JP7550371B2 - Fruit and vegetable holding device and fruit and vegetable packing device - Google Patents

Description

The present invention relates to a fruit vegetable holding device that holds fruit vegetables one by one and a fruit vegetable packing device that packs the held fruit vegetables into packs.

The applicant has developed a method and device for sucking up fruit vegetables (strawberries) on a conveying path using a suction means and packing the sucked up strawberries (Patent Document 1).

JP 2020-001788 A

In the device described in Patent Document 1, when the strawberries were being sucked up and moved from the conveyor path to the packs, the strawberries would sometimes fall due to vibrations, making it impossible to pack the strawberries accurately.

The present invention has been made in consideration of the above-mentioned circumstances, and its problem to be solved is to provide a fruit and vegetable holding device and a fruit and vegetable packing device that prevent fruit and vegetable such as strawberries from falling out and enable packing to be performed reliably.

[Method of holding fruit and vegetables]
The fruit vegetable holding method of the present application is a method for holding a fruit vegetable by bringing a suction means close to the fruit vegetable to suck up the fruit vegetable and then gripping the sucked up fruit vegetable with a gripping means.

[How to pack fruit and vegetables]
The fruit vegetable packing method of the present application is a method of packing fruit vegetables by moving the fruit vegetables held by the fruit vegetable holding method to the top of the pack and releasing the gripping means for suctioning the fruit vegetables at the top of the pack.

[Fruit and vegetable holding device]
The fruit vegetable holding device of the present invention comprises suction means for sucking up fruit vegetables and gripping means for gripping the fruit vegetables sucked up by the suction means. The suction means comprises a suction gripper and compressed air supplying means for supplying compressed air to the suction gripper, and the gripping means comprises a gripping arm for gripping the fruit vegetables and opening/closing means for opening and closing the gripping arm in a gripping direction and a release direction. When compressed air is supplied to the suction gripper by the compressed air supplying means, the fruit vegetables are sucked up by the suction gripper, and when the gripping arm is closed in the gripping direction by the opening/closing means, the fruit vegetables sucked up by the suction means are gripped by the gripping arm.

[Fruit and vegetable packing device]
The fruit vegetable packing apparatus of the present invention comprises a fruit vegetable transport body for transporting fruit vegetables, a photographing means for photographing the fruit vegetables transported by the fruit vegetable transport body and acquiring positional information of the fruit vegetables on the fruit vegetable transport body, a robot arm that operates based on the positional information acquired by the photographing means, and a fruit vegetable holding device attached to the robot arm for holding the fruit vegetables on the fruit vegetable transport body and storing them in packs.

In the present invention, the fruit vegetables are held by two means, the suction means and the gripping means, so the fruit vegetables are less likely to fall than when held by the suction means alone, and the fruit vegetables can be packed reliably.

FIG. 2A is a perspective view showing an example of a fruit vegetable holding device, and FIG. 2B is an explanatory diagram of the internal structure of the fruit vegetable holding device shown in FIG. FIG. 4 is an explanatory diagram showing an example of a suction means of a fruit vegetable holding device. FIG. 3A is an explanatory diagram of the absorbing means of the suction means, and FIG. 3B is a cross-sectional view taken along line IIIb-IIIb of FIG. 1A is a front view of the absorbing means in a raised position, FIG. 1B is a side view of FIG. 1A, FIG. 1C is a front view of the absorbing means in a lowered position, and FIG. FIG. 4 is an explanatory diagram showing an example of a gripping means of a fruit vegetable holding device. 1A is a front view of the gripping arms in an open state, FIG. 1B is a side view of FIG. 1A, FIG. 1C is a front view of the gripping arms in a closed state, and FIG. FIG. 11 is an explanatory diagram showing another example of the suction means of the fruit vegetable holding device. FIG. 2 is an explanatory diagram showing an example of a fruit and vegetable packing device.

(Embodiments of fruit vegetable holding method and fruit vegetable holding device)
An example of an embodiment of the fruit vegetable holding method and fruit vegetable holding device 1 of the present application will be described with reference to the drawings. The fruit vegetable holding method and fruit vegetable holding device 1 of the present application can be used to hold various kinds of fruit vegetables such as strawberries S and loquats, but the case where the fruit vegetable is strawberries S will be described as an example here.

