Removing system and removing method

Abstract

To provide a system and a method for removing calyces, capable of increasing the production speed of an object from which the calyces are removed.SOLUTION: The removing system 1 includes a first conveying device 7 for conveying the strawberry 27 having the removing part 27a, a tool 31 for removing the removing part 27a from the strawberry 27, and a moving device 33 for moving the tool 31 so as to follow the strawberry 27 being conveyed by the first conveying device 7, and the moving device 33 includes a lifting device 89 for bringing the tool 31 close to the strawberry 27 and a reciprocating device 87 for translating the tool 31 in a direction different from a direction in which the tool 31 is brought close to the strawberry 27.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The disclosed embodiments relate to a system and a method for removing stems. [Background technology]

[0002] Patent Document 1 describes a fruit stalking and cutting device. This fruit stalking and cutting device includes a fruit transport device that temporarily stops the fruit placing table at each station for fruit insertion, stalking, stalk removal, and cutting, and a stalk removal cutter that moves toward and away from the stalks of fruit on the fruit placing table stopped at the stalking station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 7-36747 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned conventional fruit stemming and cutting device had the problem that the production speed of fruit with the stems removed was slowed down because the fruit had to be stopped to remove the stems.

[0005] The disclosed embodiments have been made in consideration of such problems, and aim to provide a stalk removal system and stalk removal method that can increase the production speed of objects from which the stalks have been removed. [Means for solving the problem]

[0006] In order to solve the above problem, according to one aspect of the present invention, a stem removal system is applied, which includes a first conveying device that conveys an object having a stem portion, a tool that removes the stem portion from the object, and a moving device that moves the tool so as to follow the object being conveyed by the first conveying device.

[0007] According to another aspect of the present invention, a method for removing stems is applied, which includes transporting an object having a stem portion, moving a tool for removing the stem portion from the object so as to follow the object while being transported, and removing the stem portion from the object while being transported. [Effects of the Invention]

[0008] According to the disclosed embodiments, the production rate of the stem-removed object can be increased. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view illustrating an example of the overall configuration of a stem removal system according to an embodiment. [Figure 2] FIG. 2 is a plan view illustrating an example of the configuration of a first conveying device and a second conveying device. [Figure 3] 1 is a plan view showing a part of the first conveyance device on the positive side in the Y-axis direction and a part of the second conveyance device on the negative side in the Y-axis direction, with the cutaway view. [Figure 4] FIG. 2 is a perspective view illustrating an example of the configuration of a stem removal device. [Figure 5] FIG. 2 is a block diagram illustrating an example of a control configuration of the stem removal system. [Figure 6] FIG. 10 is an explanatory diagram showing an example of the range of removal of the stem portion when the strawberry is large. [Figure 7] FIG. 10 is an explanatory diagram showing an example of the range of removal of the stem portion when the size of the strawberry is small. [Figure 8] FIG. 10 is a perspective view showing an example of the operation of the stem removal device when removing the stems of strawberries, with a portion of the first conveying device on the negative side in the X-axis direction and a portion of the second conveying device on the negative side in the Y-axis direction cut away. [Figure 9] FIG. 10 is a perspective view showing an example of the operation of the stem removal device when removing the stems of strawberries, with a portion of the first conveying device on the negative side in the X-axis direction and a portion of the second conveying device on the negative side in the Y-axis direction cut away. [Figure 10]FIG. 10 is a perspective view showing an example of the operation of the stem removal device when removing the stems of strawberries, with a portion of the first conveying device on the negative side in the X-axis direction and a portion of the second conveying device on the negative side in the Y-axis direction cut away. [Figure 11] FIG. 10 is a perspective view showing an example of the operation of the stem removal device when removing the stems of strawberries, with a portion of the first conveying device on the negative side in the X-axis direction and a portion of the second conveying device on the negative side in the Y-axis direction cut away. [Figure 12] FIG. 2 is a perspective view illustrating an example of the configuration of a base. [Figure 13] FIG. 10 is a perspective view illustrating an example of a state in which the base is tilted. [Figure 14] FIG. 10 is a perspective view illustrating an example of a configuration in which a first conveying device discharges strawberries. [Figure 15] FIG. 2 is a cross-sectional view illustrating an example of the configuration of a suction port of a suction device. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] <1. Overall configuration of the stem removal system> An example of the overall configuration of a stem removal system 1 according to an embodiment will be described with reference to FIG.

[0012] As shown in FIG. 1, the stalk removing system 1 includes a stand 3, a frame 5, a first conveying device 7, a second conveying device 9, a stalk removing device 11, and a suction device 13.

[0013] The pedestal 3 is, for example, a two-tiered table-like member. The pedestal 3 has, for example, four legs 15, a lower section 17 supported by the lower parts of the four legs 15, and an upper section 19 supported by the upper parts of the four legs 15.

[0014] The frame 5 is, for example, a two-tiered table-like member installed on the upper stage 19 of the stand 3. The frame 5 has, for example, four legs 21, a lower stage 23 supported by the lower parts of the four legs 21, and an upper stage 25 supported by the upper parts of the four legs 21.

[0015] The first conveying device 7 is installed on the upper section 25 of the frame 5 and conveys an object having a stem portion. The "object" may be any agricultural product having a stem portion (e.g., fruit, vegetable). The "object" may be frozen or fresh. In the embodiment, the object is a strawberry 27. In the example shown in FIG. 1, the first conveying device 7 conveys the strawberry 27 so as to rotate in the directions of the arrows X1, X2, X3, and X4. The directions of the arrows X1 and X3 are each linear, and the directions of the arrows X2 and X4 are each arc-shaped. The detailed structure of the first conveying device 7 will be described later.

