JP2021117019A

JP2021117019A - Boxing inspection system and boxing inspection method

Info

Publication number: JP2021117019A
Application number: JP2020008567A
Authority: JP
Inventors: 壽晃菊池; Hisaaki Kikuchi
Original assignee: Anritsu Infivis Co Ltd
Current assignee: Anritsu Infivis Co Ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2021-08-10
Anticipated expiration: 2040-01-22
Also published as: JP7308770B2

Abstract

To reliably determine a stockout product in boxed products based on measured values of the products even when a measuring order of the products and a boxing order of the products do not match.SOLUTION: A boxing inspection system 1 includes first measuring means 10 for measuring products P and outputting first measured values, storage means 21 for storing the first measured values, boxing means 4 for boxing the measured products P, second measuring means 12 for measuring the boxed products and outputting second measured values, box specifying means 22 for specifying the first measured values stored in the storing means of the actually boxed products P, calculation means 23 for calculating standard total weight values of the boxed products based on the first measuring values, and stockout product determination means 24 for comparing the standard total weight values and the second measuring values and inspecting a stockout product of the boxed products P, in which the calculation means sums up the first measuring values of the storage means specified by the box specifying means and calculates reference total measuring values.SELECTED DRAWING: Figure 1

Description

本発明は、順次供給される製品を計量した後、これらを箱に詰めて箱詰品とし、箱詰品に含まれる各製品の計量値の合計と、箱詰品の計量値とを比較して箱詰品に詰められた製品の個数を検査する箱詰検査システム及び箱詰検査方法に係り、特に、重量の誤差範囲が大きい製品の箱詰検査において、箱詰時の製品の取り扱い不良等により計量順と箱詰順が一致しないような場合が生じても、箱詰品に含まれる製品の欠品を製品の計量値に基づいて確実に判定できるようにした発明に関するものである。 In the present invention, after weighing the products to be sequentially supplied, these are packed in a box to make a boxed product, and the total of the measured values of each product contained in the boxed product is compared with the measured value of the boxed product. It is related to the boxing inspection system and the boxing inspection method that inspect the number of products packed in the boxed product. The present invention relates to an invention that makes it possible to reliably determine a missing product of a product contained in a boxed product based on the measured value of the product even if the weighing order and the boxing order do not match.

下記特許文献１には、パック詰製品を対象とする重量選別機の発明が開示されている。この重量選別機は、計量手段と、パック詰製品の基準総重量値と上限及び下限許容値とを設定する設定手段と、計量されたパック詰製品の重量値が許容重量範囲内にあるときにはパック詰製品中の物品の個数が正規の個数であると判定する判定手段と、良品と判定されたパック詰製品を選別する選別手段を備えており、そして、許容範囲内にあると判定されたパック詰製品が所定個数計量される度に、その平均重量値を算出し、この値が基準総重量値と異なる場合には、基準総重量値を平均重量値に修正することができる。この重量選別機によれば、温度等の条件変化によって１個の物品の重量値が変化したような場合であっても、予め定めた個数の物品が正確にパック詰されているか否かをチェックすることができるものとされている。 Patent Document 1 below discloses an invention of a weight sorter for packed products. This weight sorter has a weighing means, a setting means for setting a reference total weight value and an upper limit and a lower limit allowable value of the packed product, and a pack when the weight value of the weighed packed product is within the allowable weight range. It is equipped with a determination means for determining that the number of articles in the packed product is a regular number, a sorting means for selecting packed products determined to be non-defective, and a pack determined to be within the permissible range. Each time a predetermined number of packed products are weighed, the average weight value is calculated, and if this value is different from the reference total weight value, the reference total weight value can be corrected to the average weight value. According to this weight sorter, even if the weight value of one article changes due to a change in conditions such as temperature, it is checked whether or not a predetermined number of articles are accurately packed. It is supposed to be possible.

下記特許文献２には、予め定めた個数の物品が正確に箱詰されているか否かをチェックできる箱詰装置の発明が開示されている。この箱詰装置によれば、正規個数の物品が正確に箱詰されているか否かのチェックは次のような手順で行なわれる。まず空の外装箱２の重量を計量部１２０が計量する。次に、物品が外装箱２に詰められる前に物品の重量を第２の計量部１２１が計量する。さらに、計量済み物品が詰められている外装箱２の重量を計量部１２２が計量する。そして、空の外装箱２と、この外装箱２に詰められることを予定して計量された予め定めた数の計量済み物品の合計重量とが、計量済み物品が詰められている外装箱２の重量に等しいか否かをコントローラ２７が判定する。 Patent Document 2 below discloses an invention of a boxing device capable of checking whether or not a predetermined number of articles are accurately packed in a box. According to this boxing device, checking whether or not a regular number of articles are correctly packed is performed by the following procedure. First, the weighing unit 120 measures the weight of the empty outer box 2. Next, the second weighing unit 121 weighs the article before the article is packed in the outer box 2. Further, the weighing unit 122 weighs the weight of the outer box 2 in which the weighed articles are packed. Then, the empty outer box 2 and the total weight of the predetermined number of weighed articles scheduled to be packed in the outer box 2 are the total weight of the outer box 2 in which the weighed articles are packed. The controller 27 determines whether or not it is equal to the weight.

