the agricultural product 2.

[0085] By using the conveyance belt 26 according to the present embodiment, the area where the holding hand 41 is arranged as the first position P1 is set to be narrow, and as the first position P1 for picking up the agricultural product 2, the width in the width direction that is adjusted in the width direction of the conveyance belt 26 according to each agricultural product 2 is made small. Then, based on the position where the agricultural product 2 is detected by the detection device 50 on the conveyance belt 26, the holding hand 41 is arranged at a position that will be reached after an appropriate time has elapsed, and the agricultural product 2 can be more reliably picked up by the holding hand 41. At this time, since the agricultural product 2 is maintained in a state between the first protrusion 261 and the second protrusion 262, a state where the agricultural product 2 that needs to be picked up cannot be picked up unintentionally is suppressed.

[0086] After that, the control device 60 controls the transfer device 40 to pick up the agricultural product 2 detected by the detection device 50 with the holding hand 41 of the transfer device 40 and accommodate it in the container 3. When moving the holding hand 41 from the second position P2 to the third position P3, the control device 60 moves the holding hand 41 away from the transport path A1 while moving it at the same speed in the same direction as the transport movement at the first position P1. The control device 60 moves the holding hand 41 from the holding completion position P2 on the secondary side of the first position P1 in a state where the agricultural product 2 is picked up, and moves it along a path combining the ascending movement and the movement in the transport direction, and pulls it up to the lifting position P3.

[0087] After performing the pickup process of picking up the above-described agricultural product 2, as a transfer process, the control device 60 drives the holding hand 41 of the transfer device 40 under the calculated operating conditions, and sequentially performs a transfer process of moving the agricultural product 2 and a release process of releasing the agricultural product 2. In these series of pickup processes, the transfer arm 42 simultaneously performs the vertical movement in the Z direction by the lifting mechanism 405 and the movement in the same direction and at the same speed as the transport movement by the rotation of the rotating arms 422 and 423 of the rotation mechanism 404. Therefore, the movement locus of the holding hand 41 as viewed from the side (Y direction) of the transport path A1 is a locus that draws a pot bottom shape that is arcuately curved so that the upper side is open with respect to the transport path A1. And even while the holding hand 41 is closed to pick up the agricultural product 2 at the lowest point of this curved movement path, it moves in the same direction and at the same speed as the transport path A1.

[0088] When it deforms from the state where the plurality of holding members 44 are in the open state and the agricultural product 2 is disposed therebetween to the closed state, for example, when the telescopic portion 44c extends, the distal end portion moves inward and curves so as to approach each other, thereby entering the closed state. When the agricultural product 2 is placed in a lying state on the conveyance surface of the conveyance path A1, the distal ends of the plurality of holding members 44 enter the gaps on both sides formed between the agricultural product 2 and the conveyance surface of the conveyance path A1, thereby picking up the agricultural product 2. For example, as a method of picking up the agricultural product 2, in addition to picking up the agricultural product 2 by the plurality of holding members 44, the agricultural product 2 may be lifted by one or a plurality of holding members 44, and the agricultural product 2 may be picked up by the pressing member 45 and the holding member 44.

[0089] At this time, the contact portion 45c of the pressing member 45 extending downward from the distal end of the holding member 44, or the retraction of the pressing member 45 from the distal end of the holding member 44 and the retraction width d being shorter than the sectional height of the agricultural product 2 in the Z direction, advantageously acts when picking up fresh fruits and vegetables having a certain degree of rigidity, flexibility and mass, such as cucumbers. That is, since the pressing member 45 is retracted from the distal end of the holding member 44, the holding member 44 can be brought close to the agricultural product 2 at the time of picking up, and the agricultural product 2 can easily enter the gap between the holding member 44 and the conveyor belt 26. As a result, the holding member 44 can stably pick up the agricultural product 2 moving together with the conveyor belt 26 in a short time.

[0090] Note that the pressing force of the pressing member 45 is weaker than the holding force by the holding member 44 and can be retracted by being pushed by the agricultural product 2, so that the object is not damaged. Therefore, in addition to the ginger mentioned above as an example, even when the agricultural product 2 is a fresh fruit and vegetable having a hollow structure like a pepper and elastically deforming with respect to a certain force (having a restoring force), it can be stably picked up by the holding hand 41 in a short time. This is because the holding member 44 does not apply a holding force more than necessary, and there is little concern that the agricultural product 2 is damaged.

