JP2017186139A - Article sorting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article sorting apparatus capable of stabilizing behavior and an attitude of an article when loading the article on a transportation unit.SOLUTION: An article sorting apparatus includes: a transportation path; a transportation unit; an article shape acquisition section; a loading device; and a control device. The transportation unit moves the transportation path in a first transportation direction. The transportation unit transports an article loaded in a second transportation direction intersecting with the first transportation direction. The article shape acquisition section acquires information of a shape of the article loaded on the transportation unit. The loading device loads the article on the transportation unit by selectively rotating the article according to the shape of the article acquired by the article shape acquisition section while moving the article in an arbitrary direction. The control device controls movement of the transportation unit in the first transportation direction, transportation of the article in the second transportation direction by the transportation unit, and loading of the article on the transportation unit by the loading device.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to an article sorting apparatus.

2. Description of the Related Art Conventionally, there is a cross belt sorter in which a cell having a belt mechanism is conveyed on a conveyance path while an article is placed on the belt of the cell from an injector and the article is fed from the cell belt to a shooter as a sorting destination. The cell belt mechanism pulls the article from the injector onto the belt by driving the belt when the cell is adjacent to the injector. The cell belt mechanism feeds articles from above the belt to the shooter by driving the belt when the cell is adjacent to the sorting shooter.
However, if the shape and posture of the plurality of articles are a plurality of various shapes and postures, the posture and behavior of each article may become unstable when each article is transferred from the injector to the cell. .

JP-A-8-73022 Special table 2003-511225 gazette

  The problem to be solved by the present invention is to provide an article sorting apparatus that can stabilize the behavior and posture of an article when the article is mounted on a transport unit.

  The article sorting apparatus according to the embodiment includes a conveyance path, a conveyance unit, an article shape acquisition unit, a mounting apparatus, and a control apparatus. The transport unit moves along the transport path in the first transport direction. The transport unit transports the article to be mounted in a second transport direction that intersects the first transport direction. The article shape acquisition unit acquires information on the shape of an article mounted on the transport unit. The mounting device mounts the article on the transport unit by moving the article in an arbitrary direction and selectively rotating the article according to the shape of the article acquired by the article shape acquisition unit. The control device controls movement of the conveyance unit in the first conveyance direction, conveyance of the article in the second conveyance direction by the conveyance unit, and loading of the article on the conveyance unit by the mounting device.

The top view which shows typically the structure of the article sorting apparatus of embodiment. The perspective view which shows typically the structure of the conveyor cell of the article sorting apparatus of embodiment. Sectional drawing which shows typically a structure of a part of conveyor cell of the article sorting apparatus of embodiment. The block diagram which shows a part of functional structure of the article sorting apparatus of embodiment. The perspective view which shows typically the structure of a part of conveyor cell of the article sorting apparatus of embodiment. The top view which shows typically the structure of a part of mounting unit and conveyor cell of the article sorting apparatus of embodiment. The top view which shows typically the structure of the 2nd conveyance part (buffer conveyance part) of the mounting unit of the article sorting apparatus of embodiment. The top view which shows typically the structure of the free drive part of the 2nd conveyance part in the article sorting apparatus of embodiment. Sectional drawing which shows typically the structure of the free drive part of the 2nd conveyance part in the article sorting apparatus of embodiment. It is a figure which shows the combination of the drive pattern of the some free drive part in the 2nd conveyance part of the articles | goods sorting apparatus of embodiment, (1) Straight advance pattern, (2) Stop pattern, (3) Lateral advance pattern left, , (4) lateral pattern right, (5) left rotation pattern (weak), (6) left rotation pattern (strong), (7) right rotation pattern (weak), and (8) right rotation pattern ( FIG. 6 is a plan view schematically showing (strong). The block diagram which shows the function structure of the injector in the goods sorting apparatus of embodiment. Sectional drawing which shows typically the structure of a part of conveyor cell and 4th conveyance part in the article sorting apparatus of embodiment. The flowchart which shows operation | movement of the goods sorting apparatus of embodiment. The top view which shows the angle which the longitudinal direction of the articles | goods and the 2nd transfer direction make in the buffer conveyance part in the article sorting apparatus of embodiment. The flowchart which shows operation | movement of the goods sorting apparatus of embodiment. The flowchart which shows operation | movement of the goods sorting apparatus of embodiment. It is a top view which shows typically the state of the article | item in the injector accompanying an example of operation | movement of the article | item sorting apparatus of embodiment, and is a figure which shows the case where the longitudinal direction dimension of an article | item is below a length threshold value. It is a top view which shows typically the state of the article | item in the injector accompanying an example of operation | movement of the article | item sorting apparatus of embodiment, and is a figure which shows the case where the longitudinal direction dimension of an article | item is larger than a length threshold value. It is a top view which shows typically the structure of the 2nd conveyance part (buffer conveyance part) of the article sorting apparatus which concerns on the 1st modification of embodiment, and shows one set of arrangement | positioning patterns formed by four universal drive parts. FIG. It is a top view which shows typically the structure of the 2nd conveyance part (buffer conveyance part) of the article sorting apparatus which concerns on the 1st modification of embodiment, and shows 1 set of arrangement | positioning patterns formed by seven free drive parts. FIG. The top view which shows typically the structure of a part of mounting unit of the goods sorting apparatus which concerns on the 2nd modification of embodiment, and a conveyor cell. The top view which shows typically the one part structure of the mounting unit and conveyor cell of the article sorting apparatus which concern on the 3rd modification of embodiment. It is a top view which shows typically the structure of a part of mounting unit and conveyor cell of the article sorting apparatus which concerns on the 4th modification of embodiment, and shows the state of the article in the injector accompanying an example of operation | movement of an article sorting apparatus. FIG. It is a top view which shows typically the structure of a part of mounting unit and conveyor cell of the article sorting apparatus which concerns on the 5th modification of embodiment, and shows the state of the article in the injector accompanying an example of operation | movement of an article sorting apparatus. FIG. The top view which shows typically the structure of a part of mounting unit of the goods sorting apparatus which concerns on the 6th modification of embodiment, and a conveyor cell.

  Hereinafter, an article sorting apparatus according to an embodiment will be described with reference to the drawings.

  As shown in FIG. 1, the article sorting apparatus 10 according to the embodiment includes a transport path 11, a plurality of conveyor cells 12, a mounting unit 13 and a sorting unit 14 provided along the transport path 11, a main controller 15, It has. An article sorting apparatus 10 shown in FIG. 1 includes, for example, two mounting units 13 and two sorting units 14. The two mounting units 13 are a first mounting unit 13a and a second mounting unit 13b. The two sorting units 14 are a first sorting unit 14a and a second sorting unit 14b.

The conveyance path 11 forms a circulation (circulation) path that guides each of the plurality of conveyor cells 12. The conveyance path 11 is configured so that each conveyor cell 12 is sequentially arranged along the first conveyance direction D1 in the circulation (circulation) path in the first loading unit 13a, the first sorting unit 14a, the second loading unit 13b, and the second sorting. Guide to unit 14b. The first transport direction D1 shown in FIG. 1 is, for example, a counterclockwise transport direction.
As shown in FIGS. 2 and 3, the conveyance path 11 contacts a guide roller 52 of each conveyor cell 12 to be described later, and guides the guide roller 20 (for example, the first guide wall 20 a and the guide wall 52). A second guide wall 20b) is provided.

  The conveyance path 11 and the plurality of conveyor cells 12 include a linear synchronous motor 31 that drives each conveyor cell 12 in the conveyance path 11. The linear synchronous motor 31 includes, for example, an electromagnetic coil 32 as a stator provided over the entire conveyance path 11 and a permanent magnet row 33 as a mover provided in each of the plurality of conveyor cells 12. . The linear synchronous motor 31 generates a driving force (transport force) in the first transport direction D <b> 1 in the permanent magnet array 33 by the current flowing through the electromagnetic coil 32. Since the state of the current flowing in the electromagnetic coil 32 is controlled by the main controller 15, the linear synchronous motor 31 conveys each conveyor cell 12 at an arbitrary speed and acceleration by the conveying force acting on the permanent magnet row 33.

  The conveyance path 11 and the plurality of conveyor cells 12 include a non-contact power feeding unit 34 that supplies electric power from the conveyance path 11 to each conveyor cell 12. The non-contact power feeding unit 34 includes, for example, a primary side coil 35 provided over the entire conveyance path 11 and a secondary side coil 36 provided in each of the plurality of conveyor cells 12. The non-contact power feeding unit 34 supplies power to each conveyor cell 12 from the transport path 11 by electromagnetic induction between the primary side coil 35 and the secondary side coil 36.

The plurality of conveyor cells 12 that move along the transport path 11 are arranged in a line in the first transport direction D1. The conveyor cells 12 that are adjacent to each other before and after the first transport direction D1 are connected to each other, for example.
Each of the plurality of conveyor cells 12 includes a chassis part 41, a cross belt mechanism 42, a frame part 43 that fixes the chassis part 41 and the cross belt mechanism 42, a battery 44, a cell communication part 46, and a cell control part 47. And a storage unit 48.

The chassis portion 41 includes a chassis 51 that serves as a base for the entire conveyor cell 12, two guide rollers 52 that are supported by the chassis 51, and a coupling mechanism 53.
For example, the chassis 51 fixes the permanent magnet row 33 of the linear synchronous motor 31 to the lower surface 51 </ b> A of the chassis 51 that faces the bottom surface 11 </ b> A of the transport path 11. Thereby, the chassis 51 arranges the permanent magnet row 33 so as to face the electromagnetic coil 32 provided on the bottom surface 11 </ b> A of the transport path 11.
In the chassis 51, for example, the secondary coil 36 of the non-contact power feeding unit 34 is fixed to the side surface 51 </ b> B of the chassis 51 that faces the inner wall surface 11 </ b> B of the conveyance path 11. Thereby, the chassis 51 arranges the secondary side coil 36 so as to face the primary side coil 35 provided on the inner wall surface 11 </ b> B of the conveyance path 11.

  Each of the two guide rollers 52 includes a rotation shaft (not shown) supported by the chassis 51. Each guide roller 52 rotates while contacting the guide wall 20 (that is, each of the first guide wall 20a and the second guide wall 20b) of the transport path 11 when the conveyor cell 12 is transported in the transport path 11. It rotates around the moving axis. As a result, each guide roller 52 guides the conveyor cell 12 to the path guided by the guide wall 20 of the transport path 11.

  The connection mechanism 53 is fixed to each of the front part and the rear part of the chassis 51. The connection mechanism 53 of each conveyor cell 12 is connected to the connection mechanism 53 of another conveyor cell 12 adjacent to each conveyor cell 12 before and after the first transport direction D1 and at least a vertical rotation axis (not shown). And rotate freely. Thereby, the conveyor cells 12 adjacent before and after the first transport direction D1 are coupled by the mutual coupling mechanism 53 without hindering the mutual operation.

