JP2015160150A - sorting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To sort an appropriate article without changing a posture of the article.SOLUTION: A sorting apparatus 40 includes a flat belt type conveyer 50 which forms a conveyance line M0 for linearly conveying an article 100, and a rotating sorter 60 arranged above the flat belt type conveyer 50. The rotating sorter 60 includes a pulse motor 62 and more than one, for example four sorting arms 62, 62, ... mounted on a rotation shaft 62a of the pulse motor 62. The rotating sorter 60 selectively sorts the appropriate article 100 in response to weights Wx of the articles 100 conveyed on the conveyance line M0 to three sorting destination lines M1, M2, and M3. At that time, the sorting is carried out so as not to change, that is to maintain a posture of the article 100 before and after the sorting.

Description

  The present invention relates to a sorting apparatus, and more particularly, to a sorting apparatus that sorts articles conveyed on a linear conveyance line according to a sorting command.

  Conventionally, for example, this type of sorting device is disclosed in Patent Document 1. According to this prior art, the pulse motor is provided above the belt conveyor forming the transport line. This pulse motor is in a state where its own rotating shaft is stretched along the conveying direction of the article (object) by the belt conveyor. A plurality of sorting arms are radially attached to the rotation shaft of the pulse motor, and more specifically, the plurality of sorting arms at a pitch equal to a step angle that is a rotation angle at the time of inputting one pulse of the pulse motor. Is attached. When the motor controller that drives the pulse motor receives a sorting command from the identification device located upstream of the transport line, when the article corresponding to the sorting command is transported directly under the sorting arm, the pulse motor receives one pulse. Enter. As a result, the rotation axis of the pulse motor rotates by one pulse, that is, by one step angle, and accordingly the selection arm also rotates. Then, the rotating sorting arm feeds the article outward from the belt conveyor (a direction transversely across the conveying direction of the article by the belt conveyor), thereby realizing sorting. Although not disclosed in Patent Document 1, it is presumed that the sorted article is accommodated in an appropriate accommodating means such as a container or a hopper.

  Another conventional technique is disclosed in, for example, Patent Document 2. According to the second prior art, a motor is provided above the transport conveyor having the transport belt as in the first prior art. This motor is in a state where its own rotating shaft is extended along the conveying direction of the article (crop) by the conveying conveyor. A plurality of protruding blades are radially attached to the rotation shaft of the motor. The rotation shaft of the motor rotates in accordance with control by the controller, and accordingly, the ejection blade also rotates. And the articles on the transport conveyor (transport belt) are sent out from the transport conveyor to the outside by the rotating ejecting blades, and the selection is realized. In the second prior art, the articles are selectively sorted in either the left or right direction intersecting the transport direction by selectively rotating the motor rotation axis in either the forward or reverse direction. . In this way, by selectively sorting the articles in either the left or right direction of the transport direction, fine sorting is realized (compared to a configuration in which sorting is performed only in one direction). Then, the sorted articles are accommodated in a container or a hopper.

Japanese Utility Model Publication No. 63-30743 JP 2008-23422 A

  By the way, there is a case where it is desired to automatically perform an appropriate process such as a printing process or a packaging process on the sorted article. In order to meet this requirement, it is necessary to transport the article after sorting to the next process line for automatically performing appropriate processing such as printing and packaging while maintaining the same posture as before sorting. . However, in any of the above-described prior arts, since the articles after sorting are accommodated in the accommodating means such as a container or a hopper, that is, the posture before sorting cannot be maintained, so that the request cannot be met.

  Accordingly, the object of the present invention is to provide a novel sorting apparatus that is extremely suitable for transporting the sorted articles to the next process line for automatically performing appropriate processing such as printing processing and packaging processing. And

  In order to achieve this object, the sorting apparatus of the present invention is provided with a sorting target line for linearly conveying an article to be sorted, and a sorting destination of the article provided so as to run in parallel with the sorting target line. A sorting destination line, a sorting execution unit that is provided above the sorting target line and handles sorting of the articles conveyed by the sorting target line from the sorting target line to the sorting destination line, and the articles are transported from the sorting target line. Sorting control means for controlling the sorting execution means when receiving a sorting command for instructing the line to sort. Further, the sorting execution means has a rotating shaft extending along the conveying direction of the article by the sorting target line and rotating the rotating shaft according to the rotation control signal, and the radial direction of the rotating shaft of the rotating drive means An arm that is attached to the rotating shaft so as to extend along the axis and rotates along with the rotating shaft to contact the article and move the article from the sorting target line to the sorting destination line to perform sorting. I have. In addition, the selection control means generates a rotation control signal based on the setting means for accepting the setting of the parameter for determining the operation mode of the arm according to the rotation position of the arm and the parameter when the selection instruction is received. Rotation control means. Then, parameters according to the sorting situation including the shape and size of the article and the conveyance speed by the sorting target line are set so that the posture of the article remains unchanged before and after the sorting.

  That is, according to the present invention, the article is linearly conveyed by the selection target line. And the linear selection destination line used as the selection destination of the said goods is provided so that it may run in parallel with this selection object line. Further, a sorting execution means is provided above the sorting target line. The sorting execution means is responsible for sorting the articles conveyed by the sorting target line from the sorting target line to the sorting destination line, and its operation is controlled by the sorting control means. The sorting control unit controls the sorting execution unit when receiving a conveyance command instructing to sort an article conveyed by the conveyance target line from the conveyance target line to the conveyance destination line. Specifically, the sorting execution unit includes a rotation driving unit having a rotation axis extending along the conveying direction of the article by the selection target line, and the rotation driving unit extending along the radial direction of the rotation axis of the rotation driving unit. And an arm attached to the rotating shaft. The sorting control unit includes a rotation control unit that generates a rotation control signal for rotating the rotation shaft of the rotation driving unit when the sorting command is received. At the same time, the sorting control means sets parameters for determining the operation mode (for example, rotation speed) of the arm according to the rotation position of the arm that rotates along with the rotation axis of the rotation driving means, for example, the rotation speed. Setting means for receiving is provided. Here, upon receiving the above-described sorting command, the rotation control means generates a rotation control signal based on the parameter. Then, the rotation driving means rotates the rotation shaft according to the rotation control signal. Along with this, the arm rotates. This rotating arm contacts the article. Then, by continuing to rotate while the arm is in contact with the article, the article is moved from the sorting target line to the sorting destination line, that is, sorting is realized. Parameters according to the sorting situation including the shape and size of the article and the conveying speed of the sorting target line are set so that the posture of the article remains unchanged before and after the sorting. Thereby, the selection of the article is realized without changing the attitude of the article.

  In addition, for example, if the rotation speed of the arm that rotates with the rotation shaft contacts the article is too large, the article may be bounced off due to the impact, and the attitude of the article may collapse, There are various inconveniences such as the article not being moved to the intended position on the sorting line. In order to avoid this inconvenience, it is desirable that the rotation speed of the arm is reduced immediately before the arm comes into contact with the article, that is, the rotation control means desirably generates the rotation control signal so as to do so.

  In the present invention, by continuing to rotate while the arm is in contact with the article, the contact state of the arm with the article is released, that is, the arm is separated from the article. The distance between the sorting target line and the sorting destination line may be determined by the position of the article when the arm is separated from the article.

  Also in this case, for example, if the rotational speed of the arm when the arm is separated from the article is too high, the article is jumped off by the impact, and the same inconvenience as described above occurs. In order to avoid this inconvenience, it is desirable that the rotation speed of the arm is reduced immediately before the arm is separated from the article, that is, the rotation control means desirably generates the rotation control signal so as to do so.

  Further, the distance between the selection target line and the selection destination line may be determined as follows. That is, the rotation of the arm is temporarily stopped in a state where the arm is in contact with a predetermined portion of the article, that is, the rotation control means generates a rotation control signal so as to be so. Thus, even when the rotation of the arm is temporarily stopped in a state where the arm is in contact with a predetermined portion of the article, the contact state of the arm with the article is released by continuing to convey the article, That is, the arm is separated from the article. The mutual distance between the sorting target line and the sorting destination line may be determined by the position of the article when the arm moves away from the article in a state where the rotation of the arm is temporarily stopped.

  In this case, if the rotation speed of the arm immediately before the arm rotation is temporarily stopped is too high, the article is jumped off by the impact, and the same inconvenience as described above occurs. In order to avoid this inconvenience, it is desirable that the rotation speed of the arm is reduced immediately before the rotation of the arm is temporarily stopped, that is, the rotation control means preferably generates a rotation control signal so as to do so. .