[0091] As described above, the holding hand 41 is in a holding state in which the agricultural product 2 is picked up by the plurality of holding members 44 and the pressing member 45. Further, the holding hand 41 drives the transfer arm 42 while synchronizing with the operation in the transport direction, thereby pulling up the holding hand 41 in the +Z direction (upward direction).

[0092] In the operations up to this point, the stress applied to the agricultural product 2 can be released by the movement of the pressing member 45, and there is little concern that the agricultural product 2 will be damaged. Thus, the pickup operation is completed.

[0093] Subsequently, as a movement process, the control device 60 moves the holding hand 41 from the lifting position P3 in the X direction or in the X and Z directions, and moves it directly above the fourth position P4 arranged on the placement portion 3a of the container 3. The fourth position P4 on the placement portion 3a is set to sequentially move on the placement portion 3a according to the position where the agricultural products 2 are sequentially arranged in the container 3. In the movement process, depending on the conditions of the release position, only the movement in the X direction, or the movement in the Z direction in addition to the movement in the X direction may be performed, or the movement in the Y direction may be combined.

[0094] Even during the transfer process of the agricultural product 2 by the holding hand 41, the conveyor belt 26 continues to transport the next agricultural product 2 to be picked up. For this reason, the movement process needs to be performed as fast as possible. However, in the transfer device 40 of the present embodiment, the agricultural product 2 is stably transferred without falling off during the high-speed movement process by the holding hand 41. That is, during the transfer process, the agricultural product 2 is held by the plurality of holding members 44 and the pressing member 45 with a suitable force.

[0095] At this time, the control device 60 may correct the orientation and position of each agricultural product 2 by moving and rotating the holding hand 41 under conditions corresponding to the initial posture of the agricultural product 2 detected from the image. For example, when the longitudinal direction of the agricultural product 2 is in an initial posture inclined with respect to the transport direction, the control device 60 performs a correction process of moving and rotating the holding hand 41 so as to align the posture of the agricultural product 2 with respect to the holding hand 41 simultaneously with the transfer process.

[0096] Subsequently, the control device 60 moves the holding hand 41 so as to be close to the bottom surface of the container 3 (movement in the Z direction in FIG. 8). In the release process, the plurality of holding members 44 change from the closed state of holding the agricultural product 2 to the open state in which the amount of air in the air flow path 44a is reduced by the air supply mechanism 45d which is a drive mechanism, the expansion and contraction part 44c contracts, the tip part moves outward, and they move apart from each other, thereby releasing the agricultural product 2. Depending on the presence or absence of the agricultural product 2 already placed in the container 3 and the type of the agricultural product 2, the agricultural product 2 can be released, for example, in the air.

[0097] With the release process, the agricultural product 2 falls, but since the holding hand 41 itself is close to the placement part 3a of the container 3, the impact on the agricultural product 2 during the fall can be greatly suppressed. Further, since the holding member 44 is in a state close to the placement part 3a, it is possible to suppress the displacement due to the impact when the agricultural product 2 lands on the bottom surface. Further, since the position of the contact part 45c of the pressing member 45 in the Z direction in the free state is set to coincide with the tip of the holding member 44 or to be retracted from the tip of the holding member 44, when the agricultural product 2 is released, the agricultural product 2 can be stabilized on the placement part 3a without pressing it against the placement part 3a with more force than necessary.

[0098] Further, the control device 60 may perform a correction operation or the like for changing the orientation of the agricultural product 2 in the container 3 at the initial stage and the later stage of the accommodation operation into the container 3. Specifically, the control device 60 arranges the agricultural product 2 in the container 3 so that the long axis of the agricultural product 2 is perpendicular to the conveyance direction, for example, at the initial stage of boxing, and arranges the agricultural product 2 in the container 3 so that the long axis of the agricultural product 2 is parallel to the conveyance direction according to the size and weight distribution of the agricultural product 2 at the later stage of boxing, and may perform a correction operation or the like.

[0099] Thus, the transfer operation of the agricultural product 2 of the accommodation device 1 is completed.