The cross belt mechanism 42 is fixed to the chassis portion 41 by a metal frame portion 43, for example. The cross belt mechanism 42 transports the article P to be mounted in a second transport direction D2 orthogonal to the first transport direction D1. The second transport direction D2 is, for example, a first transport direction D2A and a second transport direction D2B that are opposite to each other. The first transfer direction D2A is, for example, the right direction of the conveyor cell 12 toward the first transport direction D1. The second transfer direction D2B is, for example, the left direction of the conveyor cell 12 toward the first transport direction D1.
The cross belt mechanism 42 includes a cross belt 61, a driving roller 62, a driven roller 63, a belt support plate 64, a motor side toothed pulley 65, a roller side toothed pulley 66, a timing belt 67, and a motor 68.

The cross belt 61 is a cylindrical endless belt formed by, for example, a flat belt. The surface of the cross belt 61 is covered with a synthetic resin such as polyvinyl chloride, polyurethane, or synthetic rubber. As shown in FIG. 2, the cross belt 61 is stretched between the driving roller 62 and the driven roller 63. The cross belt 61 is rotated by the rotation driving force of the driving roller 62 to cause the driven roller 63 to be driven and rotated. The driving roller 62 and the driven roller 63 are arranged in parallel at a predetermined interval in the left-right direction of each conveyor cell 12 (that is, the first transfer direction D2A and the second transfer direction D2B).
As shown in FIGS. 2 and 5, the cross belt 61 forms a placement surface A on which the article P is placed by an upper surface of the outer surface 61 </ b> A whose normal direction is vertically upward. The belt support plate 64 supports a portion of the inner surface 61B of the cross belt 61 that is the back surface of the placement surface A. Accordingly, the belt support plate 64 prevents the cross belt 61 from being bent against the weight of the cross belt 61 and the article P placed on the placement surface A.

Each of the drive roller 62 and the driven roller 63 includes a rotation shaft (not shown) supported by the frame portion 43. The rotation shafts of the drive roller 62 and the driven roller 63 are arranged in the front-rear direction (that is, the first transport) at a predetermined interval in the left-right direction of each conveyor cell 12 (that is, the first transfer direction D2A and the second transfer direction D2B). It is arranged parallel to the direction D1).
The motor-side toothed pulley 65 is coaxially connected to the motor 68. The roller side toothed pulley 66 is coaxially connected to the driving roller 62. The timing belt 67 is an endless toothed belt that meshes with the motor-side toothed pulley 65 and the roller-side toothed pulley 66. The timing belt 67 is bridged between the motor-side toothed pulley 65 and the roller-side toothed pulley 66. The timing belt 67 is rotated by the rotation driving force of the motor-side toothed pulley 65, and the roller-side toothed pulley 66 is driven to rotate.

  The motor 68 is a DC motor or a brushless motor controlled by the cell control unit 47. The motor 68 is coaxially connected to a motor-side toothed pulley 65. The motor 68 generates a rotational driving force by the electric power supplied from the non-contact power feeding unit 34 and rotationally drives the motor-side toothed pulley 65. The timing belt 67 transmits the rotation of the motor-side toothed pulley 65 to the roller-side toothed pulley 66. The roller side toothed pulley 66 drives the drive roller 62 to rotate. The driving roller 62 transmits rotation to the cross belt 61 and the driven roller 63. Thereby, the cross belt 61 is driven in the left-right direction of each conveyor cell 12, and transfers the articles P placed on the placement surface A in the first transfer direction D2A and the second transfer direction D2B.

  The battery 44 is provided in the chassis part 41 as shown in FIG. The battery 44 stores the electric power supplied from the non-contact power feeding unit 34. The battery 44 supplies power to at least the cell communication unit 46 and the cell control unit 47.

  The cell communication unit 46 is provided in the chassis unit 41. The cell communication unit 46 transmits and receives various types of information by non-contact communication (for example, infrared communication or wireless communication) between the main control device 15 and the cell control unit 47. The cell communication unit 46 communicates with the communication unit 17 a connected to the main control device 15. The cell communication unit 46 operates with power supplied from the battery 44.

The cell control unit 47 is, for example, a PLC (Programmable Logic Controller) or a control board. The cell control unit 47 is fixed to the chassis unit 41. The cell control unit 47 operates with power supplied from the battery 44. The cell control unit 47 controls driving of the motor 68 in accordance with a control command output from the main control device 15.
The storage unit 48 is fixed to the chassis unit 41. The storage unit 48 stores various data. The storage unit 48 stores, for example, drive pattern data used when the cell control unit 47 controls the driving of the motor 68.

  As shown in FIG. 1, the mounting unit 13 includes at least one (for example, a plurality) injectors (mounting devices) 70. As shown in FIGS. 1 and 6, the injector 70 mounts an article P on each of the plurality of conveyor cells 12. The injector 70 is disposed, for example, outside the conveyance path 11. In the article sorting apparatus 10 shown in FIG. 1, when the first transport direction D1 is a counterclockwise transport direction, the outside of the transport path 11 is on the right side of the transport path 11 toward the first transport direction D1, that is, It is the 1st transfer direction D2A side of the conveyor cell 12. FIG. The injector 70 includes a first transport unit 71, a second transport unit (buffer transport unit) 72, which are arranged in a straight line in a transfer direction DA that intersects the first transport direction D1 of the transport path 11 at a predetermined acute angle. A third transport unit 73 and a fourth transport unit 74 are provided.

  The 1st conveyance part 71 is a belt conveyor, for example. The first transport unit 71 includes a first transport belt 71a driven in the transfer direction DA, a first drive roller 71b and a first driven roller 71c over which the first transport belt 71a is bridged. The first drive roller 71b and the first driven roller 71c are arranged in parallel at a predetermined interval in the transfer direction DA. The first conveyor belt 71a is rotated by the rotation driving force of the first drive roller 71b, and the first driven roller 71c is driven to rotate.

The second transport unit (buffer transport unit) 72 includes a base 721 and a plurality of universal drive units 722 distributed on the base 721.
The size of the base 721 is formed such that at least a plurality of articles P can be loaded simultaneously. The shape of the base 721 is, for example, a rectangular plate shape. The width of the base 721 (the width in the direction orthogonal to the transfer direction DA) is, for example, larger than the width of the first transport belt 71a. The base 721 includes, for example, a delivery area 721a and a buffer area 721b that are partitioned in the width direction. The delivery area 721a is disposed adjacent to the first conveyor belt 71a of the first conveyor 71 in the transfer direction DA. The buffer area 721b is disposed adjacent to the delivery area 721a in the width direction of the base 721. The buffer area 721b is arranged so as to be shifted in the width direction of the base 721 so as not to be continuous with the first conveyor belt 71a of the first conveyor 71 in the transfer direction DA.

  The plurality of free drive units 722 are distributed on the base 721 according to a predetermined arrangement pattern. As the predetermined arrangement pattern, for example, as shown in FIG. 7, a plurality of sets of staggered arrangement patterns SA are two-dimensionally arranged using one set of zigzag arrangement patterns SA formed by five universal driving units 722. It is formed by. For example, the five universal drive units 722 are arranged at the vertices of two equilateral triangles sharing one vertex with each other.

  As shown in FIGS. 8 and 9, the universal drive unit 722 includes a first roller 723 a and a second roller 723 b, a roller drive motor 724, a drive transmission belt 725, a rotation frame 726, and a frame rotation motor 727. And.

  The first roller 723a and the second roller 723b are rotatably supported by a rotation frame 726. The mutual rotation axes of the first roller 723a and the second roller 723b are arranged in parallel at a predetermined interval in a direction parallel to the surface of the base 721. The first roller 723 a and the second roller 723 b are arranged such that at least a part of the outer peripheral surface of each of the first roller 723 a and the second roller 723 b protrudes from the surface of the base 721. The roller drive motor 724 is fixed to the rotating frame 726. The roller drive motor 724 is, for example, a servo motor or a stepping motor that facilitates detailed control of the rotational position and rotational speed. The drive transmission belt 725 is bridged between the rotation shafts of the first roller 723 a and the second roller 723 b and the drive shaft of the roller drive motor 724. The drive transmission belt 725 rotates the first roller 723a and the second roller 723b about the axis of the rotation shaft by transmitting the rotation driving force of the roller drive motor 724 to the first roller 723a and the second roller 723b. Let The rotation direction and rotation speed of the roller drive motor 724 are controlled by the main controller 15.

  The rotation frame 726 is rotatably supported by the base 721. A rotation axis (frame rotation axis) of the rotation frame 726 is arranged in parallel to a direction orthogonal to the surface of the base 721. The frame rotation motor 727 is fixed to the base 721. The frame rotation motor 727 is, for example, a servo motor or a stepping motor that facilitates detailed control of the rotation position and rotation speed. The drive shaft of the frame rotation motor 727 is connected to the rotation frame 726 directly or indirectly. The frame rotation motor 727 rotates the rotation frame 726 around the frame rotation axis by transmitting the rotation driving force directly or indirectly to the rotation frame 726. The rotation direction Drev and the rotation speed of the frame rotation motor 727 are controlled by the main controller 15.

  Since the outer peripheral surfaces of the first roller 723a and the second roller 723b protrude from the surface of the base 721, the article P transferred from the first transport unit 71 to the second transport unit 72 is transferred to the first roller 723a and the second roller 723b. It is supported by the second roller 723b. The article P supported by the first roller 723a and the second roller 723b moves with the rotation of the first roller 723a and the second roller 723b around the rotation axis. The article P moves in a direction Dst orthogonal to the rotation axes of the first roller 723a and the second roller 723b in a direction parallel to the surface of the base 721. Since the rotation axes of the first roller 723a and the second roller 723b rotate around the axis of the frame rotation axis together with the rotation frame 726, the direction Dst is changed to an arbitrary direction in a direction parallel to the surface of the base 721. Is possible. The universal drive unit 722 changes the moving direction Dst of the article P supported by the first roller 723a and the second roller 723b to an arbitrary direction in a direction parallel to the surface of the base 721, while moving the article P at an arbitrary speed. Move with.

As illustrated in FIG. 10, the second transport unit 72 moves the article P according to any of the plurality of movement patterns according to the combination of drive patterns of the plurality of universal drive units 722.
In the (1) rectilinear pattern shown in FIG. 10, the second transport unit 72 moves the article P straight in the transport direction DA on the two-dimensional coordinates parallel to the surface of the base 721. In the case of the rectilinear pattern, each of the plurality of free driving units 722 has a transfer direction DA that is orthogonal to the rotation axis of the first roller 723a and the second roller 723b, and the first roller 723a and the second roller 723b are mutually the same. It is rotated around the axis of the rotation axis at a rotation speed of.
In the (2) stop pattern shown in FIG. 10, the second transport unit 72 stops the article P on two-dimensional coordinates parallel to the surface of the base 721. In the case of the stop pattern, each of the plurality of free drive units 722 stops the rotation of the first roller 723a and the second roller 723b.