  In addition, in the present invention, two sorting destination lines may be provided across the sorting target line. In this case, when the sorting control means receives a sorting command instructing to sort the articles conveyed by the sorting target line into one of these two sorting destination lines, the sorting transport means The sorting execution means is controlled so as to be sorted into one sorting destination line. Then, when receiving a sorting command instructing to sort the article conveyed by the sorting target line to the other sorting destination line, the article conveyed by the sorting target line is sorted to the other sorting destination line. In addition, the sorting execution means is controlled. According to this configuration, the articles conveyed by the sorting target line are selectively sorted into one of the two sorting destination lines. As a result, the number of sorting destinations of articles is increased, in other words, the sorting destination of the articles is subdivided.

  In the present invention, one or more combined lines that are one or more selection destination lines that are also used as the selection target line may be further provided. In this case, a sorting execution unit is provided above the sorting target line and each of the one or more combined lines. The sorting control unit individually controls each sorting execution unit. According to this configuration, the dual-purpose line functions as a sorting destination line that accepts articles sorted from the sorting target line, and also serves as a sorting target line that sorts the article into another sorting destination line (including a dual-purpose line). Also works. Thereby, the further increase of the sorting destination of articles | goods is aimed at, and the further subdivision of the sorting destination of the said articles | goods is aimed at.

  As described above, according to the present invention, selection of an article can be realized without changing the attitude of the article, that is, while maintaining the attitude. Therefore, it is extremely suitable for transporting the sorted articles to the next process line for automatically performing appropriate processing such as printing processing and packaging processing.

It is the schematic of the structure of the whole automatic weight sorter based on one Embodiment of this invention. It is the schematic which looked at the sorter mainly in the embodiment from the upper part. It is the schematic which looked at the sorting device from the downstream of the conveyance direction of an article. It is a figure which expands and shows the front-end | tip part of the arm of the sorting device in the embodiment. It is a block diagram which shows roughly the structure of the control apparatus in the embodiment. It is an illustration figure for demonstrating the selection method of the articles | goods by the selection apparatus. It is another illustration figure for demonstrating the selection point. It is another illustration figure for demonstrating the selection point. It is an illustration figure which shows the state of FIG. 8 geometrically. It is an illustration figure which shows the state of FIG. 6 geometrically. It is a graph which shows transition of the rotational speed of the arm in the embodiment. It is a figure which shows notionally the content of the control table for controlling the rotational speed of the selection arm in the embodiment. It is a flowchart which shows roughly the content of the selection task which the arithmetic control circuit of the control apparatus performs. It is an illustration figure which shows another example of the embodiment geometrically. It is the schematic which shows another example of the embodiment. FIG. 16 is a schematic view of the sorting device in FIG. 15 as viewed from the downstream side in the article conveyance direction. It is the schematic which shows another example of the embodiment.

  An embodiment of the present invention will be described by taking an automatic weight sorter 10 as an example.

  As shown in FIG. 1, the automatic weight sorter 10 according to this embodiment includes a weighing device 20, a transport device 30, and a sorting device 40 arranged in series with each other. As will be described later, the weighing device 20, the transport device 30, and the sorting device 40 form a transport line M0 that transports the articles 100 to be sorted linearly and continuously. In the process of transporting the article 100 by the transport line M0, the weight of the article 100 is measured, and the article 100 is selected based on the result. In FIG. 1, the article 100 is conveyed from the left side to the right side. That is, the left side of FIG. 1 corresponds to the upstream side of the transport line M0, and the right side of FIG. 1 corresponds to the downstream side of the transport line M0. Further, the article 100 referred to here is, for example, a substantially rectangular parallelepiped having a constant outer dimension.

  The weighing device 20 is a so-called weighing conveyor. Specifically, the weighing device 20 supports, for example, a flat belt type conveyor 22 as a first conveying means that forms a part of the above-described conveyance line M0, and the flat belt type conveyor 22 and the flat belt type conveyor 22. For example, a load cell 24 as load detecting means for detecting a load applied to itself via the belt type conveyor 22 is provided. The belt driving motor 26 of the flat belt type conveyor 22 is, for example, a DC motor.

  The conveyance device 30 is installed on the downstream side of the installation position of the weighing device 20 in the conveyance line M0, that is, downstream of the measurement device 20. Specifically, the conveying device 30 has, for example, a flat belt type conveyor 32 as the second conveying means. The flat belt type conveyor 32 is arranged in series in the subsequent stage of the flat belt type conveyor 22 of the weighing device 20 so as to form another part following a part of the conveying line M0 formed by the weighing device 20. Yes. The belt driving motor 34 of the flat belt type conveyor 32 of the conveying device 30 is also a DC motor similar to that of the weighing device 20.

  The sorting device 40 is disposed downstream of the installation position of the transport device 30 in the transport line M0, that is, downstream of the transport device 30. The sorting device 40 includes, for example, a flat belt type conveyor 50 as third conveying means, and a rotary sorter 60 as sorting means provided above the flat belt type conveyor 50.

  Among these, the flat belt type conveyor 50 is serially connected to the subsequent stage of the flat belt type conveyor 32 of the transfer device 30 so as to form another part following the transfer line M0 formed by the transfer device 30. Are lined up. The belt driving motor 52 of the flat belt type conveyor 50 is also a DC motor similar to that of the weighing device 20 and the conveying device 30, respectively.

  Referring now to FIG. 2, the above-described transport line M0 is flat in the direction in which the center of the transport line M0 horizontally crosses the transport direction of the article 100 by the flat belt conveyor 50 of the sorting device 40 (the left-right direction in FIG. 2). It is formed so as to be positioned substantially at the center of the belt type conveyor 50 (the carrier side belt). The same applies to the flat belt conveyor 22 of the weighing device 20 and the flat belt conveyor 32 of the transport device 30. That is, the transport line M0 has its center in the direction horizontally traversing the transport direction of the article 100 by the flat belt conveyor 22 of the weighing device 20 and the flat belt conveyor 32 of the transport device 30, respectively. 22 and 32 (each of the carrier side belts) are formed so as to be positioned approximately at the center. Further, as can be seen from FIG. 2, the dimension of the flat belt type conveyor 50 (or the belt) in the direction horizontally across the conveying line M0 is the width dimension of the flat belt type conveyor 32 (or belt) of the conveying device 30. The size is larger than the size, and more specifically, is large enough to form three sorting destination lines M1, M2 and M3, which will be described later. Although not shown, the width dimension of the flat belt type conveyor 22 (the belt) of the weighing device 20 is substantially the same as the width dimension of the flat belt type conveyor 32 (the belt) of the conveying apparatus 30.

  The rotation sorter 60 is provided above the flat belt type conveyor 50 as described above, and more specifically, is provided at a position closer to the upstream side of the transport line M0. As shown in FIG. 3, the rotary sorter 60 includes, for example, a pulse (stepping) motor 62 serving as a rotation driving means, and one or more, for example, four sorters attached to a rotary shaft 62 a of the pulse motor 62. Arms 64, 64,...

  The pulse motor 62 is in a state where its own rotation shaft 62a is extended in a direction along the transport line M0, and more specifically, the center of the rotation shaft 62a is located immediately above the center of the transport line M0. Here, the rotating shaft 62a of the pulse motor 62 is in a state directed toward the downstream side of the transport line M0, but may be directed toward the upstream side of the transport line M0. The pulse motor 62 is firmly supported by an appropriate support member (not shown).

  The selection arms 64, 64,... Have the same specifications, and each has a rod-like arm body 64a attached to the rotary shaft 62 so as to extend along the radial direction of the rotary shaft 62a of the pulse motor 62. And a substantially rectangular thick plate-like contact plate 64b attached to the tip of the arm main body 64a. More specifically, the arm bodies 64a, 64a,... Are attached to the rotary shaft 62a at regular intervals along the circumferential direction of the rotary shaft 62a of the pulse motor 62, that is, at 90 ° intervals. Is attached to the rotary shaft 62a via an appropriate attachment member 64c. Each of the contact plates 64b has its both main surfaces along the direction parallel to the transport line M0, and both the main surfaces along the extending direction of the arm body 64a to which it is fixed. The side edges on the leading ends (opposite to the side attached to the arm main body 64a) of each of the main surfaces are aligned in a direction parallel to the transport line M0.

  As will be described later, each sorting arm 64, 64,... Rotates with the rotation shaft 62 a of the pulse motor 62. In the course of rotation of each of the selection arms 64, 64,..., Strictly speaking, the contact plate 64b of any (unspecified) selection arm 64 is strictly one of the two main surfaces of the contact plate 64b. Is in contact with the article 100. In order to alleviate the impact at the time of the contact, the contact plate 64b includes, as shown in FIG. 4, for example, two substantially rectangular thin plate-like surface plates 64e and 64e. It is said that the structure is sandwiched between the two. Further, the outer surfaces of the surface plates 64e and 64e, which are both main surfaces of the contact plate 64b, are low friction surfaces having a relatively small friction coefficient, and the friction coefficient is the same as that of the flat belt conveyor 50. It is much smaller than the friction coefficient of the article mounting surface (belt surface). For this reason, each surface plate 64e and 64e itself is formed of a low friction material such as Teflon (registered trademark), or the surface thereof has a low friction property such as a DLC (Diamond-Like Carbon) film. Covered by a coating. The sandwich structure including these surface plates 64e and 64e is integrated by an appropriate coupling member 64f coupled to one side edge thereof, and is further attached to the arm body 64a via the coupling member 64f. .