[0100] When a predetermined number or weight of agricultural products 2 are placed on the placement portion 3a of the container 3, a cover such as a transparent packaging film (wrap) is put on. Note that when a predetermined number or weight of agricultural products 2 are placed on the placement portion 3a of the container 3, it is also preferable that after the container 3 is moved so as to be separated from the transfer device 20 by conveyance or the like, a cover such as a transparent packaging film (wrap) is put on. Such an operation of covering the container 3 with a cover may be performed by an operator or may be performed using an appropriate device.

[0101] In this embodiment, as the agricultural products 2, a plurality of Japanese ginger are arranged side by side on the placement portion 3a of an appropriate container 3 having a relatively shallow bottom. In this embodiment, three Japanese ginger are arranged in three rows on the placement surface of the tray-shaped container 3 so that the direction of the leaf tips of the Japanese ginger in the middle is different from that of the Japanese ginger on both sides.

[0102] After the transfer operation of the agricultural products 2 is completed, the control device 60 moves the transfer arm 42 to the preparation position P0 again. Then, by repeating the pickup, movement, and release processes of the agricultural products 2 at a predetermined timing, the transfer process is sequentially performed in parallel with the conveyance process.

[0103] Note that according to the operation time until one transfer process of a certain transfer device 40 is completed, the constant-speed conveyance speed of the conveyance belt 26 is maintained and the conveyance belt 26 (conveyance surface 260) is not stopped, and the pickup process, movement process, and release process can be performed on the agricultural products 2 specifically identified separately by the detection device 50 using another transfer device 40. For this reason, by using a plurality of transfer devices 40, it is possible to provide the housing device 1 that can house a large number of agricultural products 2 in the container 3 at an appropriate high speed while maintaining the constant-speed conveyance speed of the conveyance belt 26 without stopping it. For this reason, by preparing a plurality of transfer devices 40, even if the conveyance speed of the conveyance belt 26 is increased compared to the case of using one transfer device 40, the housing process of the agricultural products 2 in the container 3 can be surely performed.

[0104] As described above, according to this embodiment, the following can be said.

[0105] In this embodiment, a first protrusion 261 and a second protrusion 262 are provided on the conveying surface 260 of the conveying belt 26, and the agricultural product 2 is supported and conveyed between them. In this way, by providing the first protrusion 261 and the second protrusion 262, the movement of the agricultural product 2 in the width direction on the conveying belt 26 is limited to between the first protrusion 261 and the second protrusion 262. Since the width W in the width direction is shorter than the length L of the agricultural product 2, it is possible to prevent the agricultural product 2 from rotating around an axis orthogonal to its longitudinal axis, and the agricultural product 2 is conveyed to the transfer device 40 while almost maintaining the position in the width direction of the agricultural product 2 on the conveying surface 260 imaged by the camera 501 in the detection device 50. For this reason, even if there is no recognition device for the agricultural product 2 such as a camera in the transfer device 40, based on the relationship between the position in the width direction of the agricultural product 2 on the conveying surface 260 imaged by the detection device 50 and the conveying speed of the conveying surface 260, the control device 60 arranges the holding hand 41 at a predetermined position at a predetermined time and operates the holding hand 41 appropriately, so that the agricultural product 2 imaged by the detection device 50 can be surely picked up. Therefore, the agricultural product 2 picked up in this way can be surely placed on the placement portion 3a of the container 3. Note that the agricultural product 2 allows rotation around the axis of its longitudinal axis.

[0106] Therefore, according to the storage device 1 according to this embodiment, when the agricultural product 2 is picked up by the holding hand 41, the position in the width direction at the detection device 50 and the position in the width direction at the first position P1 hardly change. For this reason, it is possible to suppress failures in picking up, such as a missed pick. And without arranging a camera in the transfer device 40, while suppressing cost increases in the case where a single transfer device 40 or a plurality of transfer devices 40 are installed, the agricultural product 2 can be more surely conveyed, picked up, and stored at a desired position of the container 3.

[0107] Moreover, according to the conveying device 20 according to the present embodiment, even if vibration or the like occurs in the conveying device 20, the agricultural product 2 can be conveyed from the upstream side to the downstream side while continuing to be placed within a predetermined range in the width direction of the conveying device 20. Therefore, by using the conveying device 20 according to the present embodiment, the arrangement range of the holding hand 41 of the transfer device 40 when picking up the agricultural product 2 can be narrowed according to the size of the agricultural product 2. Accordingly, the amount of position adjustment (position adjustment width) of the holding hand 41 in the width direction of the conveyor belt 26 can be reduced.