The (3) lateral pattern left shown in FIG. 10 causes the second transport unit 72 to move the article P straight in the left direction orthogonal to the transfer direction DA on the two-dimensional coordinates parallel to the surface of the base 721. The left direction orthogonal to the transfer direction DA is the left direction when the transfer direction DA is the front. In the case of the horizontal movement pattern left, each of the plurality of free driving units 722 sets the first roller 723a and the second roller 723b to each other with the orthogonal direction of the rotation axis of the first roller 723a and the second roller 723b as the left direction. Rotate around the axis of the rotation axis at the same rotation speed.
The (4) lateral movement pattern right shown in FIG. 10 causes the second transport unit 72 to move the article P straight in the right direction perpendicular to the transfer direction DA on the two-dimensional coordinates parallel to the surface of the base 721. The right direction orthogonal to the transfer direction DA is the right direction when the transfer direction DA is the front. In the case of the lateral movement pattern right, each of the plurality of free driving units 722 sets the first roller 723a and the second roller 723b to each other with the orthogonal direction of the rotation axis of the first roller 723a and the second roller 723b as the right direction. Rotate around the axis of the rotation axis at the same rotation speed.

In the (5) left rotation pattern (weak) shown in FIG. 10, the second transport unit 72 rotates the article P counterclockwise on a two-dimensional coordinate parallel to the surface of the base 721. In the case of the left rotation pattern (weak), the second transport unit 72 rotates the article P more largely than the (6) left rotation pattern (strong) shown in FIG. Each of the plurality of free drive units 722 has, for example, a transfer direction DA that is orthogonal to the rotation axis of the first roller 723a and the second roller 723b. Each of the plurality of free drive units 722 changes, for example, as the rotational speed of the first roller 723a and the second roller 723b decreases as the free drive unit 722 is positioned on the left side of the base 721 compared to the other free drive units 722. Let
In the (6) left rotation pattern (strong) shown in FIG. 10, the second transport unit 72 rotates the article P counterclockwise on a two-dimensional coordinate parallel to the surface of the base 721. In the case of the left rotation pattern (strong), the second transport unit 72 rotates the article P more slightly than the (5) left rotation pattern (weak) shown in FIG. Each of the plurality of free drive units 722 has, for example, the first roller 723a and the second roller 723a and the second roller 723a as the counterclockwise direction around the rotation center of the first roller 723a and the second roller 723b. The rollers 723b are rotated around the rotation axis at the same rotation speed.

In the (7) right rotation pattern (weak) shown in FIG. 10, the second transport unit 72 rotates the article P clockwise on a two-dimensional coordinate parallel to the surface of the base 721. In the case of the right rotation pattern (weak), the second transport unit 72 rotates the article P more largely than the (8) right rotation pattern (strong) shown in FIG. Each of the plurality of free drive units 722 has, for example, a transfer direction DA that is orthogonal to the rotation axis of the first roller 723a and the second roller 723b. For example, each of the plurality of free drive units 722 is positioned on the right side of the base 721 as compared to the other free drive units 722, so that the rotational speeds of the first roller 723a and the second roller 723b change in a decreasing trend. Let
In the (8) right rotation pattern (strong) shown in FIG. 10, the second transport unit 72 rotates the article P clockwise on a two-dimensional coordinate parallel to the surface of the base 721. In the case of the right rotation pattern (strong), the second transport unit 72 rotates the article P more slightly than the (7) right rotation pattern (weak) shown in FIG. Each of the plurality of free driving units 722 has, for example, the first roller 723a and the second roller around the appropriate rotation center with the orthogonal direction of the rotation axis of the first roller 723a and the second roller 723b as the clockwise direction. 723b is rotated around the axis of the rotation axis at the same rotation speed.

  The 3rd conveyance part 73 is a belt conveyor, for example. The third transport unit 73 includes a third transport belt 73a driven in the transfer direction DA, and a third drive roller 73b and a third driven roller 73c on which the third transport belt 73a is bridged. The third drive roller 73b and the third driven roller 73c are arranged in parallel at a predetermined interval in the transfer direction DA. The third conveyor belt 73a is rotated by the rotation driving force of the third drive roller 73b, and the third driven roller 73c is driven to rotate.

  The 4th conveyance part 74 is a belt conveyor, for example. The fourth transport unit 74 includes a plurality of fourth transport belts 74a that are driven in the transfer direction DA. The width of each fourth transport belt 74a (belt width in the direction perpendicular to the transfer direction DA) is smaller than the width of the first transport belt 71a and the third transport belt 73a. The plurality of fourth conveyor belts 74a are arranged at predetermined intervals in the width direction (that is, the direction orthogonal to the transfer direction DA). Each of the fourth conveyor belts 74a is stretched around a fourth drive roller 74b and a fourth driven roller 74c that are arranged in parallel with a predetermined interval in the transfer direction DA. Each fourth conveyor belt 74a is rotated by the rotation driving force of the fourth drive roller 74b, and the fourth driven roller 74c is driven to rotate.

  Accordingly, each injector 70 sequentially has a first transport unit 71, a second transport unit 72, a third transport unit 73, and a transfer direction DA that intersects the first transport direction D1 of the transport path 11 at a predetermined acute angle. The article P is transferred from the fourth transport unit 74 to the desired conveyor cell 12.

  As shown in FIGS. 6 and 11, each injector 70 includes a plurality of optical sensors arranged in the first transport unit 71, the third transport unit 73, and the fourth transport unit 74. The plurality of optical sensors include, for example, a first optical sensor 75a arranged in the first conveyance unit 72, a second optical sensor 75b and a third optical sensor 75c arranged in the third conveyance unit 73, and a fourth conveyance unit. 74 a fourth optical sensor 75d.

The first optical sensor 75 a includes a light emitting unit and a light receiving unit that are disposed to face each other so as to cross over the first transport unit 71. The light emitting part and the light receiving part of the first optical sensor 75a are the first light emitting part 75a1 and the light receiving part 75a2. The first optical sensor 75a is disposed, for example, at the tip (downstream end) of the first transport unit 71.
Each of the second optical sensor 75 b and the third optical sensor 75 c includes a light emitting unit and a light receiving unit that are arranged to face each other so as to cross over the third transport unit 73. The light emitting part and the light receiving part of the second optical sensor 75b are the second light emitting part 75b1 and the light receiving part 75b2. The light emitting part and the light receiving part of the third optical sensor 75c are the third light emitting part 75c1 and the light receiving part 75c2. The second optical sensor 75b and the third optical sensor 75c are sequentially arranged at an appropriate interval in the transfer direction DA. The second optical sensor 75b is disposed, for example, at the rear end (upstream end) of the third transport unit 73.

The fourth optical sensor 75d includes a light emitting unit and a light receiving unit that are disposed to face each other so as to cross over the fourth transport unit 74. The light emitting part and the light receiving part of the fourth optical sensor 75d are a fourth light emitting part 75d1 and a light receiving part 75d2. For example, as illustrated in FIG. 12, the fourth optical sensor 75 d is disposed at the tip end portion (downstream end portion) of the fourth transport portion 74.
In each of the optical sensors 75a, 75b, 75c, and 75d, the irradiation light output from the light emitting unit is received by the light receiving unit when the article P does not exist on the optical axis. Each of the optical sensors 75a, 75b, 75c, and 75d is turned on when the article P is present on the optical axis of the irradiation light output from the light emitting unit and the reception of the irradiation light by the light receiving unit is interrupted (when dark). Output a signal. Each optical sensor 75a, 75b, 75c, 75d is when the article P does not exist on the optical axis of the irradiation light output from the light emitting unit, and the light receiving unit continues to receive the irradiation light (when bright). Outputs an OFF signal.

  Each injector 70 includes a camera 76 that images the entire second transport unit 72 from above. The imaging range of the camera 76 is set so as to include at least the entire second transport unit 72. The camera 76 outputs image data obtained by imaging the imaging range including the entire second transport unit 72.

  The sorting unit 14 receives the articles P discharged from each of the plurality of conveyor cells 12. As shown in FIG. 1, the sorting unit 14 includes a plurality of shooters 80 having different sorting destinations arranged along the first transport direction D1 of the transport path 11. The sorting unit 14 includes a plurality of shooters on the right side and the left side of the transport path 11 toward the first transport direction D1 when the first transport direction D1 is a counterclockwise transport direction, for example, inside and outside the transport path 11. 80.

The main control device 15 controls the article sorting device 10 in an integrated manner.
The main controller 15 controls the acceleration, deceleration, stop (emergency stop, etc.), etc. of each conveyor cell 12 by controlling the state of the current flowing through the electromagnetic coil 32 of the linear synchronous motor 31.
The main control device 15 manages information on the article P acquired by the information acquisition unit at an appropriate position on the transport path 11 or at a position upstream of the article sorting apparatus 10. The information on the article P is, for example, information such as the classification destination (sorting destination) of the article P, the size of the article P, and the weight.
The information acquisition unit includes, for example, an optical character recognition (OCR) device, a code reading device that reads a one-dimensional code or a two-dimensional code, or an RF reader that communicates with an IC tag attached to or incorporated in the article P. I have. The information acquisition unit acquires information previously given to the article P carried into the mounting unit 13 and transmits the acquired information to the main controller 15.

  The main control device 15 communicates with each of the information acquisition unit, the mounting unit 13 and the sorting unit 14 by wire or wireless, and transmits and receives various types of information. The main controller 15 controls the operations of the mounting unit 13 and the sorting unit 14 by transmitting a control command. The main control device 15 transmits and receives various types of information by non-contact communication with each cell control unit 47 of the plurality of conveyor cells 12. The main control device 15 transmits a control command to instruct the control operation of each cell control unit 47 to each cell control unit 47. The main controller 15 manages information received from each conveyor cell 12. The information received from the conveyor cell 12 is, for example, the position of each conveyor cell 12 on the transport path 11 and whether or not the article P is mounted.

The main control device 15 performs the acceleration / deceleration driving and stopping operations of the cross belt 61 by the motor 68 of each conveyor cell 12 so that the article P is delivered from each injector 70 of the mounting unit 13 to each conveyor cell 12. The operation is synchronized with the transfer operation of the article P by 70. The main control device 15 transmits a control command instructing the timing of acceleration / deceleration driving and stop of the cross belt 61 by the motor 68 of each conveyor cell 12 to the cell control unit 47 of each conveyor cell 12.
The cell control unit 47 of each conveyor cell 12 controls the receiving and holding of the article P by the cross belt 61 by controlling the acceleration / deceleration driving and stopping of the motor 68 at the timing specified by the main controller 15. As a result, the mounting unit 13 transfers the article P from the injectors 70 onto the placement surface A of the conveyor cells 12.
The cell control unit 47 of each conveyor cell 12 stores the control pattern data of the motor 68 in the storage unit 48 in advance, and the control pattern data of the storage unit 48 according to the control command of the main controller 15. Is used to control the motor 68.