  1 to 3 again, a disc-shaped slit plate 66 is further concentrically attached to the rotating shaft 62a of the pulse motor 62 with respect to the rotating shaft 62a. The slit plate 66 is provided with four elongated slits 66a, 66a,... Extending radially along the radial direction of the slit plate 66. More specifically, the slits 66a, 66a,... Are provided at regular intervals along the circumferential direction of the slit plate 66, that is, at intervals of 90 °, and particularly as shown in FIG. When viewed from the extending direction of the rotation shaft 62a of the pulse motor 62 (downstream of the transport line M0), the selection arms 64, 64,... (Each arm main body 64a, 64a,...) Overlap. The slit plate 66 constitutes so-called arm position detecting means for detecting the rotational position of each of the sorting arms 64, 64,... Strictly, in cooperation with the photoelectric sensor 68 described below, the arm position detecting means. Configure.

  That is, each of the sorting arms 64, 64,... Rotates along with the rotating shaft 62a of the pulse motor 62 as described above, and the slit plate 66 also rotates accordingly. The photoelectric sensor 68 is directed to a certain point on the rotation locus of each slit 66a, 66a,... Drawn by the rotation of the slit plate 66. In this state, the photoelectric sensor 68 is supported by appropriate support means (not shown). ing. In addition, as shown in FIG. 3, the photoelectric sensor 68 is configured so that each of the sorting arms 64, 64,... (Each arm main body 64 a, 64 a,...) Has a 45 ° angle with respect to the horizontal direction. When in the stretched state, any one of the slits 66a, for example, the slit 66a positioned at the upper right in FIG. 3 is detected. As the photoelectric sensor 68, for example, a transmission type sensor composed of a pair of projector 68a and light receiver 68b is employed. As shown in FIGS. 1 and 2, the projector 68a and the light receiver 68b sandwich the slit plate 66 and, strictly speaking, sandwich a certain point described above on the rotation trajectory of each slit 66a, 66a,. Thus, they are provided so as to face each other.

  In addition, an article detection means for detecting an article 100 conveyed from the flat belt conveyor 32 of the conveying device 30 to the flat belt conveyor 50 slightly above the vicinity of the upstream end of the flat belt conveyor 50. The article sensor 70 is provided. The article sensor 70 is also a transmission type photoelectric sensor including, for example, a pair of projector 70a and light receiver 70b. The pair of light projectors 70a and light receivers 70b are opposed to each other across a space slightly above the flat belt type conveyor 50 in the width direction of the flat belt type conveyor 50, as shown particularly in FIGS. Is provided.

  Furthermore, the automatic weight sorter 10 according to the present embodiment includes a control device 80 as control means as shown in FIG. The control device 80 is connected to the belt driving DC motor 26 of the weighing device 20, the belt driving DC motor 34 of the transport device 30, the belt driving DC motor 52 and the pulse motor 62 of the sorting device 40. The control device 10 is also connected to the load cell 24 of the weighing device 20, the photoelectric sensor 68 of the sorting device 40, and the article sensor 70.

  Specifically, the control device 80 includes an analog processing circuit 82 that receives an analog load signal that is an output signal of the load cell 24. The analog processing circuit 82 performs appropriate analog processing such as amplification processing and analog filtering processing on the analog load signal input from the load cell 24. Then, the post-analog processing load signal after the analog processing is input to the A / D conversion circuit 84. The A / D conversion circuit 84 converts the post-analog processing load signal input from the analog processing circuit 82 into a digital load signal. The converted digital load signal is input to an arithmetic control circuit 86 as control means.

  The arithmetic control circuit 86 performs appropriate digital filter processing such as moving average processing on the digital load signal input from the A / D conversion circuit 84. Then, based on the post-digital processing load signal after the digital filter processing, strictly after the digital processing when the article is placed on the flat belt type conveyor 22 (the carrier side belt) of the weighing device 20 Based on the load signal, the weight Wx of the article 100 is obtained. Further, the arithmetic control circuit 86 classifies the article 100 into three weight ranks Rx, for example, R1, R2, and R3, based on the obtained weight Wx of the article 100, and performs so-called ranking. Based on the weight rank Rx of the ranked article 100, the pulse motor 62 of the rotary sorter 60 of the sorting device 40 is controlled. Strictly speaking, a control signal for that purpose is sent to the drive circuit 88 for the pulse motor 62. To enter. Based on a control signal input to the drive circuit 88 for the pulse motor 62, a pulse signal as a drive signal is supplied from the drive circuit 88 to the pulse motor 62. When controlling the pulse motor 62, the arithmetic control circuit 86 receives an input of an arm position signal, which is an output signal of the photoelectric sensor 68, and selects each of the sorting arms 64, attached to the rotating shaft 62 a of the pulse motor 62. 64,... Are recognized. At the same time, upon receiving an input of an article detection signal that is an output signal of the article sensor 70, it is recognized that the article 100 has been conveyed from the flat belt conveyor 32 of the conveying device 30 to the flat belt conveyor 50 of the sorting device 40. To do.

  In addition, the arithmetic control circuit 86 controls the belt driving DC motor 26 of the weighing device 20, the belt driving DC motor 34 of the conveying device 30, and the belt driving DC motor 52 of the sorting device 40, and strictly speaking, for that purpose. Control signals are input to the individual drive circuits 90, 92 and 94 for the DC motors 28, 36 and 54, respectively. Strictly speaking, these DC motors 28, 36 and 54 rotate at the same rotational speed (number of rotations) with each other, strictly speaking, the flat belt type conveyor 22 of the weighing device 20, the flat belt type conveyor 32 of the conveying device 30 and the sorting device. Control is performed so that the belts of the 40 flat belt conveyors 50 travel at the same traveling speed Vb.

  Although not shown in detail, the arithmetic control circuit 86 includes, for example, a CPU (Central Processing Unit) as arithmetic means and a memory circuit as storage means in which a control program for controlling the operation of the CPU is stored. ,have. Then, when the CPU operates according to the control program stored in the memory circuit, each processing of the arithmetic control circuit 86 including the above-described digital filter processing is executed. The arithmetic control circuit 86 also receives various information according to the control by the arithmetic control circuit 86, for example, an operation key 96 as command input means for inputting various instructions to the arithmetic control circuit 86 in response to an external operation. For example, a display 98 is connected as information output means for outputting. The operation keys 96 and the display 98 may be integrated with each other, for example, a touch screen.

  Now, according to the automatic weight sorter 10 according to the present embodiment, automatic weight sorting is performed as follows.

  That is, as described above, the article 100 to be sorted is transported linearly and continuously by the transport line M0, that is, in the order of the weighing device 20, the transport device 30, and the sorting device 40. In this process, first, the weight Wx of the article 100 is measured by the weighing device 20. Strictly speaking, the weight Wx of the article 100 is obtained based on the post-digital processing load signal when the article 100 is placed on the flat belt conveyor 22 of the weighing device 20 as described above. The article 100 after the weight measurement by the weighing device 20 is transported to the transport device 30 and further transported to the sorting device 40.

  In parallel with this, the weight Wx of the article 100 is ranked immediately before the article 100 after the weight measurement is conveyed to the sorting device 40. For this ranking, two boundary weight values W1 and W2 (W1 <W2) having different sizes are preset. For example, when the weight Wx of the article 100 is within the range between these two boundary weight values W1 and W2 (W1 ≦ Wx ≦ W2), the article 100 is ranked in the first rank R1. If the weight Wx of the article 100 is smaller than the lower boundary weight value W1, the article 100 is ranked in the second rank R2. On the other hand, when the weight Wx of the article 100 is larger than the upper boundary weight value W1, the article 100 is ranked in the third rank R3. After ranking is performed in this manner, the ranked article 100 is conveyed to the sorting device 40.

  The article 100 conveyed to the sorting device 40 is detected by the article sensor 70. Then, the article 100 has three sorting destination lines M1, provided on the flat belt conveyor 50 (the carrier side belt) of the sorting device 40 based on its own weight rank Rx (R1, R2 or R3). It is selectively sorted into either M2 or M3.

  As shown in FIGS. 2 and 3, these three sorting destination lines M1, M2 and M3 are parallel to each other along the transport line M0 and at a distance from each other in the direction horizontally across the transport line M0. Is provided. One of them, for example, the first sorting destination line M1 at the center is on the transport line M0. In other words, the transport line M0 also serves as the first sorting destination line M1. The other two sorting destination lines M2 and M3 are provided symmetrically with respect to the first sorting destination line M1 across the first sorting destination line M1 (conveyance line M0). It should be noted that the distance La between the first sorting destination line M1 and each of the other two sorting destination lines M2 and M3 in the direction horizontally across the transport line M0 is at least the dimension of the article 100 in the same direction, that is, the width dimension. Larger than Dw (see FIG. 9) (La> Dw). Further, the second sorting destination line M2 is provided on the right side of the first sorting destination line M1 when the sorting device 40 is viewed from the downstream side of the transport line M0, and the third sorting destination is located on the left side of the first sorting destination line M1. A line M3 is provided.

