Vibration device and packing installation

Abstract

To provide a vibration device capable of returning farm products placed unstable in position in a container into a stable position by a simple configuration and a packing installation comprising the same.SOLUTION: A vibration device in one aspect comprises a vibratory rest and a vibrating mechanism. On the vibratory rest, a container where a plurality of farm products are placed is rested. The vibrating mechanism vibrates the vibratory rest together with the container where the farm products are placed.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a vibration device and a packaging device including the same.

Background Art

[0002] After harvested from arable land, agricultural crops such as vegetables and fruits are aggregated at a collection and shipping yard. The agricultural crops aggregated at the collection and shipping yard are sorted based on their color, shape, etc., and then put into containers. The agricultural crops put into the containers are boxed and delivered to wholesale and retail stores to reach consumers. Conventionally, many of the operations at this type of collection and shipping yard are performed manually. On the other hand, in recent years, factory automation of this type of collection and shipping yard has been studied.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Among agricultural crops, there are types that are packaged after being placed in a predetermined orientation at a predetermined position within a container. This type of agricultural crops includes, for example, ginger, shishito pepper, wasabi, and okra.

[0005] When considering performing the operation of placing crops in a container by a robot, since the crops are irregularly shaped and not of uniform size, even if the robot is controlled to place the crops at a fixed position within the container, the position of the placed crops may change, or the posture of the crops placed in the container may become unstable, such as interfering with other crops during placement and resulting in a stack-like arrangement. In the case of manual placement work, both hands can be used, so it is easy to return the crops placed in the container in an unstable posture to a stable posture. On the other hand, if the robot is made into a two-arm robot to perform the same operations as human hands, the structure becomes complicated and it is likely to be costly.

[0006] The present disclosure provides a vibration device that can return crops placed in a container in an unstable posture to a stable posture with a simple structure, and a packing device equipped with the same.

Means for Solving the Problems

[0007] A vibration device according to one aspect includes a vibration table and a vibration mechanism. A container on which a plurality of crops are placed is placed on the vibration table. The vibration mechanism vibrates the vibration table together with the container on which the plurality of crops are placed.

Effects of the Invention

[0008] According to the present disclosure, there are provided a vibration device that can return crops placed in a container in an unstable posture to a stable posture with a simple structure, and a packing device equipped with the same.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7A

Figure 7B

Embodiment for Carrying out the Invention

[0010] Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is a plan view of a packing device including a vibration device according to an embodiment. FIG. 2 is a side view of the packing device 1. The arrows X, Y, and Z in FIGS. 1 and 2 indicate three mutually perpendicular directions. Such an axis setting is the same in the following figures. Also, in FIGS. 1 and 2, for the purpose of explanation, the configuration is appropriately enlarged, reduced, or omitted.

[0011] The packing device 1 is a device that transfers and packs crops 2 such as vegetables on the first transport path A1 into a container 3. The packing device 1 includes a transport device 20 that transports the crop 2 along the first transport path A1, a container transport device 30 that supplies the container 3, a transfer device 40 that picks up the crop 2 and places it in the container 3, a detection device 50, and a control device 60 that controls the operation of each part. Further, the packing device 1 may include a pre - treatment area 70 that performs pre - treatment of transportation such as the loading process and sorting process of the crop before transfer to the transport device 20.

[0012] In this embodiment, the crop 2 is an irregular - shaped and non - uniform - sized crop such as vegetables and fruits that can be placed in the container 3. Examples of such a crop 2 include ginger. Hereinafter, in the embodiment, the crop 2 will be described as ginger.

[0013] The container 3 is, for example, a tray on which the agricultural product 2 is placed. In an embodiment, the container 3 on which the agricultural product 2 is placed is wrapped with a transparent packaging film. Further, a label is attached to the packaging film. Here, in the present embodiment, the container 3 has a substantially rectangular shape adapted to the shape of the ginger as the agricultural product 2. In the present embodiment, for example, three gingers as the agricultural product 2 are arranged in three rows on the placement surface of the container 3 in one container 3.