The main control device 15 controls the transfer operation of the article P by each injector 70 based on the signal output from each optical sensor 75a, 75b, 75c, 75d and the image data output from the camera 76.
Based on the signals output from the optical sensors 75a, 75b, 75c, and 75d, the main control device 15 transfers the article P in the transfer direction DA, the first transfer unit 71, the third transfer unit 73, and The fourth transport unit 74 is controlled.
The main control device 15 detects whether or not the article P exists in the second transport unit 72 by performing image processing such as feature extraction on the image data output from the camera 76. For example, the main control device 15 separates the second transport unit 72 that is the background from the article P based on color information (such as the intensity of light of each wavelength of RGB) in the image data. When the main controller 15 detects the article P in the second transport unit 72, the main controller 15 detects the shape and position of the article P. Based on the presence / absence of the article P in the second transport unit 72 and the shape and position of the article P existing in the second transport unit 72, the main control device 15 performs the roller drive motor 724 in each of the plurality of free drive units 722. And the rotational speed and torque of the frame rotation motor 727 are controlled. Based on the presence or absence of the article P in the second transport unit 72 and the shape and position of the article P existing in the second transport unit 72, the main control device 15 moves the article P in the second transport unit 72 in an arbitrary direction. And the selective rotation of the article P are controlled.

  The main control device 15 acquires information on the article P mounted on the placement surface A of each conveyor cell 12 by the mounting unit 13 from the information acquisition unit. The main control device 15 grasps the classification destination of the article P according to the information of the article P received from the information acquisition unit, and selects the shooter 80 corresponding to the grasped classification destination from the plurality of shooters 80 of the sorting unit 14 To do. The main controller 15 drives the cross belt 61 by the motor 68 of each conveyor cell 12 so that the articles P are input from the respective conveyor cells 12 to the selected shooters 80 (that is, the articles P are input to the selected shooters 80). Set the timing to perform. The main control device 15 transmits a control command for instructing the driving timing of the cross belt 61 by the motor 68 of each conveyor cell 12 to the cell control unit 47 of each conveyor cell 12.

  The cell control unit 47 of each conveyor cell 12 controls the driving of the motor 68 at the driving timing specified by the main controller 15, thereby controlling the insertion of the article P into the shooter 80 by the cross belt 61. Thereby, the sorting unit 14 sorts the articles P according to the sorting destination corresponding to the information of the articles P of each conveyor cell 12. The cell control unit 47 of each conveyor cell 12 stores the control pattern data of the motor 68 in the delivery operation of the article P in the storage unit 48 in advance. 68 is controlled.

Below, operation | movement of the goods sorting apparatus 10 of embodiment mentioned above is demonstrated.
In the following, for example, along the time series when the article Pa is mounted by the mounting unit 13 on the empty conveyor cells (mountable cells) 12a among the plurality of conveyor cells 12 circulating in the transport path 11 shown in FIG. The operation will be described with reference to FIGS. For the empty conveyor cells 12 other than the empty conveyor cell 12a described below, the same operation as the conveyor cell 12a is performed.
The following operations are performed for all laps and all articles P in all conveyor cells 12 and injectors 70.

  In the following, each conveyor cell 12 moves on the conveyance path 11 at a constant main conveyance speed V (for example, a predetermined movement speed within a range of about 2.0 to 4.0 m / s). The articles P mounted on each conveyor cell 12 are divided into any shooter 80 of the sorting unit 14.

As shown in FIG. 13, first, the main controller 15 drives the first transport unit 71 in each injector 70 and transports the article Pa in the transport direction DA while monitoring the first optical sensor 75a (steps). S01).
Next, the main controller 15 determines whether or not the output of the first optical sensor 75a has been switched from the OFF signal to the ON signal (step S02).
When the determination result is “NO”, that is, when the first optical sensor 75a is bright, main controller 15 returns the process to step S01 (NO side of step S02).
On the other hand, if the determination result is “YES”, that is, if the first optical sensor 75a is switched from light to dark by being blocked by the article Pa, the main controller 15 advances the process to step S03 (step S02). YES side).
Next, the main controller 15 moves the first transport unit 71 in a state where there is an article Pa that blocks the first optical sensor 75a as in the state of the article Pa (Pa (1)) shown in FIG. Stop (step S03).

Next, the main controller 15 refers to the image data output from the camera 76 and performs image processing such as feature extraction on the image data (step S04).
Next, main controller 15 determines whether or not there is another article (a standby article described later) Pb in buffer area 721b of base 721 (step S05).
If the determination result is “NO”, that is, if another article Pb exists in the buffer area 721b, the main controller 15 advances the process to step S41 described later (NO side of step S05).
On the other hand, if the determination result is “YES”, that is, if there is no other article Pb in the buffer area 721b, main controller 15 advances the process to step S06 (YES side of step S05).
Next, main controller 15 drives first transport unit 71 to transport article Pa to first transport unit (buffer transport unit) 72 in the transfer direction DA (step S06).
Next, main controller 15 drives buffer transport unit 72 in a straight-ahead pattern, and receives article Pa from first transport unit 71 to delivery area 721a of buffer transport unit 72 while monitoring first optical sensor 75a. (Step S07)

Next, the main controller 15 determines whether or not the output of the first optical sensor 75a has been switched from the ON signal to the OFF signal (step S08).
When the determination result is “NO”, that is, when the first optical sensor 75a is dark by being blocked by the article Pa, the main controller 15 returns the process to step S06 (NO side of step S08).
On the other hand, when the determination result is “YES”, that is, when the article Pa is switched from dark to bright by passing through the first optical sensor 75a, the main controller 15 advances the process to step S09 (in step S08). YES side).
Next, the main controller 15 stops the first transport unit 71 in a state where the article Pa has passed through the first optical sensor 75a as in the state of the article Pa (Pa (2)) shown in FIG. S09).
Next, main controller 15 stops buffer transport unit 72 (step S10).

Next, the main controller 15 refers to the image data output from the camera 76 and performs image processing such as feature extraction on the image data (step S11).
Next, main controller 15 detects the external dimensions and position of article Pa in delivery area 721a of buffer transport unit 72 from image processing on the image data (step S12).
Next, the main controller 15 acquires the longitudinal dimension Lp of the article Pa based on the outer dimension of the article Pa (step S13).
Next, the main controller 15 determines whether or not the longitudinal dimension Lp of the article Pa is equal to or less than a preset length threshold Lth (step S14). The length threshold Lth is set to satisfy, for example, 0.5Lb <Lth <Lb based on the length (transport length) Lb of the cross belt 61 in the second transport direction D2, and more preferably Lth = 0. .8Lb. If the length threshold Lth is, for example, Lth ≦ 0.5 Lb, the number of articles Pa that are determined to be mounted across the plurality of conveyor cells 12 may be excessive. If the length threshold Lth is, for example, Lth ≧ Lb, the number of articles Pa that cannot be appropriately mounted on one conveyor cell 12 may increase.
If the determination result is “NO”, main controller 15 advances the process to step S27 described later (NO side of step S14).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S15 (YES side of step S14).

Next, the main control device 15 refers to the image data output from the camera 76 and causes the buffer transport unit 72 to relate to the posture of the article Pa so that the longitudinal direction PL of the article Pa coincides with the second transfer direction D2B. It drives with the drive pattern according to angle (theta) (step S15). The angle θ related to the posture of the article Pa is an angle formed by the longitudinal direction PL of the article Pa and the second transfer direction D2B, for example, as shown in FIG.
The main controller 15 can change the orientation of the article Pa at a rapid and short conveyance distance, for example, according to the angle θ when the article Pa reaches the delivery area 721a of the buffer conveyance unit 72. A drive pattern of the drive unit 722 is selected. For example, when the angle θ = 0 °, the main control device 15 drives the plurality of free drive units 722 in (1) a straight traveling pattern shown in FIG. For example, when 0 ° <angle θ <45 °, the main controller 15 drives the plurality of free drive units 722 with (5) left rotation pattern (weak) shown in FIG. For example, when 45 ° ≦ angle θ ≦ 90 °, the main control device 15 drives the plurality of free drive units 722 with (6) left rotation pattern (strong) shown in FIG. For example, when −45 ° <angle θ <0 °, the main control device 15 drives the plurality of free drive units 722 with (7) right rotation pattern (weak) shown in FIG. For example, when −90 ° <angle θ ≦ −45 °, the main control device 15 drives the plurality of free drive units 722 with (8) right rotation pattern (strong) shown in FIG.

Next, the main controller 15 determines whether or not the angle θ of the article Pa is substantially zero within a predetermined angle range (step S16). The predetermined angle range is, for example, an angle range larger than −5 ° and smaller than 5 ° (−5 ° <angle θ <5 °).
When the determination result is “NO”, main controller 15 returns the process to step S15 (NO side of step S16).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S17 (YES side of step S16).
Next, main controller 15 stops buffer transport section 72 in a state where angle θ of article Pa is substantially zero, as in the state of article Pa (Pa (3)) shown in FIG. 17 (step S17). .

Next, main controller 15 determines whether or not the outputs of second optical sensor 75b and third optical sensor 75c are OFF signals (step S18).
When this determination result is “NO”, that is, when the second optical sensor 75b or the third optical sensor 75c is dark by being blocked by another article P existing in the third transport unit 73, the main controller 15 The determination process of step S18 is repeatedly executed (NO side of step S18).
On the other hand, if the determination result is “YES”, that is, the second optical sensor 75b and the third optical sensor 75b and the third optical sensor 75c are not present in the third transport unit 73 without any other article P blocking the third optical sensor 75c. When sensor 75c is bright, main controller 15 advances the process to step S19 (YES side of step S18).
Next, main controller 15 drives buffer transport unit 72 in a straight traveling pattern (step S19).
Next, the main controller 15 drives the third transport unit 73 (step S20).

Next, the main controller 15 determines whether or not the output of the third optical sensor 75c has been switched from the OFF signal to the ON signal (step S21).
When the determination result is “NO”, that is, when the third optical sensor 75c is bright, main controller 15 returns the process to step S19 (NO side of step S21).
On the other hand, if the determination result is “YES”, that is, if the third optical sensor 75c is switched from light to dark by being blocked by the article Pa, the main controller 15 advances the process to step S22 (step S21). YES side).
Next, main controller 15 stops buffer transport unit 72 in a state where product Pa is transported to third transport unit 73 as in the state of product Pa (Pa (4)) shown in FIG. S22).
Next, the main controller 15 stops the third transport unit 73 (step S23).

Next, based on information acquired from each of the plurality of conveyor cells 12 on the conveyance path 11, the main control device 15 searches for an empty conveyor cell 12 in which the article P is not mounted among the plurality of conveyor cells 12. Then, it is stored as the mountable cell 12a for the article Pa (step S24).
Next, the main controller 15 determines the mountable cell 12a in which the distance X from the fourth transport unit 74 to the mountable cell 12a in the first transport direction D1 is the minimum under a predetermined condition among the searched mountable cells 12a. Is selected as the mounting destination cell 12b for actually mounting the article Pa (step S25).