[0016] The second conveying device 9 is installed on the upper section 25 of the frame 5 and conveys a plurality of elastic materials 29. The elastic materials 29 are conveyed so as to come into contact with the strawberries 27 when a tool 31 (see FIG. 4 described later) removes the stems from the strawberries 27. In the example shown in FIG. 1, the second conveying device 9 conveys the elastic materials 29 so as to rotate them in the directions of arrows Y1, Y2, Y3, and Y4. The directions of arrows Y1 and Y3 are each linear, and the directions of arrows Y2 and Y4 are each arc-shaped. The "elastic materials" are not particularly limited as long as they are flexible and elastic, and sponges, for example, are used. The detailed structure of the second conveying device 9 will be described later.

[0017] The stemming device 11 is installed on the lower section 23 of the frame 5, and is arranged below the first conveying device 7 and the second conveying device 9. The stemming device 11 has a tool 31 and a moving device 33 (see FIG. 4 described later). The tool 31 removes stems from the strawberries 27. The moving device 33 moves the tool 31 so as to follow the strawberries 27 being conveyed by the first conveying device 7. The detailed structure of the moving device 33 will be described later.

[0018] The suction device 13 is installed on the lower section 17 of the stand 3 and is disposed below the stem removal device 11. The suction device 13 sucks up the stems removed from the strawberries 27 by the tool 31. As shown in FIG. 1, the suction device 13 has a hose 35, a suction fan 37, a cyclone 39, a tank 41, and a suction port 43 (see FIG. 15). One end of the hose 35 is connected to the suction port 43 (see FIG. 15), and the other end of the hose 35 is connected to the cyclone 39. The suction fan 37 sucks up the stems removed from the strawberries 27 together with air through the hose 35. The cyclone 39 rotates the sucked air and the stems to separate them from the air. The air is discharged from the suction fan 37, and the separated stems are accumulated in the tank 41 below. Note that the suction device 13 is not limited to a cyclone type, and other types of suction devices may be used.

[0019] In the embodiment, the conveying direction indicated by the arrow X3 of the first conveying device 7 and the conveying direction indicated by the arrow Y3 of the second conveying device 9 are the X-axis direction, the vertical direction is the Z-axis direction, and the direction perpendicular to both the X-axis direction and the Y-axis direction is the Y-axis direction.

[0020] The above-described configuration of the stem removal system 1 is an example and is not limited to the above. For example, a container for storing strawberries 27 from which stems have been removed and a conveying device for conveying them may be provided. Also, the suction device 13 may simply be a container for catching fallen stems.

[0021] 2. Configuration of the First Conveyor Device and the Second Conveyor Device 2 and 3, an example of the configuration of the first transfer device 7 and the second transfer device 9 will be described. In Fig. 3, in order to show the configuration below the first transfer device 7 and the second transfer device 9, a part of the first transfer device 7 on the positive side in the Y axis direction and a part of the second transfer device 9 on the negative side in the Y axis direction are shown cut away.

[0022] As shown in FIGS. 2 and 3, the first conveyor device 7 includes a drive sprocket 45, a driven sprocket 47, a chain 49, and multiple pedestals 51. The drive sprocket 45 (an example of a first drive wheel) is rotated by a conveyor motor 53 (an example of a motor; see FIGS. 1 and 5). The driven sprocket 47 (an example of a first driven wheel) is disposed opposite the drive sprocket 45 in the X-axis direction. The chain 49 (an example of a first band-shaped body) is endless and is wound around the drive sprocket 45 and the driven sprocket 47. Multiple pedestals 51 (an example of a placement unit) are fixed to the outer periphery of the chain 49, and strawberries 27 are placed on each pedestal 51. The strawberries 27 are placed on each pedestal 51 by, for example, a user in an area 55 where the pedestals 51 are conveyed in the direction of arrow X1. The strawberries 27 may also be placed on the pedestals 51 by an automated machine such as a robot.

[0023] The second conveying device 9 has a drive sprocket 57, a driven sprocket 59, and a chain 61. The drive sprocket 57 (an example of a second drive wheel) is connected to the drive sprocket 45 of the first conveying device 7 via a gear. FIG. 2 shows an example of a specific connection configuration. As shown in FIG. 2, a drive gear 63 is coaxially connected to the drive sprocket 45, and an intermediate gear 65 meshes with this drive gear 63. The drive gear 63 and the intermediate gear 65 have, for example, approximately the same number of teeth and pitch circle diameter. A drive pulley 67 is coaxially connected to the intermediate gear 65 (an example of a gear). The drive pulley 67 is connected to a driven pulley 73 via a belt 69 and an intermediate pulley 71. The driven pulley 73 is coaxially connected to the drive sprocket 57. The drive pulley 67 and the driven pulley 73 have approximately the same pulley diameter. As a result, the drive sprocket 45 of the first conveying device 7 and the drive sprocket 57 of the second conveying device 9 rotate synchronously at the same rotational speed but in opposite rotational directions. Note that the above-mentioned connection configuration is one example, and other connection configurations may also be used.

[0024] The driven sprocket 59 (an example of a second driven wheel) is disposed opposite the drive sprocket 57 in the X-axis direction. The chain 61 (an example of a second band-shaped body) is endless and is wound around the drive sprocket 57 and the driven sprocket 59. The multiple elastic members 29 are each fixed to the outer periphery of the chain 61.