As an example, the fruit vegetable holding device 1 shown in Figures 1(a) and 1(b) is equipped with a suction means 10 that sucks up strawberries S, and a gripping means 20 that grips the strawberries S sucked up by the suction means 10. The suction means 10 and gripping means 20 are housed in a case 30 that is open at the bottom.

The suction means 10 is a means for sucking up and holding the strawberries S. As shown in FIG. 2, the suction means 10 in this embodiment includes a suction gripper 11, an absorption means 12 connected to the suction gripper 11, and a compressed air supply means (compressor) 13 for supplying compressed air to the suction gripper 11.

The suction gripper 11 is a device that creates an air flow for sucking up the strawberries S. In this embodiment, a composite gripper manufactured by Schmalz Corporation is used as the suction gripper 11. This composite gripper has a built-in vacuum generator and is equipped with an air supply port, an air intake port, and an exhaust port. When compressed air is supplied from the compressor 13 to the air supply port, it is sucked in through the air intake port and exhausted through the exhaust port. Other types of suction grippers can also be used for the suction gripper 11.

As shown in FIG. 3(b), the absorbing means 12 includes a shaft 12a, a sliding body 12b attached to the outer periphery of the shaft 12a, an adsorption pad 12c provided on the lower end side of the sliding body 12b, and an absorbing spring 12d provided on the upper end side of the sliding body 12b.

The shaft 12a is a member that is connected to the suction gripper 11. As an example, the shaft 12a shown in Figures 3(a) and (b) has an elongated cylindrical body 12e, an upper fitting portion 12f provided on the upper side of the body 12e, and a large diameter portion 12g provided on the upper side of the upper fitting portion 12f. The body 12e is the portion to which the sliding body 12b is attached, the upper fitting portion 12f is the portion to which the upper end side of the absorbing spring 12d is fitted, and the large diameter portion 12g is the portion to be connected to the suction gripper 11. A connection portion 12h that is used to connect to the absorbing means 12 is provided on the inner surface of the large diameter portion 12g.

A cylindrical sliding body 12b is placed on the outer periphery of the shaft material 12a. The sliding body 12b is screwed to the shaft material 12a so that it can slide (move up and down). A lower fitting portion 12i is provided on the upper end side of the sliding body 12b, into which the lower end side of the absorbing spring 12d fits. A fitting recess 12j is formed on the lower end side of the sliding body 12b along the outer periphery, and a suction pad 12c is attached to the fitting recess 12j.

The absorbing spring 12d is a member for absorbing the individual differences of the strawberries S. Unlike industrial products, no two fruit vegetables such as strawberries S are the same shape. By providing the absorbing spring 12d as in this embodiment, the absorbing spring 12d elastically deforms according to the size and shape of the strawberries S, absorbing the individual differences and preventing the strawberries S from being crushed or damaged. The absorbing spring 12d is disposed between the upper fitting portion 12f and the lower fitting portion 12i, and is normally biased downward.

The suction pad 12c is a pad for suctioning strawberries S. As an example, the suction pad 12c shown in Figures 3(a) and (b) is cylindrical. The inner surface of the upper end of the suction pad 12c is provided with a fitting portion 12k that fits into the fitting recess 12j. The suction pad 12c has a narrow portion 12m and a wide portion 12n that continues below it. It is preferable to use a material such as silicone for the suction pad 12c that is flexible and does not easily damage the strawberries S.

An air passage 12p is formed inside the absorbing means 12. When compressed air is supplied from the suction gripper 11 into the air passage 12p, air is sucked in from the suction pad 12c side, and the strawberries S are sucked up to the suction pad 12c side by this suction force. The absorbing means 12 can also be omitted. In this case, the suction pad 12c can be directly attached to the suction gripper 11.

The suction means 10 is configured to move up and down by the lifting means 14. In this embodiment, an air cylinder is used as the lifting means 14. As shown in Figure 2, the tip of the air cylinder rod is fixed to a mounting seat 15 on which the suction means 10 is attached.

In this embodiment, when the air cylinder in the contracted state (Fig. 4(a)(b)) is extended (Fig. 4(c)(d)), the mounting seat 15 descends and the absorbing means 12 descends, and when the air cylinder in the extended state (Fig. 4(c)(d)) is contracted (Fig. 4(a)(b)), the mounting seat 15 rises and the absorbing means 12 rises.