The predetermined condition is, for example, that the mountable cell 12a is located in a range upstream of the fourth transport unit 74 in the first transport direction D1 and can be mounted from the fourth transport unit 74 in the first transport direction D1. The distance X to 12a is larger than the first lower limit value Xmin1 (X> Xmin1).
The first lower limit value Xmin1 is, for example, based on the main conveyance speed V, which is a constant value, and predetermined conveyance patterns of the third conveyance unit 73 and the fourth conveyance unit 74, and the mutual relationship between the article Pa and the conveyor cell 12. The shortest distance required to synchronize position and velocity. The main transport speed V is the moving speed of the conveyor cell 12 in the first transport direction D1 of the transport path 11. The conveyance patterns of the third conveyance unit 73 and the fourth conveyance unit 74 include information such as the conveyance speed and conveyance length of the article Pa in each of the third conveyance unit 73 and the fourth conveyance unit 74, for example. In the first lower limit value Xmin1, for example, the article Pa is accelerated by the third conveyance unit 73 and the fourth conveyance unit 74, and the position and speed of the article Pa and the conveyor cell 12 are equal to each other in the first conveyance direction D1. This is a value obtained by multiplying the time required to become the main transport speed V.

  Next, main controller 15 drives each of cross belt 61, third transport unit 73, and fourth transport unit 74 of mounting destination cell 12b based on a predetermined drive pattern. Main controller 15 delivers article Pa from fourth transport section 74 to mounting destination cell 12b as in the state of article Pa (Pa (5)) shown in FIG. 17 (step S26). Then, main controller 15 advances the process to the end.

Further, as shown in FIG. 15, main controller 15 drives buffer transport unit 72 with a drive pattern corresponding to angle θ relating to the posture of article Pa while referring to image data output from camera 76 ( Step S27). Main controller 15 rotates article Pa so that longitudinal direction PL of article Pa coincides with first transport direction D1 as in the state of article Pa (Pa (11) and Pa (12)) shown in FIG. The article Pa is moved in the transfer direction DA.
The main controller 15 can change the orientation of the article Pa at a rapid and short conveyance distance, for example, according to the angle θ when the article Pa reaches the delivery area 721a of the buffer conveyance unit 72. A drive pattern of the drive unit 722 is selected. For example, when the angle θ = 90 °, the main control device 15 drives the plurality of free drive units 722 in (1) a straight-ahead pattern shown in FIG. For example, when 0 ° <angle θ <45 °, the main controller 15 drives the plurality of free drive units 722 with (8) right rotation pattern (strong) shown in FIG. For example, when 45 ° ≦ angle θ ≦ 90 °, the main controller 15 drives the plurality of free drive units 722 with (7) right rotation pattern (weak) shown in FIG. For example, when −45 ° <angle θ <0 °, the main controller 15 drives the plurality of free drive units 722 with (6) left rotation pattern (strong) shown in FIG. For example, when −90 ° <angle θ ≦ −45 °, the main control device 15 drives the plurality of free drive units 722 with (5) left rotation pattern (weak) shown in FIG.

Next, the main controller 15 determines whether or not the angle θ of the article Pa is approximately 90 ° within a predetermined angle range (step S28). The predetermined angle range is, for example, an angle range larger than 85 ° and smaller than 95 ° (85 ° <angle θ <95 °).
If the determination result is “NO”, main controller 15 returns the process to step S27 (NO side of step S28).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S29 (YES side of step S28).
Next, main controller 15 stops buffer transport section 72 in a state where the angle θ of article Pa is approximately 90 ° as in the state of article Pa (Pa (12)) shown in FIG. 18 (step S29). ).

Next, based on information acquired from each of the plurality of conveyor cells 12 on the conveyance path 11, the main control device 15 includes two adjacent empty conveyors in which the article P is not mounted among the plurality of conveyor cells 12. Search cell 12. Main controller 15 stores two adjacent empty conveyor cells 12 on which article P is not mounted as a combination of two mountable cells 12c for article Pa (step S30).
Next, the main controller 15 determines that the distance X from the fourth transport unit 74 to the two mountable cells 12c in the first transport direction D1 among the combinations of the two mountable cells 12c searched for is a predetermined condition 2 A combination of two mountable cells 12c is extracted (step S31).

One of the predetermined conditions is, for example, that two mountable cells 12c are located in a range upstream of the fourth transport unit 74 in the first transport direction D1. Another one of the predetermined conditions is, for example, that the distance X from the fourth transport unit 74 to the two mountable cells 12c in the first transport direction D1 is smaller than the upper limit value Xmax and larger than the second lower limit value Xmin2. (Xmax>X> Xmin2).
The upper limit value Xmax is arbitrarily set, for example, so that the throughput of the article sorting apparatus 10 can be maximized. The upper limit value Xmax is, for example, the distance from the fourth transport unit 74 to the nearest upstream injector 70 in the first transport direction D1, or the distance from the fourth transport unit 74 to the nearest upstream shooter 80 in the first transport direction D1. Such as distance. The upper limit value Xmax is set based on the main transport speed V, for example.
The second lower limit value Xmin2 is based on, for example, the main transport speed V, which is a constant value, the transport pattern of the buffer transport unit 72, and the transport patterns of the third transport unit 73 and the fourth transport unit 74 that are set in advance. Is set. The second lower limit value Xmin2 is, for example, the shortest distance necessary to synchronize the position and speed of the article Pa and the conveyor cell 12. In the first lower limit value Xmin1 described above, the starting point of the acceleration of the article Pa is the third transport unit 73, whereas in the second lower limit value Xmin2, the starting point of the acceleration of the article Pa is the delivery area 721a of the buffer transport unit 72. . The conveyance patterns of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74 are, for example, the conveyance speed and conveyance of the article Pa in each of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74. It has information such as length. The article Pa is accelerated by the delivery area 721a of the buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74, and reaches a predetermined transport speed. For example, the second lower limit value Xmin2 is obtained by setting the main transport speed V to the time required for the position and speed of the article Pa and the conveyor cell 12 to be equal to each other in the first transport direction D1 after the article Pa is accelerated. This is a value obtained by multiplication.

Next, the main controller 15 has a combination of two mountable cells 12c in which the distance X from the fourth transport unit 74 in the first transport direction D1 is smaller than the upper limit value Xmax and larger than the second lower limit value Xmin2. It is determined whether or not it exists (step S32).
If the determination result is “NO”, main controller 15 advances the process to step S36 described later (NO side of step S32).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S33 (YES side of step S32).

Next, the main controller 15 determines whether or not the outputs of the second optical sensor 75b and the third optical sensor 75c are OFF signals (step S33).
When this determination result is “NO”, that is, when the second optical sensor 75b or the third optical sensor 75c is dark by being blocked by another article P existing in the third transport unit 73, the main controller 15 The process returns to step S30 (NO side of step S33).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S34 (YES side of step S33). In this case, the second optical sensor 75b and the third optical sensor 75c are bright without the second transport sensor 73 having the second optical sensor 75b or another article P blocking the third optical sensor 75c.

  Next, the main controller 15 determines a combination of two mountable cells 12c having a minimum distance X among combinations of two mountable cells 12c that satisfy the predetermined condition (Xmax> X> Xmin2). The two mounting destination cells 12d for actually mounting the article Pa are selected (step S34).

Next, main controller 15 drives each of cross belt 61, buffer transport unit 72, third transport unit 73, and fourth transport unit 74 of two mounting destination cells 12d based on a predetermined drive pattern. Then, the article Pa is delivered from the fourth transport unit 74 to the mounting destination cell 12b (step S35). First, the main control device 15 performs the same processing as the above-described steps S19 to S22, for example, so that the article Pa is buffer-transferred as in the state of the article Pa (Pa (13)) shown in FIG. Transfer from the section 72 to the third transport section 73. Next, main controller 15 drives each of cross belt 61, third transport unit 73, and fourth transport unit 74 of two mounting destination cells 12d based on a predetermined drive pattern. Main controller 15 delivers article Pa from fourth transport unit 74 to two mounting destination cells 12d as in the state of article Pa (Pa (14)) shown in FIG.
Then, main controller 15 advances the process to the end.

Further, main controller 15 conveys article Pa from delivery area 721a of buffer conveyance section 72 to buffer area 721b while continuously or intermittently referring to image data output from camera 76. The main control device 15 drives the plurality of free drive units 722 of the buffer transport unit 72 at (3) lateral movement pattern left shown in FIG. 10 (step S36).
Next, main controller 15 refers to the image data output from camera 76, performs image processing such as feature extraction on the image data, and detects the position of article Pa in buffer region 721b of buffer transport unit 72 ( Step S37).

Next, the main controller 15 determines whether or not the position of the article Pa is at the center of the buffer area 721b (step S38).
When the determination result is “NO”, main controller 15 returns the process to step S36 (NO side of step S38).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S39 (YES side of step S38).
Next, the main controller 15 stops the buffer transport unit 72 (step S39).
Next, main controller 15 manages article Pa in buffer area 721b as standby article Pb. Then, main controller 15 advances the process to the end.

  In the processing from step S27 to step S40 described above, the main controller 15 loads the article Pa across the two adjacent conveyor cells 12 when the longitudinal dimension Lp of the article Pa is larger than the length threshold Lth. To do. When the two adjacent conveyor cells 12 on which the article Pa can be mounted do not exist near the fourth transport unit 74, the main control device 15 causes the article Pa to stand by in the buffer area 721b as the standby article Pb. Main controller 15 mounts article Pa whose longitudinal dimension Lp is equal to or less than length threshold Lth in one conveyor cell 12 before standby article Pb even when standby article Pb is present in buffer area 721b. can do.

Further, as shown in FIG. 16, main controller 15 determines whether or not the outputs of second optical sensor 75b and third optical sensor 75c are OFF signals (step S41).
When this determination result is “NO”, that is, when the second optical sensor 75b or the third optical sensor 75c is dark by being blocked by another article P existing in the third transport unit 73, the main controller 15 The process of step S41 is repeatedly executed (NO side of step S41).
On the other hand, if the determination result is “YES”, main controller 15 advances the process to step S42 (YES side of step S41). In this case, the second optical sensor 75b and the third optical sensor 75c are bright without the second transport sensor 73 having the second optical sensor 75b or another article P blocking the third optical sensor 75c.

Next, based on information acquired from each of the plurality of conveyor cells 12 on the conveyance path 11, the main control device 15 includes two adjacent empty conveyors in which the article P is not mounted among the plurality of conveyor cells 12. Search cell 12. The main controller 15 stores the two adjacent empty conveyor cells 12 on which the article P is not mounted as a combination of the two mountable cells 12c for the article Pa (step S42).
Next, the main controller 15 determines that the distance X from the fourth transport unit 74 to the two mountable cells 12c in the first transport direction D1 among the combinations of the two mountable cells 12c searched for is a predetermined condition 2 A combination of two mountable cells 12c is extracted (step S43).