[0014] The conveying device 20 is configured to convey the agricultural product 2 along the first conveying path A1. In FIG. 1, two first conveying paths A1 are provided. The conveying device 20 is provided on each of the first conveying paths A1. The first conveying path A1 is formed in a direction along the Y direction in FIG. 1. Hereinafter, when the packing device is viewed along the Y direction, the side where the agricultural product 2 is supplied is referred to as the upstream, and the side where the agricultural product 2 is packaged is referred to as the downstream. That is, the conveying device 20 is configured to convey the agricultural product 2 from the upstream side to the downstream side of the first conveying path A1. In FIG. 1, there are two first conveying paths A1. The first conveying path A1 may be one, or may be three or more. Further, a part of the first conveying path A1 may be bent in the XY plane direction, or may be inclined in the Z direction orthogonal to the XY plane.

[0015] The conveying device 20 includes, for example, a belt conveyor type conveying mechanism. The conveying mechanism includes a guide member 25 and a conveying belt 26. The guide member 25 is installed along the first conveying path A1, supports the conveying belt 26, and is a rail-shaped member that guides the agricultural product 2 moving on the conveying belt 26 so that it does not fall off the conveying belt 26. The conveying belt 26 is supported by the guide member 25 and is arranged across the first conveying path A1. A plurality of conveying rollers are provided on the back side of the conveying belt 26. The conveying rollers are rotationally driven by a motor. The conveying device 20 conveys the agricultural product 2 placed on the conveying belt 26 along the first conveying path A1 while guiding it with the guide member 25 by the feeding movement of the conveying belt 26 accompanying the rotation of the conveying rollers. A pickup position P1 is set on the downstream side of the first conveying path A1. The agricultural product 2 conveyed to the pickup position P1 is picked up by the transfer device 40.

[0016] On the upstream side of the first conveying path A1, a detection device 50 having a position sensor for detecting the position of the agricultural product 2 on the first conveying path A1 and an image sensor for detecting the state of the agricultural product 2 from an image is provided. Further, a pretreatment area 70 is provided at the most upstream position of the first conveying path A1. The pretreatment area 70 is an area for performing pretreatment of conveyance such as the loading process of the agricultural product before transfer to the conveying device 20 and the sorting process of the agricultural product. The sorting of the agricultural product may be performed visually by an operator.

[0017] The container transfer device 30 is configured to supply the container 3 to the second transfer path A2 and transfer the container 3 supplied to the second transfer path A2 along the second transfer path A2. The second transfer path A2 is provided on both sides of the pickup position P1 in each of the first transfer paths A1. The agricultural product 2 picked up at the pickup position P1 of the first transfer path A1 is placed on the container 3 transferred by the container transfer device 30. The container transfer device 30 transfers the container 3 with the object placed thereon from the upstream side to the downstream side of the second transfer path A2. In FIG. 1, two second transfer paths A2 are provided for one first transfer path A1. Only one second transfer path A2 may be provided for one first transfer path A1. Further, a part of the second transfer path A2 may be bent in the XY plane direction or may be inclined in the Z direction orthogonal to the XY plane.

[0018] The container transfer device 30 includes a container supply device 31 and a transfer device 32. As shown in FIG. 2, the container supply device 31 includes a container rack 31a and a supply arm 31b. The container rack 31a is a rack that holds a plurality of containers 3 in a stacked state. The supply arm 31b supplies the containers 3 held in the container rack 31a to the second transfer path A2 one by one. Here, in the embodiment, the container 3 is supplied such that the longitudinal direction is parallel to the transfer direction. The supply arm 31b transfers the container 3 supplied to the second transfer path A2 to the placement position P2 and supplies the next container 3 each time the agricultural product 2 is placed in the container 3 at the placement position P2. As described above, in the present embodiment, for example, only three Japanese horseradish roots as the agricultural product 2 are arranged in three rows on the placement surface of the container 3. The supply of the next container 3 is performed after the arrangement of the three Japanese horseradish roots is completed.