[0025] Due to the connection configuration via the intermediate gear 65 described above, the first conveying device 7 and the second conveying device 9 are driven synchronously so that the strawberries 27 (base 51) and the elastic material 29 face each other. As a result, in an area 75 where the strawberries 27 and the elastic material 29 are conveyed in the directions of arrows X3 and Y3, the strawberries 27 are sandwiched and fixed between the wall portion 51a of the base 51 and the elastic material 29. At this time, the wall portion 51a of the base 51 contacts one side of the strawberries 27 (negative side in the Y-axis direction), and the elastic material 29 contacts the other side of the strawberries 27 (positive side in the Y-axis direction).

[0026] The first conveying device 7 discharges the strawberries 27, from which the stems have been removed by the tool 31, at a predetermined discharge position 77. The discharge position 77 is, for example, an area where the strawberries 27 and bases 51 are transported in the direction of arrow X4. The configuration by which the first conveying device 7 discharges the strawberries 27 will be described in detail later.

[0027] The first conveying device 7 also has rails 79 positioned below the bases 51 and supporting the bases 51 from below. Each base 51 is placed on the upper surface of the rails 79 and slides along the rails 79 as the chain 49 rotates. As shown in FIG. 3 , the rails 79 are installed along the path along which the bases 51 rotate, and have a recess 81 in the area where the tool 31 of the stalk removing device 11 removes the stems from the strawberries 27. In other words, the rails 79 are installed in the area where the strawberries 27 and bases 51 are transported in the directions indicated by arrows X1, X2, and X4, but are not installed in a portion of the area where the strawberries 27 are transported in the direction indicated by arrow X3. This ensures sufficient space for the stalk removing device 11 to bring the tool 31 into contact with the strawberries 27. As shown in FIG. 3 , an opening 25a is formed in the upper portion 25 of the frame 5, large enough to accommodate the range of movement of the tool 31 of the stalk removing device 11, allowing the tool 31 to access the strawberries 27 during transport.

[0028] The configurations of the first conveying device 7 and the second conveying device 9 described above are merely examples and are not limited to the above. For example, in the example shown in Figures 2 and 3, the first conveying device 7 and the second conveying device 9 each have one driven sprocket, but they may have multiple driven sprockets. Also, the drive sprocket and driven sprocket of the first conveying device 7 and the second conveying device 9 may each be configured as pulleys around which a belt is wound. Also, the drive sprocket 45 of the first conveying device 7 and the drive sprocket 57 of the second conveying device 9 may be driven individually by separate motors without being connected by a gear.

[0029] <3. Structure of the stem removal device> An example of the configuration of the stem removing device 11 will be described with reference to FIG.

[0030] As shown in FIG. 4, the stem removing device 11 includes a tool 31 and a moving device 33. The tool 31 is a member that removes stems from strawberries 27. The tool 31 is, for example, a drill that is rotated by a drive motor 83 and cuts off the area of ​​the strawberries 27 near the stems. The tool 31 is not limited to a drill, and may be, for example, a grindstone or a cutter blade. It may also be a non-rotating member, such as an air nozzle that blows off the stems with air. The tool 31 is located below the base 51 in an area 75 where the base 51 on which the strawberries 27 are placed and the elastic material 29 are transported in the directions of arrows X3 and Y3.

[0031] The moving device 33 moves the tool 31 so as to follow the strawberries 27 being transported by the first transport device 7. As shown in FIG. 4 , the moving device 33 has a base 85, a reciprocating device 87, and an elevating device 89. The base 85 is installed on the lower section 23 of the frame 5.

[0032] The lifting device 89 lifts and lowers the tool 31 in the vertical direction (Z-axis direction), and the reciprocating device 87 reciprocates the tool 31 in the horizontal direction (X-axis direction and Y-axis direction). That is, the lifting device 89 (an example of a proximity device) moves the tool 31 in a direction that brings it closer to the strawberries 27 being transported. Furthermore, the reciprocating device 87 (an example of a translation device) translates the tool 31 relative to the strawberries 27 being transported in a direction different from the direction that brings it closer to the strawberries 27. The tool 31 removes the stems while being translated relative to the strawberries 27. Therefore, the reciprocating device 87 translates the tool 31 so as to remove the stems of the strawberries 27.

[0033] Specifically, as shown in FIG. 4, the reciprocating device 87 has a table 91, guide rails 93, a drive pulley 95, a driven pulley 97, a belt 99, and a travel motor 101. The table 91 is mounted with a lifting device 89. The table 91 moves back and forth along the guide rails 93. For example, two guide rails 93 are installed on the base 85. The two guide rails 93 are arranged approximately parallel to each other. Each of the two guide rails 93 extends along a direction D that has a predetermined angle θ with respect to the X-axis direction, which is the transport direction of the strawberries 27. The number of guide rails 93 is not limited to two, and may be one, or three or more.

[0034] The drive pulley 95 is rotatably mounted on the bottom of, for example, a gate-shaped support member 102, and is connected to the output shaft of a travel motor 101 mounted on the top of the support member 102. The driven pulley 97 is rotatably mounted on the base 85. A belt 99 is wound around the drive pulley 95 and the driven pulley 97. The table 91 and the belt 99 are connected by a connector 103. With the above configuration, the reciprocating device 87 drives the travel motor 101 to rotate and reciprocate the tool 31 along direction D, which has a predetermined angle θ with respect to the conveying direction of the strawberries 27 (X-axis direction). As will be described in detail later, direction D is a direction connecting the approximate center position of the large-sized strawberries 27 (an example of a first size) at one end of the reciprocating range of the tool 31 and the approximate center position of the small-sized strawberries 27 (an example of a second size) at the other end of the reciprocating range.