One of the predetermined conditions is, for example, that two mountable cells 12c are located in a range upstream of the fourth transport unit 74 in the first transport direction D1. Another one of the predetermined conditions is, for example, that the distance X from the fourth transport unit 74 to the two mountable cells 12c in the first transport direction D1 is smaller than the upper limit value Xmax and larger than the third lower limit value Xmin3. (Xmax>X> Xmin3).
The third lower limit value Xmin3 is set based on, for example, the main transport speed V, which is a constant value, the transport pattern of the buffer transport unit 72, and the transport patterns of the third transport unit 73 and the fourth transport unit 74 that are set in advance. Is done. The third lower limit value Xmin3 is, for example, the shortest distance necessary to synchronize the position and speed of the article Pa and the conveyor cell 12. In the second lower limit value Xmin2 described above, the starting point of acceleration of the article Pa is the delivery area 721a of the buffer transport unit 72, whereas in the third lower limit value Xmin3, the starting point of acceleration of the article Pa is the buffer area of the buffer transport unit 72. 721b. The conveyance patterns of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74 are, for example, the conveyance speed and conveyance of the article Pa in each of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74. It has information such as length. The article Pa is accelerated by the buffer area 721b, the delivery area 721a, the third conveyance section 73, and the fourth conveyance section 74 of the buffer conveyance section 72, and reaches a predetermined conveyance speed. For example, the third lower limit value Xmin3 is obtained by setting the main transport speed V to a time required for the position and speed of the article Pa and the conveyor cell 12 to be equal to each other in the first transport direction D1 after the article Pa is accelerated. This is a value obtained by multiplication.

Next, the main controller 15 has a combination of two mountable cells 12c in which the distance X from the fourth transport unit 74 in the first transport direction D1 is smaller than the upper limit value Xmax and larger than the third lower limit value Xmin3. It is determined whether or not it exists (step S44).
When the determination result is “NO”, main controller 15 advances the process to step S45 (NO side of step S44).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S46 (YES side of step S44).

Next, the main controller 15 determines whether or not the longitudinal dimension Lp of the article Pa is equal to or less than a preset length threshold Lth (step S45).
When the determination result is “NO”, main controller 15 returns the process to step S41 (NO side of step S45). That is, since the buffer area 721b is already occupied by the standby article Pb, the main controller 15 repeatedly executes the processing from step S41 to step S43 until a combination of the two mountable cells 12c is generated.
On the other hand, when the determination result is “YES”, main controller 15 returns the process to step S06 (YES side of step S45). That is, the main controller 15 does not need to wait in the buffer area 721b for articles Pa whose longitudinal dimension Lp is equal to or less than the length threshold Lth. To Step S26.

  Further, main controller 15 actually sets the combination of two mountable cells 12c having the smallest distance X among the combinations of two mountable cells 12c that satisfy the predetermined condition (Xmax> X> Xmin3). Are selected as two mounting destination cells 12d for mounting the article Pa (step S46).

The main control device 15 conveys the standby article Pb from the buffer area 721b of the buffer conveyance section 72 to the delivery area 721a while continuously or intermittently referring to the image data output from the camera 76. The main control device 15 drives the plurality of free drive units 722 of the buffer transport unit 72 at (4) lateral movement pattern right shown in FIG. 10 (step S47).
Next, main controller 15 refers to the image data output from camera 76, performs image processing such as feature extraction on the image data, and detects the position of standby article Pb in delivery area 721 a of buffer transport unit 72. (Step S48).

Next, main controller 15 determines whether or not the position of standby article Pb is at the center of delivery area 721a (step S49).
When the determination result is “NO”, main controller 15 returns the process to step S47 (NO side of step S49).
On the other hand, when the determination result is “YES”, main controller 15 advances the process to step S50 (YES side of step S49).

Next, main controller 15 drives each of cross belt 61, buffer transport unit 72, third transport unit 73, and fourth transport unit 74 of two mounting destination cells 12d based on a predetermined drive pattern. Then, the standby article Pb is delivered from the fourth transport unit 74 to the mounting destination cell 12b (step S50). First, the main control device 15 delivers the standby article Pb from the buffer transport unit 72 to the third transport unit 73, for example, by executing the same processing as in steps S19 to S22 described above. Next, main controller 15 drives each of cross belt 61, third transport unit 73, and fourth transport unit 74 of two mounting destination cells 12d based on a predetermined drive pattern. The main controller 15 delivers the standby article Pb from the fourth transport unit 74 to the two mounting destination cells 12d.
Then, main controller 15 advances the process to the end.

The main controller 15 performs a plurality of shooters 80 present in the sorting unit 14 on the basis of information (for example, destination, size, shape, weight, etc.) related to the article Pa after the execution of the processing from step S01 to step S50 described above. Select the appropriate category from the list. The main controller 15 conveys the conveyor cell 12 on which the article Pa is mounted toward the shooter 80 corresponding to the selected sorting destination.
When the conveyor cell 12 carrying the article Pa arrives near the shooter 80 corresponding to the sorting destination of the article Pa, the main controller 15 sends the article Pa to the cell control unit 47 of the conveyor cell 12. Instruct the shooter 80 to release. The cell control unit 47 of the conveyor cell 12 drives the cross belt 61 in response to a control command from the main control device 15 and discharges the article Pa from the placement surface A of the cross belt 61 to the shooter 80.

  According to the embodiment described above, the article P when being loaded on the conveyor cell 12 is provided by having the injector 70 for loading the article P on the conveyor cell 12 by moving the article P in an arbitrary direction and rotating according to the shape. It is possible to stabilize the behavior and posture after mounting. Since it has the injector 70 which rotates according to a shape, moving the article | item P, when supplying the article | item P to the injector 70 by manual or an automatic unloading apparatus etc., the complicated and special process for aligning the direction of an article | item Is unnecessary, and the processing efficiency can be improved.

When the longitudinal dimension Lp of the article Pa is larger than the length threshold Lth, the main control device 15 rotates the article Pa so that the longitudinal direction PL of the article Pa is parallel to the first transport direction D1 in the injector 70. Therefore, the article Pa can be placed across the plurality of conveyor cells 12. Since it has the 2nd conveyance part 72 which moves article Pa by either of a plurality of movement patterns according to longitudinal direction dimension Lp of article Pa, in the upstream from the 2nd conveyance part 72, longitudinal direction PL of article Pa is set. It can be pointed in any direction. Even if the longitudinal dimension Lp of the article Pa is larger than the length threshold Lth, the size of the third transport unit 73 and the fourth transport unit 74 may be formed so as to correspond to the long product Pa. It is possible to prevent the entire injector 70 from becoming excessively large.
The main controller 15 rotates the article Pa so that the longitudinal direction PL of the article Pa is parallel to the second transfer direction D2B in the injector 70 when the longitudinal dimension Lp of the article Pa is equal to or less than the length threshold Lth. The selective processing according to the longitudinal dimension Lp of the article Pa can be performed.

The main controller 15 determines the conveyor cell 12 to which the article P is transferred from the injector 70 based on the presence / absence, position, and shape of the article P in the injector 70 and the position of the conveyor cell 12 on which the article P is not mounted. Since it selects, the conveyance efficiency of the articles | goods P can be improved.
The main controller 15 sets the conveyor cell 12 closest to the injector 70 among the empty conveyor cells 12 as the transfer destination of the article P when the longitudinal dimension Lp of the article Pa is equal to or less than the length threshold Lth. Through the effective use of the conveyor cell 12, the throughput can be improved.
When the longitudinal dimension Lp of the article Pa is larger than the length threshold Lth, the main control device 15 stores the article Pa in the buffer area 721b when there is no combination of the plurality of conveyor cells 12 to which the article Pa is transferred. Therefore, it is possible to suppress a decrease in the operating rate of the injector 70. The main control device 15 causes the long article Pa to stand by in the buffer area 721b when there is no transfer destination of the long article Pa, so that the succeeding article Pa that can be mounted on one conveyor cell 12 is a long article. It can be processed before Pa. Even if the number of articles Pa mounted on one conveyor cell 12 is larger than the number of articles Pa mounted across a plurality of conveyor cells 12, the reduction in the operating rate of the injector 70 is suppressed. The conveyor cell 12 can be effectively used.

Hereinafter, modified examples will be described.
In the above-described embodiment, the arrangement pattern of the plurality of free driving units 722 is formed by a plurality of sets of staggered arrangement patterns SA using one set of staggered arrangement patterns SA formed by the five free driving units 722. However, it is not limited to this. The arrangement pattern of the plurality of free drive units 722 may be formed using a set of arrangement patterns formed by an arbitrary number of free drive units 722.
In the article sorting apparatus 10 according to the first modification of the embodiment, the arrangement pattern of the plurality of free drive units 722 is, for example, one set of arrangement pattern SB shown in FIG. 19 or one set of arrangement pattern shown in FIG. It may be formed using SC or the like.
In the set of arrangement patterns SB shown in FIG. 19, for example, four universal driving units 722 are arranged at the apexes of a square. In the arrangement pattern SC shown in FIG. 20, for example, seven universal driving portions 722 are arranged at the apex and center of a regular hexagon.

In the above-described embodiment, the configuration of the universal drive unit 722 is the configuration illustrated in FIGS. 8 and 9, but is not limited thereto. The configuration of the universal drive unit 722 may be another configuration having a function of rotating and straightly moving the article P.
In the embodiment described above, the universal drive unit 722 includes the first roller 723a and the second roller 723b, but is not limited thereto, and may include one roller or three or more rollers.
In the above-described embodiment, the universal drive unit 722 is configured such that the outer peripheral surfaces of the first roller 723a and the second roller 723b support the article P. However, the present invention is not limited thereto, and the first roller 723a and the second roller 723b. The article P may be supported by a conveyor belt that is stretched around the outer peripheral surface of the article.
In the above-described embodiment, the universal drive unit 722 includes the roller drive motor 724 fixed to the rotating frame 726. However, the embodiment is not limited thereto, and is incorporated in each of the first roller 723a and the second roller 723b. A motor may be provided.
Further, the roller drive motor 724 may be fixed to the outside of the free drive unit 722, for example, the base 721, and transmit the drive force from the stationary system to the free drive unit 722 via a pulley and a belt or a gear.
In the above-described embodiment, each of the plurality of universal drive units 722 includes the frame rotation motor 727. However, the present invention is not limited thereto, and the plurality of universal drive units 722 includes one common motor. You may drive the several flexible drive part 722 simultaneously via a belt etc. from a motor.