[0019] The conveying device 32 includes, for example, a belt conveyor type conveying mechanism. The conveying mechanism includes a guide member 35, a conveying belt 36, and a vibration table 37. The guide member 35 supports the conveying belt 36 and guides the container 3 moving on the conveying belt 36 so that it does not fall off the conveying belt 36. The conveying belt 36 is supported by the guide member 35 and is arranged along the second conveying path A2. A plurality of conveying rollers are provided on the back side of the conveying belt 36. The conveying rollers are rotationally driven by a motor. The conveying device 32 conveys the container 3 placed on the conveying belt 36 along the second conveying path A2 while guiding it with the guide member 35 by the feeding movement of the conveying belt 36 accompanying the rotation of the conveying rollers. A placement position P2 is set on the second conveying path A2. The agricultural product 2 picked up by the transfer device 40 is placed in the container 3 conveyed to the placement position P2. The vibration table 37 is a table provided at a position downstream of the placement position P2 on the conveying belt 36, having a substantially rectangular outer shape similar to that of the container 3 and a size comparable to that of the container 3. The container 3 in which the agricultural product 2 is placed is conveyed to the vibration table 37. The vibration table 37 on which the container 3 is placed is vibrated by a vibration device. In this embodiment, one container 3 is vibrated by the vibration device, but by changing the size of the vibration table 37, a configuration in which a plurality of containers 3 are vibrated at once may also be used. By adopting such a configuration, the vibration process can be performed efficiently. After the vibration by the vibration device, the container 3 placed on the vibration table 37 is transferred to another conveying belt 36 provided at a position further downstream than the vibration table 37. Here, to avoid complication, only one vibration table 37 is shown in FIG. 1. Actually, the vibration table 37 is provided for each of the four second conveying paths A2. The configuration of the vibration device will be described in detail later.

[0020] A subsequent area 80 is provided downstream of the second conveying path A2. The subsequent area 80 is an area for post-treatment of conveyance such as inspection processing of the container 3 in which the agricultural product 2 is placed, sorting processing based on the inspection results, and packaging processing of the sorted container 3 with a packaging film.

[0021] The transfer device 40 picks up the agricultural product 2 at the pickup position P1 of the first transport path A1, and places the picked-up agricultural product 2 in the container 3 transported to the placement position P2 of the second transport path A2.

[0022] The transfer device 40 includes a holding hand 41 and a transfer arm 42. The holding hand 41 is configured to be able to pick up and release the agricultural product 2. The holding hand 41 includes a plurality of holding members 44 and a rotation mechanism portion 49. Each holding member 44 is attached to a base portion provided at the lower part of the holding hand 41, and includes a finger-shaped member configured to be bendable at a plurality of locations. As an example, two holding members 44 are arranged on each of both side portions that sandwich the agricultural product 2. By controlling the finger-shaped bent state of each, the holding member 44 can pick up or release the agricultural product 2. The rotation mechanism portion 49 rotatably supports the base portion about a rotation axis along the Z direction. When the base portion rotates by the rotation mechanism portion 49, the holding member 44 also rotates about the rotation axis along the Z direction. Thereby, the orientation of the agricultural product 2 picked up by the holding member 44 can be adjusted.

[0023] The transfer arm 42 extends across the transport path in the upward and planar directions from a base end portion arranged adjacent to, for example, the first transport path A1, and movably and rotatably supports the holding hand 41. As a specific example, the transfer arm 42 includes a support column portion 46, a first rotation arm 47, a second rotation arm 48, and a lifting mechanism portion 51.

[0024] The support column portion 46 is erected upward from, for example, a side portion of the first transport path A1 or a base end position adjacent to the end position of the first transport path A1, and rotatably supports the first rotation arm 47 around a rotation axis in the Z direction.

[0025] The first rotating arm 47 is connected to the upper end of the support column 46, and includes an arm portion 47a extending orthogonally to the Z-axis which is the extending direction of the support column 46, and a drive source 47b such as a rotary motor for rotating the arm portion 47a. A second rotating arm 48 is connected to the tip of the arm portion 47a. The second rotating arm 48 is connected to the tip of the arm portion 47a of the first rotating arm 47, and includes an arm portion 48a extending orthogonally to the Z-axis, and a drive source 48b such as a rotary motor for rotating the arm portion 48a. The base portion of the holding hand 41 is connected to the tip of the arm portion 48a via a rotation mechanism portion 49 and a lifting mechanism portion 51. The operations of the first rotating arm 47 and the second rotating arm 48 are controlled by a control device 60. By controlling the operations of the first rotating arm 47 and the second rotating arm 48, the transfer device 40 can move the holding hand 41 to the pickup position P1 or the placement position P2.