[0108] The Japanese ginger as the agricultural product 2 according to the present embodiment is conveyed on the conveyor belt 26 with moisture adhering to its outer surface. The conveying surface 260, the first protrusion 261, and the second protrusion 262 are formed to have a pure water contact angle of 50° or more. For this reason, during conveyance, even if moisture drops onto the conveyor belt 26 from the surface of the Japanese ginger or the like, the moisture does not penetrate into the braided layer 2601 of the conveyor belt 26, and a part of the moisture drops off onto the floor surface on which the conveying device 20 is placed or a tray for storing moisture, etc., and is removed.

[0109] In addition, if moisture accumulates on the conveyor belt 26, the agricultural product 2 may slip, so it is assumed that the accumulation of moisture will interfere with the conveyance of the agricultural product 2. However, when the conveying surface 260 of the conveyor belt 26 faces downward, or in a state where it faces downward, at least a part of the moisture on the conveying surface 260 drops off, for example, along the first protrusion 261 and the second protrusion 262.

[0110] In this embodiment, the knitting layer 2601 is not exposed on the conveying surface 260, and the coating layer 2602 prevents moisture from coming into contact with the knitting layer 2601. Therefore, moisture absorption by the knitting layer 2601 is prevented. Accordingly, the conveying belt 26 according to this embodiment suppresses unintended elongation of the conveying belt 26. And since the elongation of the conveying belt 26 is suppressed, the tension of the conveying belt 26 between the conveying rollers 27 is stabilized, and the running performance of the conveying belt 26 can be stabilized. Therefore, it is possible to more reliably pick up the agricultural product 2 using the holding hand 41 on the downstream side of the detection device 50 where the agricultural product 2 detected by the detection device 50 is located.

[0111] At this time, since the coating layer 2602 is formed so that the pure water contact angle is 50° or more as described above, color transfer from the agricultural product 2 to the conveying belt 26 hardly occurs, and the conveying belt 26 can be prevented from discoloring. In addition, dirt, dust, etc. on the conveying belt 26 can be easily removed. Therefore, the sanitary condition of the conveying belt 26 can be maintained in good condition.

[0112] Accordingly, according to this embodiment, it is possible to provide a conveying device 20 capable of conveying the agricultural product 2 downstream while suppressing positional deviation in the width direction of the agricultural product 2 when the agricultural product 2 is conveyed, and a housing device 1 having the conveying device 20 and housing the agricultural product 2 in the container 3.

[0113] Note that the conveying belt 26 of the conveying device 20 according to this embodiment is only formed with the linear first protrusion 261 and the second protrusion 262 along the longitudinal direction of the planar conveying surface 260. These are not randomly arranged, and the width W between the first protrusion 261 and the second protrusion 262 is also constant. For this reason, for the image acquired by the detection device 50, the control device (image processing device) 60 can easily extract the portion of the agricultural product 2 with respect to the conveying belt 26 including the first protrusion 261 and the second protrusion 262. Therefore, when the conveying belt 26 of the conveying device 20 according to this embodiment is used, the agricultural product 2 can be easily extracted. For this reason, the control device 60 can check the state of the agricultural product 2.

[0114] Incidentally, regarding the storage device 1 according to the present embodiment, for example, it is also preferable to use the agricultural product 2 whose longitudinal direction is not defined or is difficult to define, such as the tomato shown in FIG. 3B.

[0115] At this time, the width W of the first protrusion 261 and the second protrusion 262 may be larger or smaller than the diameter D of the agricultural product 2. For example, the width W of the first protrusion 261 and the second protrusion 262 is preferably such that the bottom surface of the agricultural product 2 contacts the conveying surface 260 and is supported by at least one of the first protrusion 261 and the second protrusion 262.

[0116] Further, the protruding height H of the first protrusion 261 and the second protrusion 262 with respect to the conveying surface 260 may be 1 / 10 or more of the maximum cross-sectional length of the diameter D of the agricultural product 2, or 2 mm or more. In order to prevent interference between the first protrusion 261 and the second protrusion 262 and the holding member 44 when picking up, the height H is preferably 1 / 2 or less of the maximum cross-sectional length of the diameter D of the agricultural product 2, and more preferably 1 / 4 or less of the maximum cross-sectional length of the diameter D.