[0035] The lifting device 89 includes a base 105, a support member 107, a guide rail 109, a drive pulley 111, a driven pulley 113, a belt 115, and a lifting motor 117. The base 105 is provided upright on the table 91 of the reciprocating device 87 in the vertical direction. The support member 107 supports the tool 31 at its upper portion and the drive motor 83 at its lower portion. The support member 107 moves back and forth along the guide rail 109. The guide rail 109 extends in the vertical direction (Z-axis direction). The drive pulley 111 is rotatably provided on the base 105 and connected to the output shaft of the lifting motor 117. The driven pulley 113 is rotatably provided on the base 105. The belt 115 is wound around the drive pulley 111 and the driven pulley 113. The support member 107 and the belt 115 are connected by a connector 119. With the above configuration, the lifting device 89 rotates the lifting motor 117 to reciprocate the tool 31 in the vertical direction (Z-axis direction).

[0036] The tool 31 is rotatably mounted on the support member 107 via a bearing 121, and is connected to the output shaft of the drive motor 83. The tool 31 is driven to rotate by the drive motor 83.

[0037] The above-described configuration of the stalk removing device 11 is an example and is not limited to the above. For example, the reciprocating device 87 is not limited to the single-axis configuration in which one travel motor 101 operates along direction D inclined with respect to the X-axis direction as described above, but may be a two-axis configuration in which a guide rail and a travel motor are provided in each of the X-axis and Y-axis directions.

[0038] <4. Control configuration of the stem removal system> An example of the control configuration of the stem removing system 1 will be described with reference to FIG.

[0039] 5, the stem removal system 1 has a controller 123. The controller 123 controls the conveying motor 53 of the first conveying device 7, the traveling motor 101 and lifting motor 117 of the moving device 33, the drive motor 83 of the tool 31, and the suction fan 37 of the suction device 13. Specifically, the controller 123 controls the conveying motor 53 of the first conveying device 7 and the traveling motor 101 and lifting motor 117 of the moving device 33 to drive in synchronization so that the tool 31 faces the stem of the strawberry 27 being conveyed by the first conveying device 7.

[0040] The controller 123 controls the rotation speed of the conveyor motor 53 so that the conveying speed of the strawberries 27 is a predetermined speed. The predetermined speed is set in advance so that the processing time required to remove the stems from each strawberry is shorter than the processing time required when the stems are removed by hand.

[0041] At least one of the drive motor 83 of the tool 31 and the suction fan 37 of the suction device 13 does not have to be controlled by the controller 123. For example, the user may manually switch the drive on or off.

[0042] <5. Stem removal range according to strawberry size and operation of the stem removal device> An example of the range of removal of the stem portion according to the size of the strawberry 27 and an example of the operation of the stem removing device 11 will be described with reference to FIGS.

[0043] As described above, the reciprocating device 87 of the moving device 33 reciprocates the tool 31 along direction D, which is a direction connecting the approximate center position of a large-sized strawberry 27 (an example of a first size) at one end of the reciprocating range of the tool 31 and the approximate center position of a small-sized strawberry 27 (an example of a second size) at the other end of the reciprocating range. As a result, the range of stem portions removed by the tool 31 varies depending on the size of the strawberry 27. In other words, the reciprocating device 87 translates the tool 31 so that the range of stem portions removed varies depending on the size of the strawberry 27. Specific examples of the removal range are shown in FIGS. 6 and 7.

[0044] FIG. 6 shows an example of the removal range for a large strawberry 27. The large strawberry 27 is referred to as strawberry 27B. In FIG. 6, state A shows strawberry 27B being transported by reciprocating device 87 to one end of the reciprocating range of tool 31 (upstream in the conveying direction), and tool 31 being moved so as to face below stem 27a at approximately center position P1 of strawberry 27B. Stem 27a is located at approximately center position P1. State B shows a state in which tool 31 is raised by lifting device 89 from state A, and the tip of tool 31 is inserted a predetermined depth d into approximately center position P1 of strawberry 27B. The tool 31 is raised while moving in translation to follow the transport of strawberry 27B. State C shows a state in which tool 31 is moved by reciprocating device 87 from state B toward the other end of the reciprocating range (downstream in the conveying direction) and reaches the other end of the reciprocating range. The tool 31 is moved along direction D at a predetermined angle θ with respect to the transport direction (X-axis direction) of the strawberries 27B, and moves translationally to follow the strawberries 27B, moving from approximately center position P1 to position P2, a distance L away from the center position P1 in the negative Y-axis direction. Position P2 is the approximate center position of a small-sized strawberry 27S shown in FIG. 7, which will be described later. State D is a state in which the tool 31 is lowered from state C by the lifting device 89, and the tool 31 is separated from the strawberries 27B at position P2. The tool 31 is lowered translationally to follow the transport of the strawberries 27B. As a result, the strawberries 27B are scraped off within a removal range AR1 extending from the approximately center position P1 to the negative Y-axis direction, and the stems 27a are removed.