  Here, for example, the article 100 ranked in the first rank R1 is sorted into the first sorting destination line M1, as indicated by the reference numeral 100a in each of FIGS. 2 and 3, in other words, transported. It is conveyed on the line M0 as it is, and as a result passes below the rotary sorter 60 as it is. Then, the article 100 ranked in the second rank R2 is sorted into the second sorting destination line R2 as indicated by the reference numeral 100b, and in detail, while passing under the rotary sorter 60, Sorted to the second sorting destination line R2. On the other hand, the article 100 ranked in the third rank R3 is sorted into the third sorting destination line R3 as indicated by the reference numeral 100c, and more specifically, while passing under the rotary sorter 60, Sorted to the third sorting destination line R3.

  Specifically, for example, when the article 100 is of the first rank R1, the rotation sorter 60 does not operate, that is, the rotation shaft 62a of the pulse motor 62 does not rotate. At this time, as shown in FIG. 3, the rotary sorter 60 is in a state in which each of the sorting arms 64, 64,... Is extended in a direction that forms an angle of 45 ° with respect to the horizontal direction. Waiting. The article 100 passes directly below the rotary sorter 60 in the standby state, and as a result, is sorted into the first transport destination line M1.

  For example, when the article 100 is ranked in the second rank R2, the rotary sorter 60 operates, and more specifically, the rotary shaft 62b of the pulse motor 62 sees this from the downstream side of the transport line M0. Rotate counterclockwise. Along with this, the sorting arms 64, 64,... Rotate. In this process, the sorting arm 64 at the lower left in FIG. 3 is in contact with the article 100 as shown in FIG. At this time, the article 100 is at a position denoted by a symbol A in FIG. The sorting arm 64 (strictly, one main surface of the contact plate 64b) is in contact with at least half of the side edge (corner portion) along the conveyance line M0 of the article 100. As the sorting arm 64 continues to rotate with the sorting arm 64 in contact with the article 100 in this way, the article 100 slides on the belt of the flat belt type conveyor 50 and the sorting arm 64 (the contact of the sorting arm 64). It moves toward the second sorting destination line M2 while rubbing each other with the main surface of the contact plate 64b. At the same time, the article 100 is conveyed by the flat belt conveyor 50, that is, moves in a direction along the conveyance line M0. Further, by continuing to rotate while the sorting arm 64 is in contact with the article 100, the sorting arm 64 (the tip) does not reach the article 100 as shown in FIG. 8, that is, the sorting arm 64 is separated from the article 100. . The article 100 at the moment when the sorting arm 64 is separated from the article 100 is at a position labeled B in FIG. The selection arm 64 at the same moment is in contact with at least half or more of the side edge along the conveyance line M0 of the article 100, as in the case where the article 100 is in the position labeled A above. Is in a state. Further, the position of the second sorting destination line M2 is determined by the position of the article 100 at the moment when the sorting arm 64 leaves the article 100, that is, the first sorting destination line M1 and the second sorting line in the direction crossing the transport line M0. The mutual distance La with the previous line M2 is determined. As a result, the article 100 is sorted into the second sorting destination line M2. Note that the sorting arm 64 continues to rotate even after leaving the article 100. When all the sorting arms 64, 64,... Including the sorting arm 64 are in a state of extending in a direction that forms an angle of 45 ° with respect to the horizontal direction, strictly speaking, the photoelectric sensor described above is used. When one of the slits 66a, 66a,... Of the slit plate 66 is detected by 68, the rotation of the selection arms 64, 64,... Is stopped, that is, the rotation of the rotating shaft 62a of the pulse motor 62 is stopped. Is done. As a result, the rotation sorter 60 enters the standby state shown in FIG. 3, that is, returns to the standby state.

  On the other hand, when the article 100 is ranked in the third rank R3, the rotating shaft 62b of the pulse motor 62 rotates clockwise as viewed from the downstream side of the transport line M0. Thereafter, the article 100 is sorted into the third sorting destination line M3 in the same manner as when the article 100 is ranked in the second rank R2. After this sorting, the rotary sorter 60 returns to the standby state.

  By the way, the distance La between the first sorting destination line M1 and the second sorting destination line M2 is, for example, the length dimension of the sorting arm 64 (from the center of the rotating shaft 62a of the pulse motor 62 to the sorting arm 64). The length Lb of the sorting arm 64 is determined as follows although it is determined by the dimension Lb to the tip).

  That is, in FIG. 9 which geometrically represents the state of FIG. 8, the center of the rotation shaft 62a of the pulse motor 62 is the origin O, and two axes U and V passing through the origin O are hypothesized. The U-axis of these two axes U and V is a straight line that passes through the origin O and extends in a direction that forms an angle of 45 ° with respect to the horizontal direction, and further passes through the installation position of the photoelectric sensor 68. is there. On the other hand, the V axis is a straight line passing through the origin O and orthogonal to the U axis. In addition, the contact point between the sorting arm 64 and the article 100 at the moment when the sorting arm 64 leaves the article 100 is P, and the lowest point of the tip of the sorting arm 64 that rotates along with the rotation shaft 62a of the pulse motor 62. Is Q, and R is the midpoint of the line segment PQ that has these two points as endpoints. Then, let S be the intersection of a vertical line passing through the point P and a horizontal line passing through the point Q. In FIG. 9, a broken-line circle labeled E is a locus of the tip of the sorting arm 64 drawn by the rotation of the sorting arm 64.

  Here, since the line segment OQ and the line segment PS are parallel to each other (OQ‖PS), ∠OQP and ∠QPS are equivalent to each other (∠OQP = ∠QPS). Therefore, ΔOQR and ΔQPS are Are similar to each other (ΔOQR∽ΔQPS). From this, the relationship of the following formula 1 is established.

<< Formula 1 >>
OQ / QR = QP / PS

  Then, from this equation 1, the following equation 2 is derived.

<< Formula 2 >>
OQ = QR · QP / PS = QP ² / (2 · PS)
＝ QR = QP / 2

Here, the length of the line segment OQ corresponds to the length dimension Lb of the sorting arm 64, that is, OQ = Lb. And if the height from the upper surface of the flat belt type conveyor 50 (carrier side belt) to the point Q is Lc, and the height dimension of the article 100 is Dh, the length of the line segment PS is PS = Dh−Lc. Become. Furthermore, since the line segment QS is QS = La− (Dw / 2), the length of the line segment QP is QP = [(Dh−Lc) ² + {La− (Dw / 2)} ² ] ^{1 / 2} . As a result, Expression 2 is expressed as the following Expression 3.

<< Formula 3 >>
Lb = [(Dh−Lc) ² + {La− (Dw / 2)} ² ] / {2 · (Dh−Lc)}

  Based on Formula 3, the length dimension Lb of the sorting arm 64 is determined. The length dimension Lb of the sorting arm 64 is the same in the relationship with the mutual distance La between the first sorting destination line M1 and the third sorting destination line M3.

  Further, according to the present embodiment, the article 100 is sorted without changing its own posture, that is, while maintaining the posture, regardless of which of the sorting destination lines M1, M2, and M3 is sorted. . In particular, when the article 100 is sorted into either the second sorting destination line M2 or the third sorting destination line M3, the sorting arm for moving the article 100 as described with reference to FIG. Since 64 (the contact plate 64b) is always in contact with at least half of the side edge of the article 100, it is possible to perform selection while maintaining the posture of the article 100. Although the rotational speed Va of the sorting arm 60 is related to the realization of sorting while maintaining the posture of the article 100, the rotational speed Va of the sorting arm 60 is controlled as follows. Strictly speaking, it is also necessary that the center of gravity of the article 100 is positioned substantially at the center of the article 100. However, in the present embodiment, the condition regarding the center of gravity of the article 100 is also satisfied. .

  For example, consider a case where the article 100 is sorted into the second sorting destination line M2. In this case, as described above, the article 100 is sorted by the sorting arm 64 at the lower left of FIG. 3, that is, the sorting arm 64 located at the lower left portion of the U-axis shown in FIG. The sorting arm 64 starts rotating when the article 100 is detected by the article sensor 70 described above, strictly speaking, when an article detection signal indicating that is obtained, and strictly speaking, the rotation of the pulse motor 62 is started. It begins to rotate with the shaft 62a. The sorting arm 64 comes into contact with the article 100 as shown in FIG. 6 only when the article 100 is conveyed to the position A shown in FIG. In FIG. 10, which is a geometrical representation of FIG. 6, when the rotational position of the sorting arm 64 is K, the sorting arm 64 detects the article 100 by the article sensor 70 and the article 100 is shown in FIG. While being transported to the position A, it rotates from the lower left portion of the U-axis to the position K.