[0117] (First Modified Example) A first modified example of the conveying belt 26 of the conveying device 20 according to the first embodiment will be described with reference to FIG. 13.

[0118] As shown in FIG. 13, the first protrusion 261 may be formed of a plurality of members instead of one. For example, the first protrusion 261 has a first-1 part 261a and a first-2 part 261b spaced apart in the longitudinal direction of the conveying surface 260. The gap G1 along the conveying direction between the first-1 part 261a and the first-2 part 261b is formed smaller than the length L of the agricultural product 2.

[0119] In this way, by forming the gap G1 to be smaller than the length L of the agricultural product 2, even if the root side and the tip side of the agricultural product 2 try to reverse, they cannot do so, and it is prevented that the agricultural product 2 moves to a position outside the gap G1 between the first protrusion 261 through the gap G1 of the first protrusion 261 and the second protrusion 262.

[0120] Similarly, the second protrusion 262 may be formed of not one but a plurality of members. For example, the second protrusion 262 has a second - 1 part 262a and a second - 2 part 262b spaced apart in the longitudinal direction of the conveying surface 260. The gap G2 between the second - 1 part 262a and the second - 2 part 262b is formed to be smaller than the length L of the agricultural product 2.

[0121] By forming the gap G2 to be smaller than the length L of the agricultural product 2, it is prevented that the agricultural product 2 moves to a position outside the gap G2 between the first protrusion 261 through the gap G2 of the second protrusion 262 and the second protrusion 262.

[0122] It should be noted that it is also preferable that the first protrusion 261 and the second protrusion 262 are each formed not of two but of three or more parts.

[0123] And even when using the conveyor belt 26 according to this modification example, when the agricultural product 2 is conveyed in a state of being disposed between the first protrusion 261 and the second protrusion 262, the displacement in the width direction on the conveyor belt 26 of the agricultural product 2 at the inspection device 50 and the displacement in the width direction on the conveyor belt 26 at the pickup position of the agricultural product 2 by the holding hand 41 can be suppressed. Therefore, according to this modification example, it is possible to provide a conveying device 20 that can convey the agricultural product 2 downstream while suppressing the displacement in the width direction of the agricultural product 2 when the agricultural product 2 is conveyed, and a housing device 1 that has the conveying device 20 and houses the agricultural product 2 in the container 3.

[0124] It should be noted that in FIG. 13, when the first protrusion 261 and the second protrusion 262 are formed of a large number of parts, the lengths of these large number of parts may be constant or random.

[0125] (Second Modification Example) A second modification example of the conveyor belt 26 of the conveying device 20 according to the first embodiment will be described with reference to FIGS. 14 and 15.

[0126] FIG. 14 is a schematic view of the conveyor belt 26 of the conveying device 20 according to this modification example as viewed from the primary side. The conveyor belt 26 conveys the agricultural product 2 along the +Y axis direction. FIG. 15 shows a schematic view of a part of the conveying device 20 as viewed from the direction indicated by the arrow XV shown in FIG. 14.

[0127] The surface of the conveying surface 260 of the conveyor belt 26 in this modification example is inclined with respect to the horizontal plane. The inclination angle depends on the protruding amount of the first protrusion 261 with respect to the conveying surface 260, and is, for example, within 45°, and more preferably 15° or more. The inclination angle changes according to the agricultural product 2. For example, the agricultural product 2 rolls over the first protrusion 261 and drops outside the conveyor belt 26, or the agricultural product 2 separates from the first protrusion 261 and rolls outside the conveyor belt 26 and drops. It is formed at an angle that prevents this.

[0128] In this modification example, the second protrusion 262 is not provided on the conveying surface 260 of the conveyor belt 26. Even without the second protrusion 262, the agricultural product 2 is conveyed to a position where it is supported by the first protrusion 261 and picked up by the holding hand 41.