The gripping means 20 is a means for gripping the strawberries S sucked up by the suction means 10. As shown in FIG. 5, the gripping means 20 in this embodiment includes a gripping arm 21 for gripping the strawberries S, and an opening/closing means 22 for opening and closing the gripping arm 21 in a gripping direction (hereinafter referred to as the "gripping direction") and a gripping release direction (hereinafter referred to as the "release direction").

The gripping arm 21 in this embodiment comprises an arm portion 21a and a gripping pad 21b provided at the tip of the arm portion 21a. In this embodiment, the arm portion 21a is composed of a vertically long leaf spring. The arm portion 21a is attached to a fixed plate 23, the upper end of which is fixed to a cylinder. The tip of the arm portion 21a is bent inward, and a silicone pad is attached to the bent portion as the gripping pad 21b.

In this embodiment, four gripping arms 21 are provided at intervals along the circumferential direction of the sliding body 12b. Each gripping arm 21 is designed to spread outward toward the lower end. The gripping arms 21 are configured to be elastically deformed in the gripping direction and the release direction by the opening and closing means 22.

In this embodiment, the number of gripping arms 21 is four, but the number of gripping arms 21 may be more or less than four. The arm portion 21a constituting the gripping arm 21 may be other than a leaf spring as long as it has enough elasticity to be operated by the opening/closing means 22. In addition, the gripping pad 21b constituting the gripping arm 21 may be other than a silicone pad as long as it has enough elasticity not to damage fruit vegetables such as strawberries S.

The opening/closing means 22 is a means for moving the gripping arm 21 in the gripping direction and the unlocking direction. As an example, the opening/closing means 22 shown in Figs. 1(a)(b) and 5 includes an air cylinder 22a and an adjustment plate 22c provided at the tip of the rod 22b of the air cylinder 22a.

As shown in FIG. 1(b), the adjustment plate 22c in this embodiment is a ring-shaped (C-shaped) plate material with a portion cut out. The adjustment plate 22c is arranged outside the gripping arms 21 so that all the gripping arms 21 fit inside the adjustment plate 22c. The inner width of the adjustment plate 22c is set so that when the adjustment plate 22c is positioned at the top, it does not come into contact with the gripping arms 21, but when it is positioned at the bottom, it comes into contact with the gripping arms 21 and is elastically deformed in the gripping direction.

In this embodiment, when the air cylinder in the contracted state (Fig. 6(a)(b)) is extended (Fig. 6(c)(d)), the adjustment plate 22c descends and the gripping arm 21 elastically deforms in the gripping direction to grip the strawberry S, and when the air cylinder in the extended state (Fig. 6(c)(d)) is contracted (Fig. 6(a)(b)), the adjustment plate 22c rises and the gripping arm 21 returns in the release direction to release the grip of the strawberry S.

The strawberries S are held in the fruit vegetable holding device 1 of this embodiment as follows.
(1) The suction means 10 is brought close to the strawberries S.
(2) The suction gripper 11 is operated to hold the strawberry S with the suction means 10.
(3) The adjustment plate 22c is lowered to elastically deform the gripping arm 21 in the gripping direction, so that the strawberry S held by the suction means 10 is gripped by the gripping arm 21.

The strawberries S held by the fruit vegetable holding device 1 of this embodiment are released as follows.
(1) The suction means 10 is lowered by the lifting means 14.
(2) The adjustment plate 22c is raised, and the strawberry S is released from the gripping arm 21.
(3) The operation of the suction gripper 11 is stopped, and the suction means 10 is released from its hold on the strawberry S.

(Other embodiments of the fruit vegetable holding method and fruit vegetable holding device)
In the above embodiment, an example is given of a fruit and vegetable holding device 1 in which compressed air is supplied into an air supply port (not shown) of the suction gripper 11 to suck up strawberries S toward the suction pad 12c. However, the suction means 10 can also be configured to suck up strawberries S by utilizing negative pressure, as shown in Figure 7.

As an example, the suction means 10 shown in FIG. 7 includes a main body 31, an outer cover 32, an air supply hose 33, and a buffer member 34.

The main body 31 in this embodiment has a cylindrical body 31a and an air diffusion section 31b provided at the lower end of the body 31a. The body 31a is provided with an air passage 31c that penetrates in the vertical direction. The air passage 31c is connected to a diffusion space 31d provided inside the air diffusion section 31b.