[0045] FIG. 7 shows an example of the removal range when strawberries 27 are small. Small-sized strawberries 27 are referred to as strawberries 27S. In FIG. 7, state A shows strawberries 27S being transported to one end (upstream in the transport direction) of the reciprocating range of tool 31 by reciprocating device 87, and tool 31 being moved below stem portion 27a at position P1. Position P1 is approximately the center position of large-sized strawberry 27B shown in FIG. 6, while stem portion 27a is located at approximately the center position P2 of strawberry 27S. Therefore, in state A, tool 31 is positioned offset in the positive Y-axis direction from stem portion 27a of strawberry 27S. State B shows a state in which tool 31 is raised from state A by lifting device 89, and the tip of tool 31 is inserted a predetermined depth d into strawberry 27S at position P1. The tool 31 is raised while moving in a translational manner to follow the transport of the strawberries 27S. State C is a state in which the tool 31 is moved from state B toward the other side of the reciprocating range (downstream in the transport direction) by the reciprocating device 87 and reaches the other end of the reciprocating range. The tool 31 is moved along direction D at a predetermined angle θ with respect to the transport direction (X-axis direction) of the strawberries 27S, and moves to approximately the center position P2 of the strawberries 27S, which is a distance L away from position P1 on the negative side of the Y-axis. State D is a state in which the tool 31 is lowered from state C by the lifting device 89, and the tool 31 is separated from the strawberries 27S at approximately the center position P2. The tool 31 is lowered while moving in a translational manner to follow the transport of the strawberries 27S. As a result of the above, strawberry 27S is cut off within removal range AR2 extending from approximately center position P2 to the Y-axis direction positive side, and stem portion 27a is removed.

[0046] The approximate center position P1 of the large strawberries 27B and the approximate center position P2 of the small strawberries 27S, which define the direction D, are set in advance to appropriate positions according to the size of the strawberries 27 to be processed by the stemming system 1. The predetermined depth d is also set in advance to an appropriate value according to the size of the strawberries 27 to be processed. For example, the size of the strawberries 27 to be transported may be detected, and the depth d may be varied according to the detected size for each strawberry 27. If the reciprocating device 87 has a two-axis configuration with guide rails and travel motors in both the X-axis and Y-axis directions, it is also possible to vary the direction D (i.e., the removal range AR) according to the detected size for each strawberry 27.

[0047] 8 to 11 show an example of the operation of the stalk removing device 11 when removing the stalk portions 27a as described above. In order to show the operation of the stalk removing device 11, a part of the first conveying device 7 on the negative side in the X-axis direction and a part of the second conveying device 9 on the negative side in the Y-axis direction are shown cut away in Figs.

[0048] Figure 8 corresponds to state A in Figure 6. As shown in Figure 8, the reciprocating device 87 of the stalk removing device 11 moves the table 91 to one side of the guide rail 93 (the left side in Figure 8), thereby moving the tool 31 to one end of the reciprocating range (the upstream side in the conveying direction). At this time, the tool 31 is positioned so as to face the lower part of the stalk portion 27a at approximately the center position of the strawberry 27B (approximately the center position P1 in Figure 6).

[0049] Figure 9 corresponds to state B in Figure 6. As shown in Figure 9, tool 31 is raised by lifting device 89, and the tip of tool 31 is inserted a predetermined depth d into the approximate center position of strawberry 27B (approximate center position P1 in Figure 6). Tool 31 is raised while moving in translation so as to follow the transport of strawberry 27B as table 91 is moved to the other side of guide rail 93 (right side in Figure 9).

[0050] Figure 10 corresponds to state C in Figure 6. As shown in Figure 10, the reciprocating device 87 of the stalk removing device 11 moves the table 91 to the other side of the guide rail 93 (to the right in Figure 10), thereby moving the tool 31 to the other end of the reciprocating range (downstream in the conveying direction). The tool 31 is moved along direction D at a predetermined angle θ with respect to the conveying direction (X-axis direction) of the strawberries 27B, and moves in translation to follow the strawberries 27B, moving from an approximate center position (approximate center position P1 in Figure 6) to a position (position P2 in Figure 6) a distance L away from the approximate center position in the negative Y-axis direction.

[0051] Figure 11 corresponds to state D in Figure 6. As shown in Figure 11, tool 31 is lowered by lifting device 89, and tool 31 is positioned away from strawberry 27B. Thereafter, stemming device 11 returns to the state shown in Figure 8, and the same operation is repeated.

[0052] <6. Base configuration and strawberry discharge configuration of the first conveyor> An example of the configuration of the base 51 and an example of the configuration of the first transport device 7 for discharging the strawberries 27 will be described with reference to FIGS.

[0053] As shown in Figures 12 and 13, the base 51 has a wall portion 51a and a seat portion 51b. The wall portion 51a and the seat portion 51b may be integrally formed, or may be formed separately and connected with bolts or the like. The seat portion 51b is annular and has an opening 51c formed in its center. The strawberry 27 is placed on the seat portion 51b with the stem portion 27a facing downward. This allows the tool 31 disposed below the base 51 to contact and scrape off the stem portion 27a through the opening 51c. The wall portion 51a is erected on one side of the seat portion 51b, i.e., on the side of the chain 49 of the first conveying device 7. The wall portion 51a is formed in a shape that gradually protrudes toward the seat portion 51b from the center position in the width direction toward both ends and from the center position in the up-down direction toward the seat portion 51b toward the upper end, so as to roughly fit along the sides of the strawberry 27. A plurality of protrusions 51d are formed on the surface of the wall portion 51a facing the strawberry 27. The plurality of protrusions 51d (an example of an anti-slip portion) come into contact with the sides of the strawberry 27 to prevent the strawberry 27 from slipping.

[0054] The anti-slip material for the strawberries 27 is not limited to protrusions, and for example, a friction material or an elastic material may be provided on the wall portion 51a, or a recess may be formed in the wall portion 51a into which the strawberries 27 fit. Also, in the embodiment, all the pedestals 51 have the same shape, but pedestals of different sizes and shapes may be provided according to the size and shape of the strawberries 27, for example.