[0129] And when the conveyor belt 26 according to this modification example is used, the agricultural product 2 is conveyed in a state of being supported by the first protrusion 261. At this time, the positional deviation between the position in the width direction of the agricultural product 2 in the inspection device 50 and the position in the width direction at the pickup position of the agricultural product 2 by the holding hand 41 can be suppressed. Therefore, according to this modification example, it is possible to provide a conveying device 20 that can convey the agricultural product 2 downstream while suppressing the positional deviation in the width direction of the agricultural product 2, and an accommodating device 1 that has the conveying device 20 and accommodates the agricultural product 2 in the container 3.

[0130] (Second Embodiment) The conveyor belt 26 of the conveyor 20 of the storage device 1 according to the second embodiment will be described with reference to FIGS. 16 and 17. This embodiment is a modification of the storage device 1 according to the first embodiment. Members that are the same as or have the same functions as the members described in the first embodiment are given the same reference numerals as much as possible, and detailed descriptions thereof are omitted.

[0131] FIG. 16 is a schematic view of the conveyor belt 26 of the conveyor 20 of the storage device 1 according to the second embodiment as viewed from the primary side. FIG. 17 is a schematic view showing a part of the conveyor of the storage device as viewed from the direction indicated by the arrow XVII in FIG. 16.

[0132] In this embodiment, a protrusion portion 263 having a number of protrusions 2630 is provided on the conveying surface 260. Each protrusion 2630 is formed so that its longitudinal section has a trapezoidal shape, for example, a frustum of a cone shape or a frustum of an appropriate polyhedron shape. That is, the protrusion portion 263 has a number of frustum-shaped protrusions 2630 spaced apart in the conveying direction. It is preferable that the sizes and shapes of the respective protrusions 2630 are uniform.

[0133] The height H of the protrusion 2630 of the protrusion portion 263 is preferably 1 / 10 or more of the short-side dimension of the agricultural product 2 or the maximum length of the cross section of the diameter D, or 2 mm or more. In order to prevent interference between the protrusion 2630 and the holding member 44 when picking up, the height H is preferably 1 / 2 or less of the maximum length of the cross section of the diameter D of the agricultural product 2, and more preferably 1 / 4 or less of the maximum length of the cross section of the diameter D.

[0134] In this embodiment, an example in which Japanese ginger is used as the agricultural product 2 will be described.

[0135] The overall width of the conveyor belt 26 is 100 mm, the same as the conveyor belt 26 described in the first embodiment. The height of the protrusion 2630 is 2 mm, the diameter of the upper base of the protrusion 2630 is 2 mm, the diameter of the lower base is 5 mm, and the width W between the protrusions 2630 along the longitudinal direction and the width direction of the conveyor belt 26 is 2 mm each. Therefore, it is preferable that the protrusions 2630 of the protrusion part 263 are aligned. Note that a row of protrusions 2630 along the longitudinal direction of the conveyor belt 26 can be regarded as the first protrusion part, and a row of protrusions 2630 along the longitudinal direction of the conveyor belt 26, which is adjacent to the first protrusion part in the width direction of the conveyor belt 26, can be regarded as the second protrusion part. In the present embodiment, the conveyor belt 26 can be regarded as having a plurality of protrusion parts provided on the conveyor surface 260.

[0136] Also, it is preferable that the material and thickness of the conveyor belt 26 are the same as those of the conveyor belt 26 described in the first embodiment. That is, the conveyor surface 260 of the conveyor belt 26 has a knitted fabric layer 2601 and a coating layer 2602, and each protrusion 2630 is integrally formed with the coating layer 2602.

[0137] The pure water contact angle of the conveyor surface 260 is, for example, 53°, and the pure water contact angle of each protrusion 2630 is, for example, 57°, and it is preferable that each is 50° or more.

[0138] In the protrusion part 263 according to the present embodiment, the width W between the protrusions 2630 is 2 mm and the height is 2 mm, whereas the diameter of an example of ginger as an example of the agricultural product 2 is about 25 mm. Therefore, the agricultural product 2 may not come into contact with the conveyor surface 260.

[0139] According to the present embodiment, it is possible to provide a conveying device 20 capable of conveying the agricultural product 2 downstream while suppressing the positional deviation in the width direction of the agricultural product 2 when the agricultural product 2 is conveyed, and a housing device 1 having the conveying device 20 and housing the agricultural product 2 in the container 3.