[0026] The lifting mechanism portion 51 supports the base portion of the holding hand 41 so as to be movable in the Z direction with respect to the tip portion of the second rotating arm 48. The lifting mechanism portion 51 includes a cylinder mechanism capable of linear motion and has a lifting shaft movable in the Z direction. The lifting mechanism portion 51 supports the base portion at the lower end of the lifting shaft, thereby supporting the holding hand 41 so as to be liftable. The lifting operation of the lifting mechanism portion 51 is controlled by the control device 60. By controlling the operation of the lifting mechanism portion 51, the transfer device 40 can lift the holding hand 41.

[0027] The detection device 50 is installed on the upstream side of the first transport path A1. The detection device 50 includes, for example, an imaging device and an illumination device. The detection device 50 images the crop 2 on the first transport path A1 while illuminating it from above to acquire an image of the crop 2, and sends the acquired image of the crop 2 to the control device 60.

[0028] The control device 60 is connected to the conveying device 20, the container conveying device 30, the transfer device 40, the detection device 50, and the pretreatment area 70. The control device 60 includes a control unit 61. The control unit 61 is a computer including a processor and a memory. The control unit 61 controls each part of the packing device 1 in order to realize various functions of the packing device 1 according to an operating system or an application program.

[0029] For example, the control unit 61 drives the conveying device 20 to convey the agricultural product 2 along the first conveying path A1. At this time, the control unit 61 drives the imaging device at a predetermined timing to image the agricultural product 2 and acquire an image. Then, the control unit 61 detects the position and state of the agricultural product 2 on the first conveying path A1 based on the image or the like captured by the imaging device of the detection device 50.

[0030] Also, the control unit 61 drives the container conveying device 30 to convey the container 3 along the second conveying path A2.

[0031] Further, the control unit 61 drives the transfer device 40 according to the position and state of the agricultural product 2, moves the holding hand 41 to the pickup position P1, and picks up the agricultural product 2 conveyed to the pickup position P1 by opening and closing the holding hand 41 at the pickup position P1. Further, the control unit 61 drives the transfer device 40 to move the holding hand 41 holding the agricultural product 2 to the placement position P2, and places the agricultural product 2 on the container 3 conveyed to the placement position P2 by releasing the agricultural product 2 from the holding hand 41 at the placement position P2. As described above, in the present embodiment, only three Japanese horseradish plants as the agricultural product 2 are arranged in three rows on the placement surface of the container 3. At this time, the control of the holding hand 41 is performed so that the direction of the tip of the leaf of the Japanese horseradish in the middle is different from that of the Japanese horseradish on both sides. Further, the agricultural product 2 conveyed along the first transport path A1 may be conveyed in a state inclined with respect to the transport direction. In this case, the control unit 61 corrects the orientation of the agricultural product 2 to an appropriate orientation by rotating the holding hand 41 by controlling the rotation mechanism unit 49 during pickup.

[0032] After the placement of the object on the container 3 is completed, the control unit 61 drives the container transport device 30 and transports the container 3 on which the agricultural product 2 is placed to the vibration table 37. Then, the control unit 61 vibrates the container 3 by vibrating the vibration table 37. After vibration, the control unit 61 controls the vibration table 37 and transports the vibrated container 3 from the vibration table 37 to the second transport path A2 on the downstream side. Then, the control unit 61 drives the container transport device 30 and transports the container 3 from the second transport path A2 to the subsequent area 80.

[0033] Next, the vibration device will be described. FIG. 3 is a plan view of the vibration device including the vibration table 37. For the sake of explanation, FIG. 3 also shows a part of the configuration of the container transport device 30. The container transport device 30 further includes a guide member 31c, an actuator 31d, and an actuator 31e in addition to the above-described configuration.

[0034] The guide member 31c is a U-shaped member that follows the shape of the container 3. The guide member 31c is brought into contact with the side portion of the container 3 by the driving of the actuator 31d and the actuator 31e, and guides the container 3 in which the agricultural product 2 is placed to the vibration table 37, while guiding the empty container 3 in which the agricultural product 2 is not placed to the placement position P2. In FIG. 3, the guide member 31c is a U-shaped member, but it is not limited to this. If the shape of the container 3 is substantially rectangular, the shape of the guide member 31c may be U-shaped. On the other hand, if the shape of the container 3 is substantially circular, the shape of the guide member 31c is preferably arc-shaped. Since the guide member 31c is U-shaped or arc-shaped, only one actuator 31d for moving the guide member 31c is required, and a simple device configuration can be achieved. In addition, the guide member 31c may have a shape that holds only the diagonal of the container 3. That is, the shape of the guide member 31c may be any shape that can guide the container 3 so as not to move in a direction parallel to the second transport path A2.