[0055] 12 and 13, the base 51 is rotatably connected to a connecting portion 125 by a hinge portion 127. The connecting portion 125 is fixed to the outer periphery of the chain 49 of the first conveying device 7. In this way, the base 51 is rotatably connected to the chain 49.

[0056] FIG. 14 shows an example of a configuration in which the first conveying device 7 discharges strawberries 27 at the discharge position 77. As shown in FIG. 14, rails 79 are disposed below the pedestals 51 and support the pedestals 51 from below. Each pedestal 51 is placed on an upper surface 79a of the rails 79 and moves around while sliding on the rails 79 as the chain 49 rotates. As mentioned above, the rails 79 have a cutout 81 in the area where the tool 31 removes the stems from the strawberries 27. However, in this area, the elastic material 29 conveyed opposite each pedestal 51 by the second conveying device 9 abuts against the pedestal 51, so the pedestal 51 is maintained in a horizontal position even without the rails 79.

[0057] Rail 79 is configured so that the shape is different at discharge position 77 and in the portion other than discharge position 77. Specifically, as shown in Fig. 14, rail 79 is configured so that the height of upper surface 79a at discharge position 77 is lower than the height of upper surface 79a in the portion other than discharge position 77. As a result, seat portion 51b of base 51 is tilted downward at discharge position 77, and strawberries 27 with stems 27a removed that are placed on seat portion 51b fall and are discharged.

[0058] The configuration for the first conveying device 7 to discharge the strawberries 27 is not limited to the above. For example, the strawberries 27 may be dropped by flicking them with a stick or by blowing them off with a jet of air.

[0059] <7. Configuration of the suction device intake port> An example of the configuration of the suction port 43 of the suction device 13 will be described with reference to Figure 15. As described above, the suction device 13 has a hose 35 and a suction port 43, and one end of the hose 35 is connected to the suction port 43. As shown in Figure 15, a hole 43a is formed in the lower part of the suction port 43. The bearing 121 that rotatably supports the tool 31 is inserted into the hole 43a from below, and the tool 31 protrudes above the suction port 43. As a result, the suction port 43 is disposed so as to surround the lower periphery of the tool 31. When the suction fan 37 is driven, the stems 27a removed from the strawberries 27 are sucked through the suction port 43 together with air and transported to the cyclone 39 via the hose 35.

[0060] 8. Effects of the embodiment As described above, the stemming system 1 of this embodiment includes a first conveying device 7 that conveys strawberries 27 having stem portions 27a, a tool 31 that removes the stem portions 27a from the strawberries 27, and a moving device 33 that moves the tool 31 to follow the strawberries 27 being conveyed by the first conveying device 7. That is, the stemming system 1 executes a stemming method that includes conveying strawberries 27 having stem portions 27a, moving the tool 31 that removes the stem portions 27a from the strawberries 27 to follow the strawberries 27 being conveyed, and removing the stem portions 27a from the strawberries 27 being conveyed. This allows the stem portions 27a to be removed from the strawberries 27 being conveyed, eliminating the need to stop the conveyance of the strawberries 27 when removing the stem portions 27a. This increases the production speed of strawberries 27 from which the stem portions 27a have been removed, improving productivity.

[0061] Furthermore, in this embodiment, the moving device 33 may have an approaching device (elevating device 89 in this embodiment) and a translation device (reciprocating device 87 in this embodiment). The approaching device brings the tool 31 closer to the strawberries 27, and the translation device translates the tool 31 relative to the strawberries 27 in a direction different from the approaching direction. In this case, the tool 31 can be made to follow the strawberries 27 while being brought close to them.

[0062] In this embodiment, the tool 31 may be translated by a translation device (reciprocating device 87 in this embodiment) to remove the stem portions 27a. In this case, the translation of the tool 31 allows the tool 31 to follow the strawberries 27 and remove the stem portions 27a at the same time, thereby improving the production speed of the strawberries 27 from which the stem portions 27a have been removed.

[0063] Furthermore, in this embodiment, the translation device (reciprocating device 87 in this embodiment) may translate tool 31 so that the removal range AR of stem portion 27a varies depending on the size of strawberry 27. In this case, stem portion 27a can be removed regardless of the size of strawberry 27.

[0064] In this embodiment, the proximity device may be a lifting device 89 that raises and lowers the tool 31 in the vertical direction, and the translation device may be a reciprocating device 87 that reciprocates the tool 31 in the horizontal direction. In this case, the stems 27a can be removed from the strawberries 27 being transported by lifting the tool 31 with the lifting device 89 and moving it horizontally with the reciprocating device 87. After removal, the tool 31 can be lowered and returned to the horizontal direction, allowing the tool 31 to move to the next strawberry 27. In this way, the stems 27a can be repeatedly removed from the strawberries 27 being transported.

[0065] In this embodiment, the reciprocating device 87 may reciprocate the tool 31 along a direction D that forms a predetermined angle θ with respect to the conveying direction of the strawberries 27. In this case, the tool 31 is moved so as to follow the strawberries 27 being conveyed, and can also be moved a predetermined distance L in a direction perpendicular to the conveying direction. This allows the stems 27a to be removed regardless of the size of the strawberries 27.

[0066] Furthermore, in this embodiment, the stem removing system 1 may include a controller 123 that synchronizes and controls the first conveying device 7 and the moving device 33 so that the tool 31 faces the stem portion 27a of the strawberry 27 being conveyed by the first conveying device 7. In this case, the tool 31 can be made to face the stem portion 27a of the strawberry 27 being conveyed, so that the stem portion 27a can be accurately and stably removed from the strawberry 27 being conveyed.