[0140] When the detection device 50 captures an image of the agricultural product 2, that is, when detecting the agricultural product 2, the protruding portions 2630 where the images reflected as the background image are aligned are simple. For this reason, image processing by the control device 60 is easy. Therefore, the control device 60 can easily extract the agricultural product 2 based on the image acquired by the camera 501 of the detection device 50. And the control device 60 can output whether the agricultural product 2 is normal or not.

[0141] In the first embodiment, an example in which the first protruding portion 261 and the second protruding portion 262 are provided on the conveyance surface 260 has been described. Also, in the second embodiment, an example in which a large number of protrusions 2630 of the protruding portion 263 are provided on the conveyance surface 260 has been described. Instead of the first protruding portion 261, a large number of protrusions 2630 of the protruding portion 263 may be used, and instead of the second protruding portion 261, a large number of protrusions 2630 of the protruding portion 263 may be used. At least one of the first protruding portion 261 and the second protruding portion 262 may each have a large number of frustum-shaped protrusions spaced apart in the conveyance direction.

[0142] Note that the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist thereof at the implementation stage. Also, the respective embodiments may be implemented in appropriate combination, and in that case, the combined effects can be obtained. Furthermore, the above embodiments include various inventions, and various inventions can be extracted by combinations selected from the plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiments, if the problem can be solved and the effects can be obtained, the configuration from which these constituent elements are deleted can be extracted as an invention.

Explanation of Reference Numerals

[0143] 1... Containment device, 2... Object, 3... Container, 3a... Placement part, 20... Conveyor device, 25... Guide member, 26... Conveyor belt, 40... Transfer device, 401... Drive source, 403... Air supply mechanism, 404... Rotation mechanism, 405... Lifting mechanism, 41... Holding hand, 42... Transfer arm, 43... Base part, 44... Holding member, 44a... Air flow path, 44b... Blade part, 44c... Telescopic part, 45... Pressing member, 45a... Shaft part, 45b... Head part, 421... Support part, 422... Rotating arm, 422a... Arm part, 423... Rotating arm, 423a... Arm part, 50... Detection device, 60... Control device, 70... Pretreatment area, A1... Conveyor path, P0... Preparation position (waiting position), P1... Pickup position (first position), P2... Holding completion position, P3... Lifting position (retreat position).

Claims

1. A conveying device having a conveying surface on which crops are placed and which moves in a predetermined direction as a conveying direction, and one or a plurality of first protrusions provided on the conveying surface along the conveying direction and supporting the crops.

2. The conveying device according to claim 1, further comprising one or a plurality of second protrusions that are spaced apart from the first protrusions in the width direction of the conveying surface intersecting the conveying direction, are provided on the conveying surface along the conveying direction, and support the crops between the second protrusions and the first protrusions.

3. The conveying device according to claim 2, wherein the first protrusions and the second protrusions are spaced apart from each other by a predetermined distance in the width direction of the conveying surface.

4. The conveying device according to claim 3, wherein at least one of the first protrusions and the second protrusions has a plurality of frustum-shaped protrusions spaced apart in the conveying direction.

5. The conveying device according to any one of claims 1 to 4, wherein the height of the first protrusions is 1 / 10 or more of the short-side direction of the crops or the maximum length of the cross-section of the diameter, or 2 mm or more.

6. The conveying surface has a base knitting layer and a coating layer provided with the first protrusions and preventing moisture from penetrating into the knitting layer, and the pure water contact angle of the surface of the conveying surface is 50° or more. The conveying device according to any one of claims 1 to 4.

7. The conveying device according to claim 1, wherein the conveying surface is inclined in a direction perpendicular to the conveying direction.

8. A housing device comprising: the conveying device according to any one of claims 1 to 4; a detection device provided above the conveying surface and capable of detecting the crops conveyed on the conveying surface; a transfer device provided downstream of the detection device along the conveying direction, picking up the crops conveyed on the conveying surface while being supported by the first protrusions on the conveying surface, and placing the crops on a container disposed at a predetermined position; a control device that controls the conveying speed of the conveying surface of the conveying device to a constant speed, controls the detection device to detect the crops on the conveying surface respectively, and controls the transfer device to pick up the crops on the conveying surface with the transfer device and place the crops picked up by the transfer device on the container based on the detection result of the crops by the detection device and the conveying distance of the crops by the conveying surface. ​

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