In the above-described embodiment, the shape of the base 721 is formed in a rectangular plate shape. However, the shape is not limited to this, and the base 721 is formed in another shape, for example, a plate shape with an L shape or a curved figure. Also good.
In the above-described embodiment, the size of the base 721 is formed so that at least a plurality of articles P can be simultaneously loaded. However, the present invention is not limited to this, and the plurality of articles P are placed in the buffer region 721b. You may form in the magnitude | size which can be made to wait simultaneously.

In the above-described embodiment, the second transport unit (buffer transport unit) 72 that performs movement of the article P in an arbitrary direction and rotation according to the shape of the article P is provided. The article P may be moved and rotated by a mechanism other than 72.
As shown in FIG. 21, the injector 70 of the article sorting apparatus 10 according to the second modification example of the embodiment includes at least one robot arm 91 instead of the buffer transport unit 72. The injector 70 of the second modification includes, for example, a first transport unit 71, a third transport unit 73, and a fourth transport unit 74 that are sequentially arranged in the transfer direction DA, and the first transport unit 71 or the third transport. A robot arm 91 disposed around the unit 73.
The main controller 15 moves and rotates the article P of the first transport unit 71 or the third transport unit 73 by the robot arm 91 while referring to the image data output from the camera 76. The imaging range of the camera 76 is set so as to include at least the entire first transport unit 71 or the third transport unit 73. The camera 76 outputs image data obtained by imaging an imaging range including at least the entire first transport unit 71 or the third transport unit 73.

The degree of freedom of the robot arm 91 is at least 4 degrees of freedom. The robot arm 91 includes an end effector capable of sucking or gripping the article P. For example, the robot arm 91 takes out the article P of the first transport unit 71 or the third transport unit 73 by the end effector, changes the angle θ of the article P to a predetermined angle according to the shape of the article P, and then the article P. Is again placed on the first transport unit 71 or the third transport unit 73. For example, the robot arm 91 maintains the state in which the article P is taken out by the end effector, or temporarily places the article P taken out by the end effector on a mounting table 92 provided separately. P may be made to wait.
When each injector 70 is provided with a plurality of robot arms 91, the plurality of robot arms 91 may be arranged and controlled to perform cooperative work.
The robot arm 91 may be disposed on the floor of the building that houses the article sorting apparatus 10 or on the ceiling.

In the second modification of the above-described embodiment, the first transport unit 71 and the third transport unit 73 are adjacent to each other in the transfer direction DA as the second transport unit (buffer transport unit) 72 is omitted. However, it is not limited to this.
As shown in FIG. 22, the injector 70 of the article sorting apparatus 10 according to the third modification of the embodiment includes a free roller conveyor 93 between the first transport unit 71 and the third transport unit 73 in the transfer direction DA. I have. The free roller conveyor 93 includes a free roller 94 that can rotate in all directions of 360 °, and supports the article P by the free roller 94.
The robot arm 91 moves and rotates the article P by sliding the article P placed on the free roller conveyor 93 in any direction on the free roller conveyor 93 while adsorbing, gripping, or pushing the article P by the end effector. .
The size of the free roller conveyor 93 is formed such that at least a plurality of articles P can be loaded simultaneously. The free roller conveyor 93 is similar to the delivery area 721a and the buffer area 721b of the buffer conveyance section 72 of the embodiment, and an area for delivering the article P between the first conveyance section 71 and the third conveyance section 73; And an area for waiting for the article P.

  In the above-described embodiment, the third transport unit 73 and the fourth transport unit 74 are belt conveyors. However, the present invention is not limited to this, and at least one of the third transport unit 73 and the fourth transport unit 74 is a roller conveyor. May be.

In the above-described embodiment, the first transport unit 71, the second transport unit (buffer transport unit) 72, the third transport unit 73, and the fourth transport unit 74 are linearly arranged in the transfer direction DA. It is not limited to this. The first transport unit 71, the buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74 are, for example, a polygonal line or a curve while the transport direction of the article P in the fourth transport unit 74 is parallel to the transfer direction DA. They may be arranged side by side.
As shown in FIG. 23, the injector 70 of the article sorting apparatus 10 according to the fourth modification of the embodiment includes a first transport unit 71 adjacent to the buffer transport unit 72 in a direction DB parallel to the transfer direction DA. Yes. The buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74 according to the fourth modification are linearly arranged in the transfer direction DA. The first transport unit 71 is arranged so as to deviate from the arrangement of the buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74 in the direction orthogonal to the transfer direction DA, that is, in the width direction of the buffer transport unit 72. . The conveyance direction of the article P of the first conveyance unit 71 is a direction DB parallel to the transfer direction DA. The conveyance direction of the article P in each of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74 is the transfer direction DA.
The shape of the base 721 of the buffer transport unit 72 according to the fourth modification is formed in, for example, a polygonal plate shape. The delivery area 721 a of the buffer transport unit 72 is set to be adjacent to each of the first transport unit 71 and the third transport unit 73. The buffer area 721b is an area other than the delivery area 721a in the base 721.

The injector 70 according to the fourth modification includes a discharge unit 95 adjacent to the delivery area 721a of the buffer transport unit 72. The discharge unit 95 is, for example, a belt conveyor. The discharge unit 95 includes a discharge belt 95a driven in the discharge direction DC, and a driving roller 95b and a driven roller 95c over which the discharge belt 95a is bridged. The discharge direction DC is, for example, a direction from the buffer transport unit 72 to the outside in a direction crossing the transfer direction DA. The driving roller 95b and the driven roller 95c are arranged in parallel at a predetermined interval in the discharge direction DC. The discharge belt 95a is rotated by the rotation driving force of the driving roller 95b, and the driven roller 95c is driven to rotate. The discharge unit 95 discharges the articles Pc to be discharged to the outside of the buffer transport unit 72.
The main control device 15 refers to the image data output from the camera 76, and when the article Pc to be discharged exists in the buffer transfer section 72, the main control apparatus 15 discharges by driving the buffer transfer section 72 and the discharge section 95. The target article Pc is delivered from the buffer transport unit 72 to the discharge unit 95. The shape of the article Pc to be discharged is formed so as to deviate from a predetermined allowable shape. The dimension in the shape of the article Pc to be discharged is, for example, less than a predetermined dimension. The curvature of the bottom surface in the shape of the article Pc to be discharged is, for example, larger than a predetermined value.
In FIG. 23, for example, the state of the article Pa (Pa (11) to P (14)) in the processing from step S27 to step S40 of the embodiment described above is shown.

As shown in FIG. 24, the injector 70 of the article sorting apparatus 10 according to the fifth modification of the embodiment includes a first transport unit 71 that is adjacent to the buffer transport unit 72 in a direction DD that intersects the transfer direction DA. Yes. The buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74 according to the fifth modification are linearly arranged in the transfer direction DA. The first transport unit 71 is arranged so as to deviate from the arrangement of the buffer transport unit 72, the third transport unit 73, and the fourth transport unit 74 in the direction orthogonal to the transfer direction DA, that is, in the width direction of the buffer transport unit 72. . The conveyance direction of the article P of the first conveyance unit 71 is a direction DD that intersects the transfer direction DA. The conveyance direction of the article P in each of the buffer conveyance unit 72, the third conveyance unit 73, and the fourth conveyance unit 74 is the transfer direction DA.
The shape of the base 721 of the buffer transport unit 72 according to the fifth modification is formed in, for example, a polygonal plate shape. The delivery area 721 a of the buffer transport unit 72 is set to be adjacent to each of the first transport unit 71 and the third transport unit 73. The buffer area 721b is an area other than the delivery area 721a in the base 721.

The injector 70 according to the fifth modification includes a discharge unit 95 adjacent to the delivery region 721a of the buffer transport unit 72. The discharge unit 95 is, for example, a belt conveyor. The discharge unit 95 includes a discharge belt 95a driven in the discharge direction DC, and a driving roller 95b and a driven roller 95c over which the discharge belt 95a is bridged. The discharge direction DC is a direction from the buffer transport unit 72 to the outside in a direction parallel to the transfer direction DA, for example.
In FIG. 24, for example, the state of the article Pa (Pa (11) to P (14)) in the processing from step S27 to step S40 of the embodiment described above is shown.

According to the 4th modification or the 5th modification, the 1st conveyance part 71, the buffer conveyance part 72, the 3rd conveyance part 73, and the 4th conveyance part 74 are located in a line with suitable shapes other than linear form. Since they are arranged, the flexibility of the layout can be improved.
Furthermore, by having the discharge part 95 adjacent to the buffer conveyance part 72, it can prevent that a malfunction arises in conveyance and delivery of the goods P in the injector 70 and each conveyor cell 12 resulting from the shape of the goods P.

In the embodiment described above, the injector 70 includes the first transport unit 71, the second transport unit (buffer transport unit) 72, the third transport unit 73, and the fourth transport unit 74, but is not limited thereto.
In the injector 70, the 3rd conveyance part 73 may be abbreviate | omitted and the buffer conveyance part 72 and the 4th conveyance part 74 may be arrange | positioned so that it may adjoin.
In the injector 70, the third transport unit 73 and the fourth transport unit 74 may be omitted, and the article P may be directly delivered from the buffer transport unit 72 to the desired conveyor cell 12.
In the injector 70, a new conveyor may be added before and after the third conveyance unit 73, and the article P may be conveyed by more detailed conveyance control.

In the above-described embodiment, the longitudinal dimension Lp of the standby article Pb is larger than the length threshold Lth as shown in step S14, but is not limited to this.
For example, in the case where the order of transporting the articles P is changed for a specific purpose, the article Pa may be set as the standby article Pb regardless of whether or not the longitudinal dimension Lp of the article Pa is larger than the length threshold Lth. Good. The specific purpose is, for example, to improve the efficiency of secondary sorting work at the shooter 80, loading work onto a roll box pallet, loading work onto a truck or container, and the like.

In the above-described embodiment, the injector 70 delivers the article P to one or a plurality of conveyor cells 12 for each single article P. However, the present invention is not limited to this. You may deliver to the conveyor cell 12.
As shown in FIG. 25, the injector 70 of the article sorting apparatus 10 according to the sixth modification of the embodiment has a plurality of (for example, three) articles with the same sorting destination (sorting destination) in the buffer transport unit 72. After waiting for P, the plurality of articles P are collectively conveyed from the buffer conveyance unit 72 to the third conveyance unit 73. The injector 70 collectively transports a plurality of articles P having the same sorting destination (sorting destination) from the third transport unit 73 to the fourth transport unit 74 and receives it from the fourth transport unit 74 to one conveyor cell 12. hand over.
According to the sixth modified example, when a plurality of articles P having the same sorting destination (sorting destination) is equal to or smaller than a predetermined size, the buffer transport unit that transports the plurality of articles P collectively. By having 72, the throughput of the article sorting apparatus 10 can be improved.

  In the above-described embodiment, the main control device 15 directly controls each injector 70. However, the present invention is not limited to this, and one injector control device may be provided for each at least one injector 70. Each injector control device controls at least one injector 70 while communicating with the main control device 15, for example. The injector control device is, for example, a PLC (Programmable Logic Controller) or a control board.