A disk-shaped diffusion plate 31e is provided in the diffusion space 31d near the outlet (nozzle) of the air passage 31c. The diffusion plate 31e is provided perpendicular to the air passage 31c. A gap is provided between the outlet of the air passage 31c and the diffusion plate 31e, so that the air discharged from the outlet of the air passage 31c hits the diffusion plate 31e and is discharged while being diffused in the circumferential direction of the diffusion plate 31e.

An outer cover 32 is provided on the outside of the main body 31. In this embodiment, the outer cover 32 is a tubular member, and an opening 32a is provided at its lower end, which serves as a suction port for the strawberries S. A ring-shaped buffer member 34 is provided on the outside (lower side) of the opening 32a to prevent the strawberries S from being imprinted when they are sucked up. In this embodiment, the buffer member 34 has the same shape or approximately the same shape as the periphery 32b of the opening 32a. The buffer member 34 can be made of a material with cushioning properties, such as sponge.

The outer cover 32 has a solid portion 32c and a hollow portion 32d, and a first through hole 32e is provided in the solid portion 32c, penetrating in the thickness direction. The first through hole 32e is provided near the center of the upper surface of the outer cover 32 when viewed from above. The first through hole 32e is wide enough to allow the trunk portion 31a of the main body portion 31 to pass through, but not the air diffusion portion 31b. The trunk portion 31a of the main body portion 31 is inserted into the first through hole 32e so that it can move up and down freely.

A clearance is provided between the periphery of the first through hole 32e and the body 31a, allowing the body 31a to move up and down smoothly. In this embodiment, by raising the main body 31 upward, the bottom of the body 31a is positioned further back than the bottom of the buffer member 34, preventing the strawberries S from being damaged by contacting the bottom of the body 31a.

A retaining ring 31f is provided on the outer periphery of the portion of the body 31a that protrudes above the top surface of the outer cover 32 to prevent the main body 31 (body 31a) from coming out of the outer cover 32 (first through hole 32e). The retaining ring 31f is fixed to the body 31a by a locking pin (not shown).

When the main body 31 is moved downward, the bottom surface of the retaining ring 31f abuts against the top surface of the outer cover 32 to prevent it from slipping out of the first through hole 32e of the body 31a, and when the main body 31 is moved upward, the top surface of the air diffusion section 31b abuts against the bottom surface of the solid section 32c of the outer cover 32 to prevent it from slipping out of the first through hole 32e of the body 31a.

A second through hole 32f is provided in the solid portion 32c of the outer cover 32 for mounting a photoelectric sensor (not shown). The photoelectric sensor detects when the strawberry S has been sucked up to the outside of the buffer member 34. Whether or not the strawberry S has been sucked up may be detected by other means such as a pressure sensor.

The air supply hose 33 is a hose for feeding compressed air into the air passage 31c. One end of the air supply hose 33 is connected to a compressed air supply means (compressor) 35 (not shown), and the other end is provided with a connector 36 having a screw portion 36a that connects to the body portion 31a. The air supply hose 33 is connected to the body portion 31a by screwing the screw portion 36a of the connector 36 into a female screw in a recess (not shown) provided at the top of the body portion 31a.

Air supplied from the compressor 35 is supplied to the air passage 31c of the body 31a through the air supply hose 33. The air supply hose 33 is provided with a solenoid valve (not shown) so that the air supply hose 33 can be electromagnetically opened and closed.

The suction means 10 of FIG. 7 can suck up the strawberries S in the following manner.
(1) The suction means 10 is moved above the strawberry S, and the opening 32a side (the buffer member 34 side) is brought close to the abdomen of the strawberry S.
(2) In the state of (1) above, air is supplied from the compressor 35 through the air supply hose 33 to the air passage 31c.
(3) The air supplied to the air passage 31c passes through the air passage 31c and is discharged from the outlet thereof, and is diffused in the circumferential direction along the diffusion plate 31e.
(4) The diffused air escapes between the opening 32a and the strawberries S, creating a negative pressure within the hollow portion 32d of the outer cover 32, and the strawberries S are sucked up into the opening 32a.
(5) The suction of strawberries S can be stopped by closing the solenoid valve to stop the air supply.