[0035] The actuator 31d has the guide member 31c attached thereto. Further, the actuator 31d includes a mechanism for pushing the guide member 31c so as to move the guide member 31c in the contact direction d11 of the container 3 perpendicular to the second transport path A2 or pulling the guide member 31c so as to move the guide member 31c in the retraction direction d12 from the container 3. The actuator 31d is connected to the control device 60 and moves the guide member 31c in the contact direction d11 or the retraction direction d12 under the control from the control unit 61.

[0036] The actuator 31e has the actuator 31d attached thereto. Further, the actuator 31e includes a mechanism for moving the actuator 31d in the transport direction d13, which is the same direction as the transport direction, or moving the actuator 31d in the standby direction d14, which is the opposite direction to the transport direction. The actuator 31e is connected to the control device 60 and moves the actuator 31d in the transport direction d13 or the standby direction d14 under the control from the control unit 61.

[0037] In addition to the vibration table 37 described above, the vibration device includes a guide member 37a, a vibration actuator 37b, a guide member 37c, an actuator 37d, and an actuator 37e.

[0038] The guide member 37a is installed so as to protrude from the side portion of the vibration table 37, and is a rail-like member that guides the container 3 disposed on the vibration table 37 so as not to move in a direction orthogonal to the second transport path A2. That is, the guide member 37a is a member that guides the container 3 so as not to move in the same direction as the vibration direction by the vibration of the vibration table 37. In FIG. 3, the guide member 37a is installed over the entire side portion of the vibration table 37, but is not limited thereto. The guide member 37a may be installed at intervals on the side portion of the vibration table 37, for example. As will be described later, in the embodiment, the vibration table 37 vibrates in a direction orthogonal to the second transport path A2.

[0039] The vibration actuator 37b as a vibration mechanism is attached to the vibration table 37 and is an actuator that performs linear motion. The vibration actuator 37b is connected to the control device 60, and vibrates the vibration table 37 by reciprocating the vibration table 37 along the vibration direction V orthogonal to the second transport path A2 at a predetermined frequency under the control from the control unit 61.

[0040] The guide member 37c is a U-shaped member that follows the shape of the container 3. The guide member 37c is moved to the holding position H by the driving of the actuator 37d and the actuator 37e and abuts against the side portion of the container 3, and is a member that guides the container 3 so as not to move in a direction parallel to the second transport path A2. That is, the guide member 37c is a member that guides the container 3 so as not to move in a direction orthogonal to the vibration direction by the vibration of the vibration table 37. In FIG. 3, the guide member 37c is a U-shaped member, but it is not limited to this. If the shape of the container 3 is substantially rectangular, the shape of the guide member 37c may be U-shaped. On the other hand, if the shape of the container 3 is substantially circular, the shape of the guide member 37c is preferably arc-shaped. Since the guide member 37c is U-shaped or arc-shaped, only one guide member 37c and the actuator 37d that moves the guide member 37c are sufficient, and a simple device configuration can be achieved. In addition, the guide member 37c may have a shape that holds only the diagonal of the container 3. That is, the shape of the guide member 37c may be any shape that can guide the container 3 so as not to move in a direction parallel to the second transport path A2. Further, the guide member 37c may be installed on the vibration table 37. For example, the guide member 37c may be configured to protrude from the vibration table 37 only when the container 3 is vibrated and guide the container 3 so as not to move in a direction parallel to the second transport path A2.

[0041] The actuator 37d has the guide member 37c attached thereto. Further, the actuator 37d includes a mechanism for pushing out the guide member 37c so as to move the guide member 37c in the contact direction d21 to the container 3 orthogonal to the second transport path A2 or pulling the guide member 37c so as to move the guide member 37c in the retraction direction d22 from the container 3. The actuator 37d is connected to the control device 60 and moves the guide member 37c in the contact direction d21 or the retraction direction d22 under the control from the control unit 61.