  Here, referring to FIG. 7 again, the dimension of the article 100 in the direction along the conveyance line M0, that is, the length dimension, is defined as Dd. The distance from the detection position of the article sensor 70 in the same direction to the center of one main surface of the contact plate 64b that is the contact surface of the sorting arm 64 with the article 100 is Le, and the contact plate 64b in the same direction. Let Lf be the dimension of one main surface. Then, a time T <b> 1 that is required from when the article 100 is detected by the article sensor 70 to when the article 100 is transported to the position A is expressed by the following Expression 4. In Equation 4, Vb is the belt traveling speed of the flat belt conveyor 50 as described above, in other words, the conveying speed of the article 100 by the flat belt conveyor 50.

<< Formula 4 >>
T1 = {Le + (Dd−Lf) / 2} / Vb

  Accordingly, from when the article 100 is detected by the article sensor 70 to when the article 100 is conveyed to the position A, that is, from when the sorting arm 64 rotates to the position K from the lower left portion of the U-axis that is the starting position. The rotation speed Va of the sorting arm 64 is expressed by the following equation (5). Note that θ1 in Equation 5 is a relative angle between the lower left portion of the U-axis and the position K in the state of FIG. The unit of the rotational speed Va expressed by this equation 5 is [rad / s].

<< Formula 5 >>
Va = θ1 · π / (180 · T1)

The angle θ1 in Equation 5 is obtained as follows. That is, in FIG. 10, when the intersection of the vertical line passing through the origin O and the upper surface of the article 100 is F, the length of the line segment OF is OF = Lb− (Dh−Lc). When the contact point between the sorting arm 64 and the article 100 is G, the length of the line segment FG is FG = Dw / 2. If the relative angle of the position K with respect to the vertical line passing through the origin O is θ2, the angle θ2 is θ2 = tan ⁻¹ [(Dw / 2) / {Lb− (Dh−Lc)}]. . Therefore, the angle θ1 in Expression 5 is obtained by the following Expression 6.

<< Formula 6 >>
θ1 = 45 ° −θ2
where θ2 = tan ⁻¹ [(Dw / 2) / {Lb− (Dh−Lc)}]

  However, if the rotation speed Va of the sorting arm 64 when the sorting arm 64 reaches the position K in FIG. 10, that is, when the sorting arm 64 abuts on the article 100, the article 100 is caused by the impact. Various inconveniences such as the product 100 being spun off and the posture of the article 100 collapsed, or the article 100 is not moved to the intended position on the second sorting destination line M2, which is the sorting destination. Arise. In order to avoid this inconvenience, the rotational speed Va of the sorting arm 64 is appropriately reduced immediately before the sorting arm 64 comes into contact with the article 100, that is, immediately before the sorting arm 64 reaches the position K.

  That is, the rotation speed Va represented by the above-described Expression 5 is the average speed V1 until the sorting arm 64 moves from the lower left portion of the U axis to the position K in FIG. Accordingly, during this period, the sorting arm 64 is driven to rotate at an appropriate rotation speed Va on condition that the average speed V1 is observed.

  Subsequently, from when the sorting arm 64 abuts on the article 100 as shown in FIG. 6 until the sorting arm 64 moves away from the article 100 as shown in FIG. 8, that is, the sorting arm 64 moves from the position K in FIG. Attention is paid to until the position Z is rotated. During this time, the article 100 moves from the position A to the position B as shown in FIG. 7, that is, moves by a distance Lf in the direction along the transport line M0. The time T2 required for the article 100 to move from the position A to the position B is expressed by the following formula 7.

<< Formula 7 >>
T2 = Lf / Vb

  Therefore, the rotation speed Va of the sorting arm 64 until the sorting arm 64 rotates from the position K in FIG. 10 to the position Z in FIG. 9 is expressed by the following Expression 8. Note that θ3 in Equation 8 is a relative angle of the position Z with respect to a vertical line passing through the origin O when in the state of FIG. The unit of the rotational speed Va expressed by the equation 7 is also [rad / s].

<< Formula 8 >>
Va = (θ2 + θ3) · π / (180 · T2)

  The angle θ3 in Equation 5 is obtained as follows. That is, in FIG. 9, the following formula 9 is established.

<< Formula 9 >>
θ3 / 2 = sin ⁻¹ (QR / OQ)
∴ θ3 = 2 · sin ⁻¹ (QR / OQ)

Here, the length of the line segment OQ corresponds to the length dimension Lb of the sorting arm 64 as described above, that is, OQ = Lb. The length of the line segment QR is half the length of the line segment QP (QR = QP / 2), and the length of the line segment QP is QP = [(Dh−Lc) ² + {La− (Dw / 2)} ² ] ^1/2 . Therefore, the length of the line segment QR is QR = [(Dh−Lc) ² + {La− (Dw / 2)} ² ] ^1/2 / 2. Then, the angle θ3 is obtained by the following 10.

<< Formula 10 >>
θ3 = 2 · sin ⁻¹ [[(Dh−Lc) ² + {La− (Dw / 2)} ² ] ^1/2 / (2 · Lb)]

  However, if the rotation angle Va of the sorting arm 64 when the sorting arm 64 reaches the position Z in FIG. 9, that is, when the sorting arm 64 moves away from the article 100 is too large, the article 100 jumps due to the momentum. As described above, various inconveniences occur, such as the posture of the article 100 being collapsed and the article 100 being removed from the second sorting destination line M2. In order to avoid this inconvenience, immediately before the sorting arm 64 contacts the article 100, that is, immediately before the sorting arm 64 reaches the position Z, the rotational speed Va of the sorting arm 64 is appropriately reduced.

  That is, the rotation speed Va expressed by the above-described Expression 8 is an average speed V2 until the selection arm 64 moves from the position K in FIG. 10 to the position Z in FIG. Accordingly, during this time, the sorting arm 64 is driven to rotate at an appropriate rotational speed Va on condition that the average speed V2 is observed.

  Subsequently, after the sorting arm 64 is moved away from the article 100 as shown in FIG. 8, until the stretching direction of the sorting arm 64 reaches 45 ° with respect to the horizontal direction, that is, the sorting arm 64 is Attention is paid to the period from the position Z in FIG. 9 to the rotation to the lower right part of the V-axis. During this time, the sorting arm 64 is driven to rotate at the highest possible rotational speed Va. When any of the slits 66a, 66a,... Of the slit plate 66 is detected by the photoelectric sensor 68 described above, strictly, when an arm position signal indicating that is obtained, The rotation is stopped, that is, the rotation of the rotating shaft 62a of the pulse motor 62 is stopped.

  More precisely, the rotational speed Va of the sorting arm 64 is reduced to a speed close to zero (Va≈0) immediately before the sorting arm 64 reaches the lower right portion of the V-axis. As described above, when any of the slits 66a, 66a,... Of the slit plate 66 is detected by the photoelectric sensor 68, the rotation of the sorting arm 64 is completely stopped. As a result, the rotary sorter 60 including the sorting arm 64 returns to the standby state shown in FIG.

  When the transition of the rotational speed Va of the sorting arm 64 when the article 100 is sorted into the second sorting destination line M2 in this way is represented by a graph, it is as shown in FIG. As shown in FIG. 11, at the time t0 when the article 100 is detected by the article sensor 70, the sorting arm 64 is stopped, that is, the rotational speed Va of the sorting arm 64 is Va = 0. Then, the rotation speed Va of the selection arm 64 in the stopped state is accelerated at a stretch to a predetermined speed V11 (> V1) larger than the first average speed V1 expressed by the above-described Expression 5. When the rotational speed Va of the sorting arm 64 is accelerated to the speed V11, the rotational speed Va of the sorting arm 64, which is the speed V11, is maintained until time t1 immediately before the sorting arm 64 reaches the position K. Then, from this time point t1 to the time point t2 when the sorting arm 64 reaches the position K, the rotational speed Va of the sorting arm 64 is reduced to a predetermined speed V12 (<V1) smaller than the first average speed V1. The Thus, immediately before the sorting arm 64 reaches the position K, that is, immediately before the sorting arm 64 contacts the article 100, the rotation speed Va of the sorting arm 64 is reduced. The impact on the article 100 by the sorting arm 64 when the 64 reaches the article 100 is mitigated, and various inconveniences due to this impact are avoided. The rotation speed Va of the sorting arm 64 in the first period T1 from the time point t1 at which the sorting arm 64 starts rotating to the time point t2 at which the sorting arm 64 comes into contact with the article 100 conforms to the first average speed V1. As a result, the sorting arm 64 comes into contact with the article 100 when the article 100 is transported to the position A shown in FIG. 7, that is, the sorting arm 64 is at least half the side edge of the article 100. Abut against the part.