In the embodiment described above, the transport path 11 is configured as shown in FIG. 1, but is not limited to this.
In the modification of the embodiment, the conveyance path 11 may include, for example, each of the mounting unit 13 and the sorting unit 14 at one place or a plurality of places. For example, the number, direction, and shape of the curve may be arbitrarily set in the conveyance path 11, and an uphill or a downhill may be provided as necessary.

In the above-described embodiment, the transport path 11 and the plurality of conveyor cells 12 include the linear synchronous motor 31, but are not limited thereto, and may include a linear induction motor.
Each conveyor cell 12 may include a driving wheel and a motor that rotationally drives the driving wheel instead of the linear synchronous motor 31, and may travel on the conveyance path 11 using the motor as a traveling drive source.
Each conveyor cell 12 may be transported along the transport path 11 by a transmission mechanism that mechanically transmits a driving force instead of the linear synchronous motor 31. For example, a flat plate is hung vertically downward from the chassis 51 of the chassis portion 41, and the ends of the flat plate are sandwiched from both sides in the thickness direction by a pair of rollers that are rotated by motor driving, so that the first conveyance direction D1 is moved. A driving force may be obtained.

In the above-described embodiment, the non-contact power feeding unit 34 is provided over the entire area of the transport path 11, but is not limited thereto, and may be provided in a part of the transport path 11.
The non-contact power feeding unit 34 may be provided at least around each of the mounting unit 13 and the sorting unit 14.
In the above-described embodiment, adjacent conveyor cells 12 may be connected by a cable that transmits power or a control signal supplied from the non-contact power feeding unit 34.
In the above-described embodiment, each conveyor cell 12 includes an AC / DC converter that performs DC conversion on power supplied from the non-contact power supply unit 34, a voltage converter that boosts and decreases voltage, an accumulator for rectification, and A capacitor for storage and a battery may be provided.

In the embodiment described above, the non-contact power feeding unit 34 supplies power from the transport path 11 to each conveyor cell 12 in a non-contact manner by electromagnetic induction, but is not limited thereto.
The non-contact power feeding unit 34 may supply electric power from the transport path 11 to each conveyor cell 12 in a non-contact manner by, for example, transmission / reception of radio waves, magnetic field resonance, or electric field coupling.

  In the above-described embodiment, the adjacent conveyor cells 12 before and after the first transport direction D1 are connected by the mutual connection mechanism 53. However, the present invention is not limited to this, and the plurality of conveyor cells 12 are separated from each other independently. May be.

  In the embodiment described above, the motor 68 is a DC motor or a brushless motor. However, the present invention is not limited to this, and the motor 68 may be, for example, a servo motor or a stepping motor.

  In the above-described embodiment, the roller drive motor 724 and the frame rotation motor 727 are servo motors or stepping motors, but are not limited thereto. At least one of the roller drive motor 724 and the frame rotation motor 727 may be, for example, a DC motor or a brushless motor driven by pulse control or the like.

In the embodiment described above, the cross belt mechanism 42 may include a tension adjustment mechanism that adjusts the tension of the cross belt 61 by adjusting the distance between the driving roller 62 and the driven roller 63.
Further, the cross belt mechanism 42 may include a tension roller that adjusts the tension of the cross belt 61 in addition to the driving roller 62 and the driven roller 63.

  In the above-described embodiment, each shooter 80 of the sorting unit 14 may include a transport unit such as a belt conveyor that operates to draw the articles P discharged from the cross belt 61 of each conveyor cell 12.

  In the above-described embodiment, the base 721 includes the delivery area 721a and the buffer area 721b that are partitioned in the width direction, but is not limited thereto. The main control device 15 may partition the delivery area 721a and the buffer area 721b in advance, or may partition while moving the boundary dynamically.

In the above-described embodiment, the main control device 15 switches the rotation direction of the article P (that is, left rotation and right rotation) and the strength of each rotation according to the angle θ of the article P in the second transport unit 72. However, it is not limited to this.
The main control device 15 does not switch the rotation direction and the strength of rotation of the article P according to the size of the delivery area 721a of the buffer transport unit 72, and maintains a plurality of rotations so as to maintain a certain rotation direction and rotation strength. The universal drive unit 722 may be driven.
For example, when the size of the delivery area 721a is equal to or larger than a predetermined size, the main control device 15 may fix the strength of rotation strongly, or the size of the delivery area 721a is a predetermined size. If it is less than this, the strength of rotation may be fixed to be weak.

In the above-described embodiment, the main control device 15 selects the mounting destination cell 12b from the mountable cells 12a as shown in Step S25, Step S34, and Step S46, but is not limited to this.
For example, when the mounting destination cell 12b for the article P is selected, the main control device 15 is set so that the mounting destination cell 12b is not listed as a mountable cell 12a for another subsequent article P or another injector 70. May be. The main controller 15 may store empty conveyor cells 12 that are not listed as loadable cells 12a for other articles P or other injectors 70 as loadable cells 12a for the articles Pa.
According to this modification, a plurality of injectors 70 can perform cooperative operations, and the throughput of the article sorting apparatus 10 can be improved.

In the above-described embodiment, the main control device 15 performs image processing based on color information (for example, light intensity of each wavelength of RGB) in the image data output from the camera 76, but is not limited thereto.
For example, the main control device 15 determines the second transport unit based on distance information acquired by a distance image sensor or a stereo camera (for example, a difference in distance between the second transport unit 72 and the article P with respect to each sensor). The article P placed on 72 may be detected.

In the embodiment described above, each of the third transport unit 73 and the fourth transport unit 74 confirms whether the speed and position of the article Pa and the mounting destination cell 12b are appropriately synchronized after the acceleration of the article Pa is completed. For example, a margin conveyance section may be provided. When providing the margin conveyance section in the third conveyance section 73 and the fourth conveyance section 74, the margin conveyance section is obtained by adding the component in the first conveyance direction D1 of the margin conveyance section to the minimum distance required for speed and position synchronization. The values may be set as the lower limit values Xmin1, Xmin2, and Xmin3.
Further, the conveyance pattern of the article P in each of the third conveyance unit 73 and the fourth conveyance unit 74, the presence / absence and length of the margin conveyance section, the area of the buffer conveyance unit 72, and the drive pattern of the universal drive unit 722 (for example, conveyance) The speed, torque, etc.) may be appropriately set when designing the apparatus.

In the embodiment described above, the main control device 15 receives information on whether or not the article P is mounted from each conveyor cell 12, but the present invention is not limited to this.
The main control device 15, for example, based on the data relating to the movement of the plurality of conveyor cells 12 stored in advance and the history data of control operations for the mounting unit 13 and the sorting unit 14, etc. The position information of the conveyor cell 12 may be acquired.

  In the above-described embodiment, as shown in step S03, the first transport unit 71 is stopped prior to referring to the image data output from the camera 76. However, the present invention is not limited to this. The driving of the unit 71 may be continued.

  According to at least one embodiment described above, the behavior of the article P is provided by having the injector 70 that mounts the article P on the conveyor cell 12 by selective rotation according to the movement and shape of the article P in an arbitrary direction. And the posture can be stabilized. Since it has the injector 70 which rotates according to a shape, moving the article | item P, when supplying the article | item P to the injector 70 by manual or an automatic unloading apparatus etc., the complicated and special process for aligning the direction of an article | item Is unnecessary, and the processing efficiency can be improved.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 10 ... Article sorting apparatus, 11 ... Conveyance path, 12 ... Conveyor cell, 13 ... Loading unit, 14 ... Sorting unit, 15 ... Main controller, 70 ... Injector, 71 ... 1st conveyance part, 72 ... 2nd conveyance part ( Buffer transport unit), 73 ... Third transport unit, 74 ... Fourth transport unit, 76 ... Camera, 80 ... Shooter, 721 ... Base, 721a ... Delivery area, 721b ... Buffer area, 722 ... Free drive unit

Claims (10)

A transport path;
A transport unit that moves the transport path in the first transport direction and transports an article to be mounted in a second transport direction that intersects the first transport direction;
An article shape acquisition unit for acquiring information on the shape of the article mounted on the transport unit;
A mounting device for mounting the article on the transport unit by moving the article in an arbitrary direction and selectively rotating the article according to the shape of the article acquired by the article shape acquisition unit;
A control device for controlling movement of the transport unit in the first transport direction, transport of the article in the second transport direction by the transport unit, and mounting of the article on the transport unit by the mounting device;
An article sorting apparatus comprising: The controller is
When the longitudinal dimension of the shape of the article acquired by the article shape acquisition unit is larger than a threshold value, the mounting apparatus rotates the article so that the longitudinal direction of the article is parallel to the first transport direction. After transferring the article from the mounting device to the transport unit,
The article sorting apparatus according to claim 1. The controller is
When the longitudinal direction dimension of the article acquired by the article shape acquisition unit is less than or equal to a threshold value, after the article is rotated so that the longitudinal direction of the article is parallel to the second transport direction in the mounting device Transferring the article from the mounting device to the transport unit;
The article sorting apparatus according to claim 1 or 2. An article detection unit for detecting the presence or absence of the article, the position of the article, and the shape of the article in the mounting device;
A transport unit position acquisition unit that acquires the position of the transport unit not loaded with the article,
The controller is
Based on the presence / absence of the article detected by the article detection unit, the position of the article, and the shape of the article, and the position of the conveyance unit acquired by the conveyance unit position acquisition unit, from the mounting device Selecting the transport unit to which the goods are transferred;
The article sorting apparatus according to any one of claims 1 to 3. The controller is
When the longitudinal dimension of the shape of the article detected by the article detection unit is equal to or less than a threshold value, the article is based on the moving speed of the transport unit and the transport speed and transport length of the article in the mounting device. The transport unit that is closest to the mounting device among the transport units that are not mounted is set as the transfer destination of the article.
The article sorting apparatus according to claim 4. The controller is
When the longitudinal dimension of the article detected by the article detection unit is larger than a threshold value, the article is determined based on the moving speed of the transport unit and the transport speed and transport length of the article in the mounting device. A combination of the plurality of transport units within a predetermined distance from the mounting device among a plurality of continuous transport unit combinations that are not mounted, is set as a transfer destination of the article;
The article sorting apparatus according to claim 4. The mounting device is
Waiting for an article having a longitudinal dimension of the article that is greater than a threshold, and having a waiting place where a subsequent article can be mounted on the transport unit in advance.
The article sorting apparatus according to claim 6. The controller is
When the combination of the plurality of transport units that is the transfer destination of the article does not exist, the loading apparatus is made to wait.
The article sorting apparatus according to claim 6. The threshold is set based on a transport length of the transport unit in the second transport direction.
The article sorting apparatus according to any one of claims 2, 3, 5, 6, 7, and 8. The predetermined distance is set based on a moving speed of the transport unit.
The article sorting apparatus according to claim 6.

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