[0042] Actuator 37e has actuator 37d attached thereto. It is provided with a mechanism for moving actuator 37d in the conveyance direction d23 which is the same direction as the conveyance direction or in the standby direction d24 which is the direction opposite to the conveyance direction. Actuator 37e is connected to control device 60 and moves actuator 37d in the conveyance direction d23 or the standby direction d24 under the control from control unit 61.

[0043] Figure 4 is a three-view drawing of vibration actuator 37b. (a) in Figure 4 is a top view of vibration actuator 37b, (b) in Figure 4 is a side view of vibration actuator 37b seen from the side of guide member 37c, and (c) in Figure 4 is a side view of vibration actuator 37b seen from the downstream side.

[0044] Vibration actuator 37b is attached to vibration table 37 such that the direction of motion faces in a direction orthogonal to the longitudinal direction of vibration table 37. That is, as shown in (a) and (b) of Figure 4, vibration actuator 37b is attached to vibration table 37 so as to be orthogonal to the longitudinal direction of vibration table 37. Also, as shown in (b) and (c) of Figure 4, cable 371b is drawn out from the side surface of vibration actuator 37b. Cable 371b is connected to control device 60. Vibration actuator 37b is driven by the electric power supplied from control device 60 via cable 371b. Also, vibration actuator 37b vibrates vibration table 37 in accordance with the control command input from control device 60 via cable 371b.

[0045] Figure 5 is a three-view drawing of vibration actuator 37b with container 3 placed on vibration table 37. (a) in Figure 5 is a top view of vibration actuator 37b, (b) in Figure 5 is a side view of vibration actuator 37b seen from the side of guide member 37c, and (c) in Figure 5 is a side view of vibration actuator 37b seen from the downstream side.

[0046] As described above, the container 3 is conveyed such that its longitudinal direction is the conveyance direction. Therefore, as shown in FIGS. 5(a) and 5(b), the container 3 is conveyed to the vibration table 37 such that its longitudinal direction is the same as the longitudinal direction of the vibration table 37. That is, the container 3 is vibrated such that its short-side direction coincides with the vibration direction V.

[0047] Next, the operation of the vibration device will be described. The agricultural product 2 whose state has been detected by the detection device 50 is conveyed by the conveying device 20 to the pickup position P1 on the first conveying path A1. Then, the agricultural product 2 picked up by the holding hand 41 at the pickup position P1 is placed in the container 3 conveyed by the container conveying device 30 to the placement position P2 on the second conveying path A2.

[0048] FIG. 6 is a view showing the container 3 with ginger as the only agricultural product placed therein. Generally, a container 3 such as a tray on which agricultural products such as ginger are placed is formed with dimensions that can just accommodate a plurality of agricultural products. This is because, for reasons of transportation efficiency and product display, there is no need to provide more space than is necessary to accommodate the required number of agricultural products. Further, the length b in the short-side direction of a general container in which three gingers are placed is shorter than three times the maximum diameter a of a general ginger, and the length c in the long-side direction is longer than the length in the long dimension direction of a general ginger. Thus, in order to store the three gingers in a container smaller than the diameter of the three gingers, as shown in FIG. 6, the three gingers are arranged such that the direction of the leaf tip of the middle ginger is different from that of the gingers on both sides.

[0049] Here, since the cross-section of ginger is generally approximately circular, even if the crop 2 is placed at a fixed position of the container 3 by the transfer device 40, the crop 2 may roll or otherwise change its position. Also, ginger is irregular in shape, and due to differences in the curved shape, differences in the presence or absence of protrusions due to the opening of the leaf tips of ginger, differences in the shape of the leaf sheaths, etc., interference of the crop 2 may occur within the container 3 formed with the tightest possible dimensions for storage. As a result, the posture of the crop 2 within the container 3 may become unstable. For example, it may happen that the middle ginger is stacked on top of the ginger on both sides.

[0050] When the container 3 is wrapped with a packaging film in a state where ginger is stacked, there is a possibility that the packaging film may sag or tear.

[0051] Therefore, in the embodiment, the posture of the crop 2 within the container 3 is stabilized by vibrating the container 3 in a state where the crop 2 is placed.