  When the sorting arm 64 comes into contact with the article 100 at the time point t2 in this way, the rotation speed Va of the sorting arm 64 is multiplied by the second average from the time point t2 to the time point t3. The vehicle is accelerated to a predetermined speed V21 (> V2) that is higher than the speed V2. When the rotational speed Va of the sorting arm 64 is accelerated to the speed V21, the rotational speed Va of the sorting arm 64, which is the speed V21, is maintained until time t4 immediately before the sorting arm 64 reaches the position Z. From this time t4 to the time t5 when the sorting arm 64 reaches the position Z, the rotational speed Va of the sorting arm 64 is reduced to a predetermined speed V22 (<V2) smaller than the second average speed V2. The Thus, immediately before the sorting arm 64 reaches the position Z, that is, immediately before the sorting arm 64 moves away from the article 100, the rotation speed Va of the sorting arm 64 is reduced. The momentum of moving away from the article 100 is reduced, and various disadvantages due to this momentum are avoided. The rotation speed Va of the sorting arm 64 in the second period T2 from the time t2 when the sorting arm 64 contacts the article 100 to the time t5 when the sorting arm 64 moves away from the article 100 is the second average speed V2. , The sorting arm 64 moves away from the article 100 at the timing when the article 100 is transported to the position B shown in FIG. 7, that is, the sorting arm 64 is at least half the side edge of the article 100. It leaves | separates from the said article | item 100 in the state contact | abutted to the part.

  In FIG. 11, the second average speed V2 is larger than the first average speed V1 (V1 <V2), but the mutual relationship between the first average speed V1 and the second average speed V2 is as follows. It depends on the mutual relationship between the period T1 and the second period T2. In other words, the mutual relationship between the first average speed V1 and the second average speed V2 is that the article 100 detected by the article sensor 70 illustrated in FIG. 7 and the article when the sorting arm 64 contacts the article 100. A distance between the position A and the position A of the article 100 when the position A and the sorting arm 64 are separated from the article 100 in the direction along the conveyance line M0 with the position A of 100 and the mutual distance Le + (Dd−Lf) / 2. This depends on the mutual relationship with the mutual distance Lf in the direction along M0. Further, the mutual relationship between the first average speed V1 and the second average speed V2 is as follows. The rotation angle θ1 of the sorting arm 64 from the lower left portion of the U-axis to the position K shown in FIG. It also depends on the correlation between the rotation angle θ2 + θ3 of the sorting arm 64 up to the position Z shown in FIG.

  As described above, when the sorting arm 64 is separated from the article 100 at the time t5, the rotational speed Va of the sorting arm 64 is accelerated to the highest possible rotational speed V31 from the time t5 to the time t6. When the rotational speed Va of the sorting arm 64 is accelerated to the speed V31, the rotational speed Va of the sorting arm 64, which is the speed V31, is maintained until time t7 immediately before the sorting arm 64 reaches the lower right portion of the V-axis. Is done. Then, from this time t7 to the time t8 when the sorting arm 64 reaches the position Z, the rotational speed Va of the sorting arm 64 is reduced to Va = 0. Although not understood from FIG. 11, strictly speaking, the rotational speed Va of the sorting arm 64 is just before reaching the time point t8, that is, just before the sorting arm 64 reaches the lower right portion of the V-axis. In addition, the speed is reduced to a speed (Va≈0) that is slightly higher than zero. When any one of the slits 66a of the slit plate 66 is detected by the photoelectric sensor 68 described above, the rotation speed Va of the sorting arm 64 is completely set to Va = 0, that is, the sorting arm 64 is completely stopped. The It should be noted that from the time t2 when the sorting arm 64 is separated from the article 100, until the sorting arm 64 is stopped, strictly speaking, until the rotational speed Va of the sorting arm 64 becomes substantially zero (Va≈0). The average rotation speed Va of the sorting arm 64 in the third period T3, that is, the third average speed V3 is larger than both the first average speed V1 and the second average speed V2 (V3> V1, V3> V2). ).

  The transition of the rotation speed Va of the sorting arm 64 is the same when the article 100 is sorted into the third line M3 except that the rotation direction of the sorting arm 64 is opposite.

  The rotational speed Va of the sorting arm 64 when the sorting arm 64 is driven to rotate is controlled according to the control table shown in FIG. In this control table, the cumulative number of pulses P [n] of the pulse signal to be supplied to the pulse motor 62 at each time point tn (= t0 to t8) and the target of the rotational speed Va of the sorting arm 64 at each time point tn. And a target pulse period T [n], which is a period of a pulse signal necessary for rotationally driving the sorting arm 64 at the target speed V [n], are stored as parameters. Yes. These parameters P [n], V [n] and T [n] are appropriately set by operating the operation keys 96. The accumulated pulse number P [0] at the first time point t0 when the article 100 is detected by the article sensor 70 is P [0] = 0, and the accumulated pulse number P [0] (= at the first time point t0). 0) is set as a reference, and cumulative pulse numbers P [1] to P [8] at other time points t1 to t8 are set. However, for the cumulative number of pulses P [8] at the last time point t8, a numerical value corresponding to a position just before the sorting arm 64 reaches the lower right portion of the V-axis is set. Then, for the target speed V [8] at the last time point t8, a speed slightly higher than zero (≈0) is set. Furthermore, the control table stores the rate of increase / decrease ΔT [n] of the pulse period of the pulse signal in the period from each time point tn to the next time point tn + 1. This pulse period increase / decrease rate ΔT [n] is also one of the parameters, and is expressed by the following Expression 11.

<< Formula 11 >>
ΔT [n] = (T [n + 1] −T [n]) / (P [n + 1] −P [n])

  Note that the pulse period increase / decrease rate ΔT [0] in the period t0 to t1 from the first time point t0 to the next time point t1 is ΔT [0] = 0. As shown in FIG. 11, this means that the rotation speed Va of the sorting arm 64 is Va = V11, that is, constant during the period t0 to t1. The pulse period increase / decrease rate ΔT [1] in the period t1 to t2 from the time point t1 to the next time point t2 is ΔT [1]> 0. This means that the rotational speed Va of the sorting arm 64 is decelerated from Va = V11 to Va = V12 during the period t1 to t2. Further, the pulse cycle increase / decrease rate ΔT [2] in the period t2 to t3 from the time point t2 to the next time point t3 is ΔT [2] <0. This means that the rotational speed Va of the sorting arm 64 is accelerated from Va = V12 to Va = V21 during the period t1 to t2. Further, the pulse period increase / decrease rate ΔT [3] in the period t3 to t4 from the time point t3 to the next time point t4 is ΔT [3] = 0. This means that the rotation speed Va of the sorting arm 64 is Va = V21, that is, constant during the period t3 to t4. The pulse period increase / decrease rate ΔT [4] in the period t4 to t5 from the time point t4 to the next time point t5 is ΔT [4]> 0. This means that the rotation speed Va of the sorting arm 64 is decelerated from Va = V21 to Va = V22 during the period t4 to t5. The pulse period increase / decrease rate ΔT [5] in the period t5 to t6 from the time point t5 to the next time point t6 is ΔT [5] <0. This means that the rotation speed Va of the sorting arm 64 is accelerated from Va = V22 to Va = V31 during the period t5 to t6. The pulse period increase / decrease rate ΔT [6] in the period t6 to t7 from the time point t6 to the next time point t7 is ΔT [6] = 0. This means that the rotation speed Va of the sorting arm 64 is Va = V31, that is, constant during the period from t6 to t7. The pulse period increase / decrease rate ΔT [7] in the period t7 to t8 from the time point t7 to the last time point t8 is ΔT [7]> 0. This means that the rotation speed Va of the sorting arm 64 is decelerated from Va = V31 to Va≈0 during the period t7 to t8.

  In addition, the control table stores the pulse period Tx [n] of the pulse signal supplied to the pulse motor 62 during the period from each time point tn to the next time point tn + 1. 12 is stored.

<< Formula 12 >>
Tx [n] = T [n] + ΔT [n] · Ci

  In Equation 12, Ci is the number of pulses (count value) of the pulse signal. In other words, the pulse cycle Tx [n] of the pulse signal is obtained based on the equation 12, and the pulse signal having this pulse cycle Tx [n] is supplied to the pulse motor 62 as a drive signal.

  Strictly speaking, the arithmetic control circuit 86 of the control device 80 refers to this control table, and the CPU in the arithmetic control circuit 86 executes the selection task shown in FIG. The control table is stored in a memory circuit in the arithmetic control circuit 86. Prior to the execution of this sorting task, the belt driving DC motors 26, 34 and 52 of the weighing device 20, the transport device 30 and the sorting device 40 are driven.