(Embodiments of a fruit and vegetable packing method and a fruit and vegetable packing device)
Next, an example of an embodiment of the fruit and vegetable packing method and fruit and vegetable packing device of the present application will be described with reference to the drawings. As with the embodiment of the fruit and vegetable holding method and fruit and vegetable holding device 1, the fruit and vegetable packing method and fruit and vegetable packing device of the present application can also be used to hold various kinds of fruit and vegetables such as strawberries S and loquats, but here, the case where the fruit is strawberries S will be described as an example.

Figure 8 shows an example of a fruit and vegetable packing device of the present invention. In Figure 8, 1 is a fruit and vegetable holding device, 40 is a fruit and vegetable conveying body, 50 is a photographing means, 60 is a robot arm, 70 is a pack conveying body, and 80 is a fruit and vegetable conveying body of the automatic fruit and vegetable sorting device.

The fruit vegetable holding device 1 is a means for holding strawberries S. The fruit vegetable holding device 1 may be one that has been described in the embodiment of the fruit vegetable holding method and fruit vegetable holding device. As the fruit vegetable holding device 1 has already been described, its description will be omitted here. Note that a fruit vegetable holding device other than that described in the embodiment may also be used.

The fruit and vegetable conveying body 40 is a means for conveying strawberries S. A belt conveyor or the like can be used as the fruit and vegetable conveying body 40. For example, a pool conveyor of an existing automatic fruit and vegetable sorting device 80 can be used as the fruit and vegetable conveying body 40.

The photographing means 50 is a means for photographing the strawberries S on the fruit vegetable transport body 40 and acquiring position information of the strawberries S. For example, a digital camera with a position information detection function can be used as the photographing means 50. The photographing means 50 is fixed above the fruit vegetable transport body 40. The position information obtained by the photographing means 50 is transmitted to the control device of the robot arm 60, and the robot arm 60 is adapted to operate based on the position information.

The robot arm 60 is a means for operating the fruit vegetable holding device 1. In this embodiment, an existing multi-joint robot is used as the robot arm 60. The fruit vegetable holding device 1 is mounted as a handle on the tip of the robot arm 60. In this embodiment, the robot arm 60 is capable of moving the fruit vegetable holding device 1 to at least a position where it can hold strawberries S on the fruit vegetable transport body 40 and a position where it can transfer the held strawberries S into packs P on the pack transport body 70. The robot arm 60 in this embodiment is capable of adjusting the orientation and angle of the fruit vegetable holding device 1 to match the orientation of the strawberries S.

The pack transport body 70 is a device for transporting packs P containing strawberries S. An existing belt conveyor or roller conveyor can be used as the pack transport body 70. A fixed pack placement table can also be used instead of the pack transport body 70. Although not shown in the figure, a stocker for storing packs P is provided near the pack transport body 70. The packs P used here are existing plastic packs filled with strawberries S.

The automatic fruit and vegetable sorting device 80 is a device that sorts fruit and vegetables into equal classes while they are being transported. The automatic fruit and vegetable sorting device 80 shown in FIG. 8 is provided with a pool conveyor that pools the fruit and vegetable that have already been sorted into equal classes into equal classes. In this embodiment, the pool conveyor is used as the fruit and vegetable transport body 40. Note that the automatic fruit and vegetable sorting device 80 can be any of various automatic fruit and vegetable sorting devices developed by the present applicant.

The fruit and vegetable packing apparatus of this embodiment packs strawberries S as follows.
(1) The imaging means 50 captures an image of the strawberries S being transported by the fruit vegetable transport body 40, and obtains position information of the strawberries S.
(2) Based on the acquired position information, the robot arm 60 is operated to move the fruit vegetable holding device 1 above the strawberry S to be held.
(3) The suction gripper 11 of the fruit vegetable holding device 1 is operated, and the strawberry S is held by the suction means 10.
(4) The adjustment plate 22c is lowered to elastically deform the gripping arm 21 in the gripping direction, and the strawberry S held by the suction means 10 is gripped by the gripping arm 21.
(5) The robot arm 60 is operated to move the fruit or vegetable holding device 1 holding the strawberries S to above the packs P on the pack transport body 70.
(6) The suction means 10 is lowered by the lifting means 14.
(7) The adjustment plate 22c is raised, and the gripping arm 21 releases the strawberry S from its grip.
(8) The operation of the suction gripper 11 is stopped, the suction means 10 is released from its hold on the strawberries S, and the strawberries S are placed in a designated location in the pack P.
(9) After that, the above process is repeated a predetermined number of times until a predetermined number of strawberries S are contained in the pack P.