[0052] After the placement of the crop 2 in the container 3 is completed, for example, after the placement of three gingers is completed, the control unit 61 drives the actuator 31e to move the guide member 31c in the conveyance direction d13, and then drives the actuator 31d to move the guide member 31c in the retraction direction d12. As a result, the container 3 in which the crop 2 is placed is pushed out by the guide member 31c and conveyed to the vibration table 37, while the container 3 in which the crop 2 is not placed is conveyed to the placement position P2. Thereafter, the control unit 61 drives the actuator 31e to move the guide member 31c in the standby direction d14. When the next container 3 is conveyed, the control unit 61 drives the actuator 31d to move the guide member 31c in the contact direction d11. Such operations are repeated.

[0053] After the container 3 in which the crop 2 is placed is conveyed to the vibration table 37, the control unit 61 drives the actuator 37d to move the guide member 37c in the contact direction d21. As a result, the container 3 is held so as not to move by the guide member 37a and the guide member 37c.

[0054] After the holding of the container 3 is completed, the control unit 61 drives the vibration actuator 37b to vibrate the vibration table 37. The vibration time is, for example, 1.6 seconds to 2.0 seconds. For example, the vibration time when vibrating the container 3 containing only 3 Japanese horseradish is 2.0 seconds, and the vibration time when vibrating the container 3 containing 2 Japanese horseradish is 1.6 seconds. By vibration, the vibration table 37 vibrates in the V direction shown in FIG. 3. Along with the vibration of the vibration table 37, the container 3 also vibrates in the V direction. Here, since the cross section of the Japanese horseradish is substantially circular, when the container 3 vibrates, as shown in FIG. 7A, the Japanese horseradish 2a, 2b, 2c arranged in the container 3 move while rotating in the v direction, which is the same direction as the V direction. The Japanese horseradish 2a, 2b, 2c are irregularly shaped and their sizes are not uniform, so the moving speeds are not uniform either. For this reason, the interval between the Japanese horseradish 2a and the Japanese horseradish 2c in the container 3 can change. Also, the position of the protrusion p can change due to the rotation of the Japanese horseradish. Furthermore, when the middle Japanese horseradish 2b is stacked, it is expected that the Japanese horseradish 2b will fall between the Japanese horseradish 2a and the Japanese horseradish 2c according to the gravity g. In this way, as shown in FIG. 7B, it is expected that the three Japanese horseradish 2a, 2b, 2c will be correctly arranged on the placement surface of the container 3.

[0055] Here, it is desirable that the vibration frequency of the vibration table 37 by the vibration actuator 37b be determined according to the size of the agricultural product 2 and the like. In the applicant's experiment, when the agricultural product 2 is Japanese horseradish, it has been found that the Japanese horseradish in the container moves efficiently when the vibration frequency is 72 Hz - 92 Hz. It is considered that when the vibration frequency is less than 72 Hz, a force sufficient to move the Japanese horseradish in the container does not act, and when the vibration frequency exceeds 92 Hz, the Japanese horseradish cannot follow the movement of the container. By searching for an appropriate vibration frequency also when the agricultural product 2 is other than Japanese horseradish, the technology of the embodiment can be applied also when the agricultural product 2 is other than Japanese horseradish.

[0056] In addition, in the embodiment, the vibration direction of the agricultural product 2 coincides with the short-side direction of the agricultural product 2. In particular, when the agricultural product 2 is a long agricultural product such as ginger, since the vibration direction of the agricultural product 2 coincides with the short-side direction of the agricultural product 2, the agricultural product 2 in the container moves efficiently.

[0057] After the vibration of the vibration table 37 is completed, the control unit 61 drives the actuator 37e to move the guide member 37c in the conveying direction d23, and then drives the actuator 37d to move the guide member 37c in the retracting direction d22. As a result, the container 3 for which the vibration has been completed is pushed out by the guide member 37c and conveyed to the downstream of the second conveying path A2. Thereafter, the container 3 for which the vibration has been completed is inspected for weight and quality (number of items, orientation, damage, etc.) in the subsequent area 80. Thereafter, the control unit 61 drives the actuator 37e to move the guide member 37c in the standby direction d24. When the next container 3 is conveyed, the control unit 61 drives the actuator 37d to move the guide member 37c in the contact direction d21. Such operations are repeated.

[0058] As described above, in the embodiment, by vibrating the container in which the agricultural product is arranged, the posture of the agricultural product in the container can be stabilized. That is, in the embodiment, a dedicated robot or the like is not required to stabilize the posture of the agricultural product in the container. That is, with a simple configuration, the agricultural product arranged in the container in an unstable posture can be returned to a stable posture.