  That is, when a command to start automatic weight sorting is input by operating the operation key 96, the arithmetic control circuit 86 proceeds to step S1. In step S1, it is determined whether or not a command to end the automatic weight sorting is input by operating the operation key 96. Here, for example, when the termination command is input, the sorting task is terminated. On the other hand, if the end command is not input, the process proceeds to step S3.

  In step S <b> 3, the arithmetic control circuit 86 determines whether or not the article 100 is detected by the article sensor 70, that is, whether or not an article detection signal indicating that is input from the article sensor 70. Here, for example, when the article detection signal is not input, the process returns to step S1. On the other hand, when the article detection signal is input, the process proceeds to step S5.

  In step S5, the arithmetic control circuit 86 confirms the weight rank Rx of the article 100 to be selected. Then, the process proceeds to step S7, and it is determined whether or not the weight rank Rx is the first rank R1. Here, for example, when the weight rank Rx is the first rank R1, the process returns to step S1. On the other hand, if the weight rank Rx is not the first rank R1, that is, if it is the second rank R2 or the third rank R3, the process proceeds to step S9.

  In step S9, the arithmetic control circuit 86 determines whether or not the weight rank Rx is the second rank R2. Here, for example, when the weight rank Rx is the second rank R2, the process proceeds to step S11. In step S11, the rotation direction of the pulse motor 62 is set counterclockwise, and the process proceeds to step S13. On the other hand, if the weight rank Rx is not the second rank R2 in step S9, that is, if the weight rank Rx is the third rank R3, the process proceeds to step S15. In step S15, the rotation direction of the pulse motor 62 is set clockwise, and then the process proceeds to step S13.

  In step S13, the arithmetic control circuit 86 resets the index representing the number n at the time point tn described above, that is, sets the number index n to zero (0). In step S17, the count value Ci for counting the number of pulses of the pulse signal supplied to the pulse motor 62 is reset, that is, the count value Ci is set to zero. Furthermore, it progresses to step S19 and the pulse period Tx [n] of the said pulse signal is calculated based on Formula 12 mentioned above. Then, the process proceeds to step S21, and the drive circuit 88 for the pulse motor 62 is controlled so that the pulse signal having the pulse period Tx [n] calculated in the step S19 is supplied to the pulse motor 62 by one pulse. Input the signal. Thereby, the pulse motor 62 is rotationally driven by one pulse.

  Further, the arithmetic control circuit 86 proceeds to step S23, and increments the count value Ci of the number of pulses of the pulse signal by one. Then, the process proceeds to step S25, and referring to the control table shown in FIG. 12, the cumulative pulse number P [n] at the current time point tn (strictly, the most recent time) and the cumulative pulse number P at the next time point tn + 1. A difference ΔP [n] (= P [n + 1] −P [n]) from [n + 1] is obtained. Further, the mutual difference ΔP [n] is compared with the incremented count value Ci in step S23. Here, for example, if the mutual difference ΔP [n] and the count value Ci are not equivalent to each other (Ci ≠ ΔP [n]), that is, if the next time point tn + 1 has not arrived, the process returns to step S19. On the other hand, if the count value Ci and the mutual difference ΔP [n] are equivalent to each other (Ci = ΔP [n]), that is, if the next time point tn + 1 has arrived, the process proceeds to step S27.

  In step S27, the arithmetic control circuit 86 increments the value of the number index n at time tn by 1. In step S29, it is determined whether or not the incremented number index n has reached its maximum value of 8 (n = 8), that is, whether or not the last time point t8 has been reached. Here, for example, if the value of the number index n has not yet reached 8 (n <8), that is, if the last time point t8 has not yet arrived, the process returns to step S17. On the other hand, if the value of the number index n has reached 8 (n = 8), that is, if the last time point t8 has arrived, the process proceeds to step S31.

  In step S31, the arithmetic control circuit 86 determines whether or not the rotation sorter 60 has reached the standby position. Specifically, for example, when the weight rank Rx of the article 100 is the second rank R2, the sorting arm 64 in charge of sorting the article 100 has reached the lower right portion of the V-axis as shown in FIG. Determine whether or not. Further, for example, when the weight rank Rx of the article 100 is the third rank R3, it is determined whether or not the sorting arm 64 responsible for sorting the article 100 has reached the lower left portion of the U-axis. More precisely, it is determined whether any slit 66a of the slit plate 66 is detected by the photoelectric sensor 68 described above. Here, for example, if any one of the slits 66a of the slit plate 66 has not been detected by the photoelectric sensor 68, it is determined that the rotary sorter 60 has not yet reached the standby position, and the step Proceed to S33. In step S33, a control signal for one pulse is input to the drive circuit 88 for the pulse motor 62. As a result, the pulse motor 62 is further rotated by one pulse. Then, the arithmetic control circuit 86 returns to step S31. On the other hand, if any one of the slits 66a of the slit plate 66 is detected by the photoelectric sensor 68 in step S31, it is determined that the rotary sorter 60 has reached the standby position, and the process returns to step S1. Thereby, the rotation sorter 60 enters a standby state.

  As described above, according to the present embodiment, the article 100 is selectively sorted into one of the three sorting destination lines M1 to M3 according to its own weight Wx (strictly, the weight rank Rx). And the attitude | position of the article | item 100 does not change before and after this selection, but is maintained. Therefore, it is extremely effective for transporting the sorted article 100 to the next process rank for automatically performing appropriate processes such as the above-described printing process and packaging process.

  The content described in the present embodiment is one specific example for realizing the present invention, and does not limit the scope of the present invention.

  For example, in this embodiment, as described with reference to FIG. 9, the article when the sorting arm 64 is separated from the article 100 by continuing to rotate while the sorting arm 64 is in contact with the article 100. The position of the second sorting destination line M2 is determined by the position of 100, that is, the mutual distance La between the second sorting destination line M2 and the first sorting destination line M1 (transport line M0) is determined. Not limited to. For example, as shown in FIG. 14, the rotation of the sorting arm 64 is temporarily stopped in a state where the sorting arm 64 (the tip thereof) is in contact with a predetermined position P ′ of the article 100 (side surface). In this state, the sorting arm 64 may be separated from the article 100 by continuing to convey the article 100 by the flat belt conveyor 50. According to this configuration, the following expression 13 based on the above expression 3 is established. From this equation 13, the mutual distance La 'between the first sorting destination line M1 and the second sorting destination line M2 is determined.

<< Formula 13 >>
Lb = [(Dh′−Lc) ² + {La− (Dw / 2)} ² ] / {2 · (Dh′−Lc)}

  Further, when the sorting arm 64 is temporarily stopped, in other words, when the sorting arm 64 is separated from the article 100, the rotational position of the sorting arm 64 is defined as Z ′, and in the line segment QP ′ at this time Assuming that the point is R ′, the relative angle θ3 ′ of the position Z ′ with respect to the vertical line passing through the origin O in FIG. 14 is expressed as the following Expression 14 based on the above Expression 9.

<< Formula 14 >>
θ3 ′ / 2 = sin ⁻¹ (QR ′ / OQ)
∴ θ3 '= 2 · sin ^-1 (QR' / OQ)

  The angle θ3 ′ is expressed as the following Expression 15 that conforms to the Expression 10 described above.

<< Formula 15 >>
θ3 ′ = 2 · sin ⁻¹ [[(Dh′−Lc) ² + {La− (Dw / 2)} ² ] ^1/2 / (2 · Lb)]

  That is, by setting this angle θ3 ′ as appropriate, the mutual distance La ′ between the first sorting destination line M1 and the second sorting destination line M2 is determined.

  If the sorting arm 64 is separated from the article 100 while the sorting arm 64 is temporarily stopped, then the sorting arm 64 rotates to the lower right portion of the V-axis. When the sorting arm 64 rotates to the lower right part of the V-axis, strictly speaking, when any of the slits 66a of the slit plate 66 is detected by the photoelectric sensor 68, the sorting arm 64 stops. Is done. Thereby, the rotary sorter 60 including the sorting arm 64 returns to the standby state.

  The same applies to the mutual distance La between the first sorting destination line M1 and the third sorting destination line M2, except that the rotation direction of the sorting arm 64 is opposite.

  Furthermore, in the present embodiment, three sorting destination lines M1 to M3 are formed on one flat belt type conveyor 50 of the sorting device 40, but the present invention is not limited to this. For example, as shown in FIGS. 15 and 16, the three sorting destination lines M1 to M3 may be individually formed on three flat belt conveyors 50a, 50b and 50c which are independent from each other. In this case, as shown in FIG. 16 in particular, the second flat belt type conveyor 50b (the upper surface of the carrier side belt) for forming the second sorting destination line M2 and the third flat for forming the third sorting destination line M3. The belt type conveyor 50c (the upper surface of the carrier side belt) is slightly lower than the first flat belt type conveyor 50a (the upper surface of the carrier side belt) forming the first sorting destination line M1 (conveyance line M0). It is important to be provided in Further, it is sufficient if the pair of light projectors 70a and light receivers 70b constituting the article sensor 70 are provided on both sides of the first flat belt type conveyor 50a, not on both sides of each flat belt type conveyor 50a, 50b and 50c as a whole. .