The configurations described in each embodiment above are examples, and the fruit and vegetable holding method, fruit and vegetable holding device, fruit and vegetable packing method, and fruit and vegetable packing device of the present application can be changed to other configurations without exceeding the gist of each invention.

In addition to the strawberries S of the present invention , the device can also be used to hold and pack loquats and the like.

REFERENCE SIGNS LIST 1 Fruit and vegetable holding device 10 Suction means 11 Suction gripper 12 Absorption means 12a Shaft material 12b Slider 12c Suction pad 12d Absorption spring 12e Body portion 12f Upper fitting portion 12g Large diameter portion 12h Connection portion 12i Lower fitting portion 12j Fitting recess 12k Fitting portion 12m Narrowed portion 12n Widened portion 12p Air passage 13 Compressed air supply means (compressor)
14 Lifting means 15 Mounting seat 20 Grip means 21 Grip arm 21a Arm portion 21b Grip pad 22 Opening/closing means 22a Air cylinder 22b Rod 22c Adjustment plate 23 Fixed plate 30 Case 31 Main body portion 31a Body portion 31b Air diffusion portion 31c Air passage 31d Diffusion space 31e Diffusion plate 31f Anti-slip ring 32 Outer cover 32a Opening portion 32b Periphery 32c Solid portion 32d Hollow portion 32e First through hole 32f Second through hole 33 Air supply hose 34 Cushioning member 35 Compressed air supply means (compressor)
36 Connector 36a Screw portion 40 Fruit and vegetable conveyor 50 Photographing means 60 Robot arm 70 Pack conveyor 80 Fruit and vegetable automatic sorting device P Pack S Strawberry (fruit vegetable)

Claims (4)

In a fruit vegetable holding device for holding fruit vegetables,
The apparatus includes a suction means for sucking up the fruit and vegetables, and a gripping means for gripping the fruit and vegetables sucked up by the suction means,
The suction means includes a suction gripper and compressed air supply means for supplying compressed air to the suction gripper,
The gripping means includes a gripping arm for gripping a fruit vegetable, and an opening/closing means for opening and closing the gripping arm in a gripping direction and a release direction,
The opening and closing means includes an extension device and an adjustment plate provided on the extension device,
the adjusting plate has an inner space large enough to accommodate the gripping arm, and large enough not to contact the gripping arm when the adjusting plate is in the uppermost position, and large enough to contact the gripping arm when the adjusting plate is in the lowermost position;
the adjusting plate is disposed outside the gripping arm such that the gripping arm is received within the inner space;
When the telescopic device extends and the adjustment plate descends, the gripping arms close in a gripping direction to grip the fruit or vegetable, and when the telescopic device contracts and the adjustment plate rises, the gripping arms expand in a release direction to release the gripped fruit or vegetable.
When compressed air is supplied to the suction gripper by the compressed air supply means, the fruit or vegetable is sucked up by the suction gripper,
When the gripping arms are closed in the gripping direction by the opening/closing means, the fruit or vegetable sucked up by the suction means is held by the gripping arms , and when the gripping arms are expanded in the release direction by the opening/closing means, the fruit or vegetable gripped by the gripping arms is released.
A fruit and vegetable holding device characterized by the above. The fruit vegetable holding device according to claim 1 ,
The suction means is movable in the vertical direction.
A fruit and vegetable holding device characterized by the above. The fruit vegetable holding device according to claim 1 ,
The telescopic device is an air cylinder;
A fruit and vegetable holding device characterized by the above. In a fruit and vegetable packing device for packing a predetermined number of fruit and vegetables,
A fruit and vegetable carrier that transports fruit and vegetables;
An imaging means for imaging the fruit vegetables transported by the fruit vegetable transport body and acquiring position information of the fruit vegetables on the fruit vegetable transport body;
a robot arm that operates based on position information acquired by the imaging means;
The robot arm is provided with a fruit vegetable holding device according to any one of claims 1 to 3, which holds the fruit vegetables on the fruit vegetable conveyor and stores them in a pack.
A fruit and vegetable packing device characterized by the above.

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