[0059] In addition, the vibration table 37 can be provided in the second conveying path. That is, the vibration by the vibration device of the embodiment can be performed during a series of operations by the packing device 1. Therefore, in the embodiment, a large-scale modification of the packing device 1 is not required.

[0060] In addition, the container 3 placed on the vibration table 37 is held by the guide members 37a and 37c so as not to move relative to the vibration table 37. As a result, the vibration of the vibration table 37 due to the drive of the vibration actuator 37b can be efficiently transmitted to the container 3 and the agricultural product 2 therein.

[0061] Here, in the embodiment, ginger is cited as an example of the agricultural product 2. However, the agricultural product 2 is not limited to ginger. The agricultural product 2 includes, for example, shishito peppers, wasabi, okra, eggplants, etc. Further, the agricultural product 2 may include forest products such as shiitake mushrooms, enoki mushrooms, buna shimeji mushrooms, etc. Moreover, the agricultural product 2 may be something packed in boxes such as potatoes, apples, oranges, etc. In this case, the container 3 may not be a tray but may be box-shaped. Also, in this case, the vibration table 37 may have a size that can accommodate the box-shaped container 3. And the vibration actuator 37b can vibrate the box-shaped container 3 filled with the agricultural product 2 such as potatoes, apples, oranges, etc. by vibrating the vibration table 37. Thereby, it is expected that the posture of the agricultural product 2 in the box-shaped container 3 becomes a stable state.

[0062] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist thereof at the implementation stage. Also, each embodiment may be implemented in appropriate combination, and in that case, the combined effects can be obtained. Furthermore, the above-described embodiment includes various inventions, and various inventions can be extracted by combinations selected from a plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiment, if the problem can be solved and the effects can be obtained, the configuration with these deleted constituent elements can be extracted as an invention.

Explanation of Reference Numerals

[0063] 1 Packaging device, 2 Agricultural crops, 3 Container, 20 Conveyor device, 25 Guide member, 26 Conveyor belt, 30 Container conveyor device, 31 Container supply device, 31a Container rack, 31b Supply arm, 31c Guide member, 31d Actuator, 31e Actuator, 32 Conveyor device, 35 Guide member, 36 Conveyor belt, 37 Vibration table, 37a Guide member, 37b Vibration actuator, 37c Guide member, 37d Actuator, 37e Actuator, 40 Transfer device, 41 Holding hand, 42 Transfer arm, 44 Holding member, 46 Support portion, 47 Rotating arm, 47a Arm portion, 47b Drive source, 48 Rotating arm, 48a Arm portion, 48b Drive source, 49 Rotation mechanism portion, 50 Detection device, 51 Lifting mechanism portion, 60 Control device, 61 Control portion, 70 Pretreatment area, 80 Subsequent area.

Claims

1. A vibration table on which a container loaded with a plurality of agricultural crops is placed, A vibration mechanism that vibrates the vibration table together with the container on which the plurality of agricultural crops are placed, A vibration device comprising:

2. On the vibration table, a first guide member is arranged to guide the container so as not to move in the direction of the vibration along with the vibration, The vibration device according to Claim 1.

3. Further comprising a second guide member that guides the container so as not to move in a direction orthogonal to the direction of the vibration along with the vibration, The vibration device according to Claim 1.

4. Further comprising an actuator that moves the second guide member between a first direction for guiding the container by the second guide member and a second direction for retracting the second guide member from the container, The vibration device according to Claim 3.

5. The agricultural crop is a long agricultural crop, The direction of the vibration coincides with a short direction orthogonal to the long direction, The vibration device according to Claim 1.

6. The agricultural crop is ginger, The frequency of the vibration is 72 Hz or more and 92 Hz or less, The vibration device according to Claim 1.

7. A first conveying device that conveys a plurality of agricultural crops along a first conveying path, A transfer device that transfers the plurality of agricultural crops conveyed along the first conveying path to a container, A second conveying device that conveys the container on which the plurality of agricultural crops are transferred along a second conveying path, A vibration table on which the container conveyed along the second conveying path is placed, A vibration mechanism that vibrates the vibration table together with the container on which the plurality of agricultural crops are placed, A vibration device comprising: A packing device having:

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