[0067] In this embodiment, the first conveying device 7 may discharge the strawberries 27 from which the stems 27a have been removed by the tool 31 at a predetermined discharge position 77. In this case, it becomes easier to store the strawberries 27 from which the stems 27a have been removed and transport them to the next process, thereby realizing a convenient system.

[0068] In this embodiment, the first conveying device 7 may tilt the base 51 at the discharge position 77 to discharge the strawberries 27. In this case, the reliability of discharge can be improved, and the strawberries 27 can be prevented from remaining on the base 51 after the discharge position 77 has passed.

[0069] Furthermore, in this embodiment, the rails 79 of the first transport device 7 may be configured so that the shape at the discharge position 77 is different from that at the portion other than the discharge position 77. In this case, the shape of the rails 79 supporting the pedestal 51 can be utilized to tilt the pedestal 51 at the discharge position 77. This allows the function of tilting the pedestal 51 to be realized by a physical structure without electronic control or the like, thereby improving the reliability of the discharge operation.

[0070] Additionally, in this embodiment, rail 79 may have a cutout 81 in the area where tool 31 removes stems 27a from strawberries 27. In this case, space can be secured for tool 31 to abut against strawberries 27. Furthermore, by cutting out a portion of rail 79, the structure of stem removal system 1 can be simplified and the weight can be reduced.

[0071] In this embodiment, the first conveying device 7 may also have a driving sprocket 45, a driven sprocket 47, and a chain 49. In this case, the bases 51 can form an endless track that moves around in a loop. This allows a limited number of bases 51 to be used to process an unlimited number of strawberries 27, resulting in an efficient system.

[0072] Furthermore, in this embodiment, the stemming system 1 may have a second conveying device 9 that conveys multiple elastic members 29 to be brought into contact with the strawberries 27. The second conveying device 9 may be driven in synchronization with the first conveying device 7 so that the strawberries 27 and the elastic members 29 face each other. In this case, the strawberries 27 can be fixed so that they do not move when the stem portions 27a are removed from the strawberries 27. This improves the reliability of the stemming process.

[0073] In this embodiment, the second conveying device 9 may also have a drive sprocket 57, a driven sprocket 59, and a chain 61. In this case, the elastic material 29 can form an endless track that rotates in a loop. This allows a highly reliable system to be realized in which strawberries 27 conveyed by the first conveying device 7 are automatically fixed by the elastic material 29 and the stems 27a can be removed by the tool 31. Furthermore, if the drive sprocket 57 of the second conveying device 9 and the drive sprocket 45 of the first conveying device 7 are connected via an intermediate gear 65, the reliability of synchronization can be improved.

[0074] In this embodiment, the base 51 may have a wall portion 51a erected on one side of the placed strawberry 27. In this case, the placed strawberry 27 can be supported from one side, and the posture of the strawberry 27 can be stabilized.

[0075] Furthermore, in this embodiment, when tool 31 removes stem portion 27a from strawberry 27, elastic member 29 may be brought into contact with the other side of strawberry 27. In this case, when removing stem portion 27a from strawberry 27, strawberry 27 can be sandwiched and fixed from both sides between wall portion 51a of base 51 and elastic member 29. This improves the reliability of stem removal.

[0076] In this embodiment, a plurality of protrusions 51d may be formed on the wall 51a of the base 51. In this case, when the strawberries 27 are sandwiched and fixed between the wall 51a of the base 51 and the elastic material 29, the protrusions 51d can prevent the strawberries 27 from slipping or shifting in position. This further improves the reliability of the stem removal.

[0077] In this embodiment, the first conveying device 7 may have a hinge portion 127 that rotatably connects the base 51 to the chain 49. In this case, the strawberries 27 from which the stems 27a have been removed can be discharged by tilting the base 51.

[0078] In this embodiment, strawberries 27 may be placed on base 51 with stems 27a facing downward, and tool 31 may be placed below base 51. In this case, tool 31 can be configured to access strawberries 27 placed with stems 27a facing downward from below, making it easier to build a system. Also, the posture of strawberries 27 can be easily stabilized, and removed stems 27a can be dropped and easily collected.

[0079] In this embodiment, tool 31 may be a drill that is driven to rotate and cuts off the area near stem 27a of strawberry 27. In this case, stem 27a and at least a portion of the core of strawberry 27 can be removed from strawberry 27. This allows strawberries 27 suitable for making processed products such as jam to be produced.

[0080] Furthermore, in this embodiment, the stem removing system 1 may include a suction device 13 that sucks up the stem portions 27a removed from the strawberries 27 by the tool 31. This provides the following effect. If the stem portions 27a removed by the tool 31 are scattered around, this may adversely affect the operation of the stem removing device 11. Furthermore, from a hygienic standpoint, scattering of the stem portions 27a is undesirable. According to this embodiment, the stem portions 27a are sucked up by the suction device 13, so scattering of the stem portions 27a can be prevented. This prevents adverse effects on the stem removing device 11 and improves hygiene.

[0081] In this embodiment, the suction device 13 may have a suction port 43 arranged to surround the periphery of the tool 31. In this case, scattering of the stem portion 27a to the surrounding area can be more reliably prevented when the tool 31 is rotated to remove the stem portion 27a.

[0082] In the above description, when terms such as "vertical," "parallel," and "plane" are used, these terms are not used in their strict sense. These terms "vertical," "parallel," and "plane" mean "substantially vertical," "substantially parallel," and "substantially plane," allowing for tolerances and errors in design and manufacturing.

[0083] In the above description, when the external dimensions, size, shape, position, etc. are described as "same," "equal," "different," etc., these descriptions do not have the strict meaning. The terms "same," "equal," and "different" mean "substantially the same," "substantially the same," "substantially equal," and "substantially different," allowing for design and manufacturing tolerances and errors.