  In addition, as shown in FIG. 17, a plurality of, for example, three rotary sorters 60, 60 and 60 may be provided. Specifically, on the downstream side of the first rotary sorter 60 provided on the transport line M0, each of the second sort destination line M2 and the third sort destination line M3 has a different one. Rotating sorters 60 and 60 are provided. Note that the second rotary sorter 60 and the third rotary sorter 60 provided on the second sorting destination line M2 and the third sorting destination line M3 also have the rotation shafts 62a of the pulse motors 62 and 62, respectively. And 62a are directed to the downstream side of the second sorting destination line M2 and the third sorting destination line M3, respectively, and more specifically, the centers of the rotary shafts 62a and 62a are centered on the second sorting destination line M2. And it exists in the state located right above the center of the 3rd selection destination line M3. Further, another article sensor 72 is provided at a position at a distance of Lg downstream of the conveyance line M0 from the detection position of the article 100 by the article sensor 70. The so-called second article sensor 72 is a transmissive photoelectric sensor composed of a pair of light projectors 72 a and light receivers 72 b, as in the case of the first article sensor 70. The distance Lg between the article sensors 70 and 70a in the direction along the conveyance line M0 is equal to the dimension Lf of the sorting arm 64 (contact plate 64b) in the same direction, and half the dimension Dd of the article 100 in the same direction. Or more (Lg ≧ Lf + (Dd / 2)). And the mutual distance Lh in the direction along the said conveyance line M0 with each of the 1st rotation sorter 60, the 2nd rotation sorter 60, and the 3rd rotation sorter 60 is in the same direction of each goods sensor 70 and 70a. The mutual distance Lg or more (Lh ≧ Lg).

  According to the configuration shown in FIG. 17, on the outside (right side) of the second sorting destination line M2, more specifically, at a position where a distance La is placed from the second sorting destination line M2 in the direction transversely across the transport line M0, In other words, the fourth sorting destination line M4 is formed. Then, on the outside (left side) of the third sorting destination line M3, more specifically, at a position at a distance La in the direction horizontally across the conveying line M0 from the third sorting destination line M3, so to say, the fifth sorting destination line M5. Is formed. That is, a total of five sorting destination lines M1 to M5 are formed. For example, the articles 100 ranked in the fourth rank R4 different from the weight ranks R1 to R3 described above are selected in the fourth selection destination line M4. Specifically, the article 100 ranked in the fourth rank R4 is first sorted from the transport line M0 to the second sorting destination line M2 by the first rotary sorter 60, and further, the second rotary sorter 60 further selects the figure 100. The second sorting destination line M2 is sorted into the fourth sorting destination line M4 as indicated by the reference numeral 17 in FIG. Similarly, the articles 100 ranked in the fifth rank R5 are sorted in the fifth sorting destination line M5. In detail, the article 100 ranked in the fifth rank R5 is first sorted from the transport line M0 to the third sorting destination line M3 by the first rotary sorter 60, and further, the article is displayed by the third rotary sorter 60. As indicated by reference numeral 17 in FIG. 17, the third sorting destination line M3 is sorted into the fifth sorting destination line M5.

  Thus, according to the configuration shown in FIG. 17, further subdivision of the sorting destination of the article 100 can be achieved. In addition, the number of rotation sorters 60 is not limited to three, and may be other numbers.

  In the present embodiment, the weighing device 20, the transport device 30, and the sorting device 40 are connected to a common control device 80, but this is not a limitation. That is, the weighing device 20, the conveyance device 30, and the sorting device 40 may be connected to separate control devices.

  Further, the number of sorting arms 64 attached to the rotation shaft 62a of the pulse motor 62 is not limited to four, and may be one, for example. In this case, the single sorting arm 64 may not be rotated (rotated) over 360 °, but may be swung like a pendulum within a certain limited angle range. In particular, in the configuration shown in FIG. 17, for example, for the second rotary sorter 60 provided on the second sorting destination line M2, the sorting destination other than the second sorting destination line M2 is the fourth sorting destination line M4. Therefore, as the second rotary sorter 60, a method of swinging one sorter arm 64 as described here may be adopted. The same applies to the third rotary sorter 60 provided on the third sorting destination line M3. Of course, the number of sorting arms 64 may be other than this. In short, the number of sorting arms 64 may be appropriately determined according to the sorting situation at the time, such as the size of the article 100 to be sorted, the conveyance speed Vb, and the conveyance interval of the article 100.

  Further, the article 100 is not limited to a substantially rectangular parallelepiped shape, but may be other shapes such as a columnar shape (cylindrical shape) or a conical shape. Also in this case, the parameters P [n], V [n], and T [n] described above are appropriately set according to the selection status such as the shape and size of the article 100, the conveyance speed Vb, and the conveyance interval. In addition, sorting is realized while maintaining the posture of the article 100. Further, the size and shape of the sorting arm 64 may be appropriately changed as necessary.

  In addition, instead of the pulse motor 62, another type of motor such as a DC motor may be employed. The belt driving motors 26, 34 and 52 of the flat belt conveyors 22, 32 and 50 are not limited to DC motors, and other types of motors may be employed.

  In place of the flat belt conveyors 22, 32 and 50, other types of conveyors such as roller conveyors may be employed.

  In the present embodiment, the automatic weight sorter 10 that sorts the article 100 according to the weight Wx (weight rank Rx) of the article 100 is described as an example, but the present invention is not limited thereto. For example, the present invention can be applied to an apparatus in which the article 100 is sorted according to properties other than the weight Wx, such as the color or material of the article 100.

DESCRIPTION OF SYMBOLS 10 Automatic weight sorter 40 Sorting device 50 Flat belt type conveyor 60 Rotating sorter 62 Pulse motor 64 Sorting arm 100 Article M0 conveying line M1, M2, M3 Sorting destination line

Claims (8)

A sorting target line for linearly transporting articles to be sorted;
A sorting destination line which is provided so as to run in parallel with the sorting target line and serves as a sorting destination of the article;
Sorting execution means that is provided above the sorting target line and is responsible for sorting the article conveyed by the sorting target line from the sorting target line to the sorting destination line;
Sorting control means for controlling the sorting execution means when receiving a sorting command for instructing sorting of the article from the sorting target line to the transport destination line;
Comprising
The sorting execution means has a rotating shaft extending along the conveying direction of the article by the sorting target line, a rotation driving means for rotating the rotating shaft according to a rotation control signal, and a radial direction of the rotating shaft. An arm that is attached to the rotating shaft so as to be stretched and rotates along with the rotating shaft so as to contact the article and move the article from the sorting target line to the sorting destination line to perform the sorting. Prepared,
The selection control means receives a setting of a parameter for determining an operation mode of the arm according to the rotation position of the arm, and outputs the rotation control signal based on the parameter when the selection command is received. A rotation control means for generating,
The parameters according to the sorting situation including the shape and dimensions of the article and the conveying speed by the sorting target line are set so that the posture of the article remains unchanged before and after the sorting,
Sorting device. The rotation control means generates the rotation control signal so that the rotation speed of the arm is reduced immediately before the arm contacts the article.
The sorting apparatus according to claim 1. The mutual distance between the sorting target line and the sorting destination line is determined by the position of the article when the arm that rotates in contact with the article leaves the article.
The sorting apparatus according to claim 1 or 2. The rotation control means generates the rotation control signal so that the rotation speed of the arm is reduced immediately before the arm leaves the article.
The sorting apparatus according to claim 3. The rotation control means generates the rotation control signal so that the rotation of the arm is temporarily stopped in a state where the arm is in contact with a predetermined portion of the article,
The distance between the sorting target line and the sorting destination line depends on the position of the article when the arm leaves the article by continuing to convey the article with the rotation of the arm temporarily stopped. Is determined,
The sorting apparatus according to claim 1 or 2. The rotation control means generates the rotation control signal so that the rotation speed of the arm is reduced immediately before the rotation of the arm is temporarily stopped.
The sorting apparatus according to claim 5. The two sorting destination lines are provided across the sorting target line,
When the sorting control means receives the sorting command for instructing the sorting of the article from the sorting target line to one of the two sorting destination lines, the article is sent from the sorting target line to the one sorting destination. When the sorting instruction is received to control the sorting execution means so that the sorting is performed on the line and to instruct the sorting of the article from the sorting target line to the other of the two sorting destination lines, Controlling the sorting execution means so as to be sorted from the line to the other sorting destination line;
The sorting apparatus according to any one of claims 1 to 6. There is further provided one or more combined lines that are one or more selection destination lines that are also used as the selection target lines,
The sorting execution means is provided above the sorting target line and the one or more combined lines,
The sorting control means individually controls the sorting execution means;
The sorting apparatus according to any one of claims 1 to 7.

Images