[0084] In addition to the above, the methods according to the above-described embodiments and modifications may be combined as appropriate. Although not specifically illustrated, the above-described embodiments and modifications may be implemented with various modifications within the spirit and scope of the invention.

[0085] The problems and effects that the above-described embodiments and modifications are intended to solve are not limited to those described above. The embodiments and modifications may solve problems or achieve effects that are not described above, or may solve only some of the problems or achieve only some of the effects that are described. [Explanation of symbols]

[0086] 1. Stalk removal system 7 First conveying device 9 Second conveying device 11 Stalk removal device 13 Suction device 27 Strawberry (example of object) 27a Stem 29 Elastic material 31 Tools 33 Mobile Devices 43 Suction port 45 Drive sprocket (example of first drive wheel) 47 Driven sprocket (example of first driven wheel) 49 Chain (an example of the first band) 51 Pedestal (an example of a mounting part) 51a Wall section 51d Protrusion (an example of an anti-slip part) 53 Conveyor motor (example of motor) 57 Drive sprocket (an example of a second drive wheel) 59 Driven sprocket (an example of a second driven wheel) 61 Chain (an example of a second band) 65 Intermediate gear (example of gear) 77 Discharge position 79 Rail 81 Missing part 87 Reciprocating device (an example of a translation device) 89 Lifting device (an example of a proximity device) 123 Controller 127 Hinge part AR Removal Range AR1 Removal Range AR2 Removal Range D. Direction with a specified angle θ given angle

Claims

1. a first conveying device for conveying an object having a stem portion; a tool for removing the stem portion from the object; a moving device that moves the tool so as to follow the object being transported by the first transport device; A stem removal system.

2. The moving device is a proximity device for bringing the tool closer to the object; a translation device that translates the tool relative to the object in a direction different from the approaching direction, The stem removal system according to claim 1 .

3. The translation device translating the tool to remove the stem portion; The stem removal system according to claim 2 .

4. The translation device The tool is translated so that the removal range of the stem portion varies depending on the size of the object. The stem removal system according to claim 3 .

5. The proximity device is a lifting device that lifts and lowers the tool in a vertical direction, The translation device A reciprocating device that reciprocates the tool in a horizontal direction. The stem removal system according to any one of claims 2 to 4.

6. The reciprocating device is The tool is reciprocated in a direction having a predetermined angle with respect to a conveying direction of the object. The stem removal system according to claim 5.

7. The stem removal system includes: a controller that controls the first conveying device and the moving device in synchronization with each other so that the tool faces the stem portion of the object being conveyed by the first conveying device; The stem removal system according to claim 1 .

8. The first conveying device is Discharging the object from which the stem portion has been removed by the tool at a predetermined discharge position. The stem removal system according to claim 1 .

9. The first conveying device is a plurality of placement sections on which the objects are placed, tilting the placement unit at the discharge position to discharge the object; The stem removal system according to claim 8.

10. The first conveying device is a rail disposed below the placement portion and supporting the placement portion; The rail is The ejection position and a portion other than the ejection position are configured to have different shapes. The stem removal system according to claim 9.

11. The rail is a defect in an area where the tool removes the stem portion from the object; The stem removal system according to claim 10.

12. The first conveying device is a first drive wheel driven by a motor; at least one first driven wheel; an endless first band-shaped body wound around the first driving wheel and the first driven wheel; a plurality of placement portions fixed to the first band-shaped body and on which the objects are placed; The stem removal system according to any one of claims 8 to 11.

13. The stem removal system includes: The tool further includes a second conveying device that conveys a plurality of elastic materials to be brought into contact with the object when the tool removes the stem portion from the object, The second conveying device is the elastic member is driven in synchronization with the first conveying device so that the object and the elastic member face each other; The stem removal system according to claim 1 .

14. The first conveying device is a first drive wheel driven by a motor; The second conveying device is a second drive wheel connected to the first drive wheel via a gear; at least one second driven wheel; an endless second band-shaped body wound around the second driving wheel and the second driven wheel and having the elastic material fixed thereto; having The stem removal system according to claim 13.

15. The first conveying device is a plurality of placement sections on which the objects are placed, The placement section is A wall portion is provided on one side of the object. The stem removal system according to claim 1 .

16. The stem removal system includes: The tool further includes a second conveying device that conveys an elastic material to be brought into contact with the other side of the object when the tool removes the stem portion from the object. The stem removal system according to claim 15.

17. The wall portion is having an anti-slip portion for preventing the object from slipping; The stem removal system according to claim 16.

18. The first conveying device is a first drive wheel driven by a motor; at least one first driven wheel; an endless first band-shaped body wound around the first driving wheel and the first driven wheel; a hinge portion that rotatably connects the mounting portion to the first band-shaped body, The stem removal system according to any one of claims 15 to 17.

19. The first conveying device is a plurality of placement sections on which the objects are placed so that the stems face downward; The tool may include: Located below the placement section, The stem removal system according to claim 1 .

20. The tool may include: A drill that is rotationally driven and cuts off a portion of the object near the stem portion. The stem removal system according to claim 19.

21. The stem removal system includes: The method further includes a suction device that sucks the stem portion removed from the object by the tool. The stem removal system according to claim 1 .

22. The suction device is a suction port disposed around the periphery of the tool; The stem removal system according to claim 21.

23. Conveying an object having a stem portion; moving a tool for removing the stem portion from the object so as to follow the object being transported; removing the stem portion from the object being conveyed; A method for removing stems.

Images