実開昭６２−０１００８５号公報Jikkai Sho 62-01805 特開２００８−１５０１１６号公報Japanese Unexamined Patent Publication No. 2008-150116

前記特許文献１に開示されたパック詰製品を対象とする重量選別機や、前記特許文献２に開示された箱詰装置によれば、パック詰製品や箱詰製品に入れる製品を順次計量した後、計量後の製品をパックや箱に詰める操作が必要になり、このような操作を行なうための手段としてロボットが用いられることがある。ところが、ロボットによる製品の把持は常に正常に行なわれるとは限らず、把持不良が発生することがあった。例えば、前段の計量部から搬送されてきた製品が、パックや箱に詰めるためにロボットが製品を把持する取り出し位置からずれた位置に置かれたり、取り出し位置には置かれたが正規の姿勢となっていない等の場合には、ロボットによる把持が失敗又は不可能と判断されて把持動作を製品１個分スキップする制御が行なわれることがある。このようなパック詰又は箱詰時の製品の取り扱い不良等が発生すれば、製品を一つずつ計量する重量選別機における計量順と、ロボットによる箱詰順が必ずしも一致しない場合が生じる。このため、計量順で見込み重量を算出した場合には、見込み重量と箱詰された製品の重量との間に誤差が生じ、特に重量の誤差範囲が大きい製品の場合には、欠品検査の誤判定を引き起こすことがあった。 According to the weight sorter for the packed products disclosed in Patent Document 1 and the boxing device disclosed in Patent Document 2, after the packed products and the products to be put in the boxed products are sequentially weighed. , It is necessary to pack the measured product in a pack or a box, and a robot may be used as a means for performing such an operation. However, the robot does not always grip the product normally, and a grip failure may occur. For example, the product transported from the weighing unit in the previous stage may be placed in a position deviated from the take-out position where the robot grips the product in order to pack it in a pack or box, or it may be placed in the take-out position but in the normal posture. If this is not the case, it may be determined that the robot grips the product as unsuccessful or impossible, and control is performed to skip the gripping operation for one product. If such a defective handling of products during packing or boxing occurs, the weighing order in the weight sorter that weighs the products one by one and the boxing order by the robot may not always match. Therefore, when the estimated weight is calculated in the order of weighing, an error occurs between the estimated weight and the weight of the boxed product, and especially in the case of a product with a large weight error range, a shortage inspection is performed. It could cause misjudgment.

本発明は、以上説明した従来の発明の課題に鑑みてなされたものであり、特に重量値の誤差範囲が大きい製品の箱詰検査において、箱詰時の製品の取り扱い不良等により計量順と箱詰順が一致しないような場合が生じても、箱詰品に含まれる製品の欠品を製品の計量値に基づいて確実に判定できる箱詰検査システム及び箱詰検査方法を提供することを目的としている。 The present invention has been made in view of the problems of the conventional invention described above, and in particular, in the boxing inspection of a product having a large error range of the weight value, the order of measurement and the box due to improper handling of the product at the time of boxing, etc. An object of the present invention is to provide a boxing inspection system and a boxing inspection method that can reliably determine a product shortage contained in a boxed product based on the measured value of the product even if the packing order does not match. It is said.

請求項１に記載された箱詰検査システム１，１’，１”は、
製品Ｐを計量して第１計量値を出力する第１計量手段１０と、
前記第１計量手段１０で計量された複数個の製品Ｐを箱に詰めて箱詰品とする箱詰手段４と、
箱詰品を計量して第２計量値を出力する第２計量手段１２と、
前記第１計量値に基づいて箱詰品の基準総重量値を算出する算出手段２３と、
前記基準総重量値と前記第２計量値を比較して箱詰品に詰められた製品Ｐの個数を検査する検査手段２４と、
を備えた箱詰検査システム１，１’，１”であって、
前記第１計量値を記憶する記憶手段２１と、
前記箱詰手段４が箱詰めした製品Ｐについて、前記記憶手段２１に記憶された前記第１計量値を特定する箱詰特定手段２２と、
をさらに備え、
前記算出手段２３は、前記箱詰特定手段２２が特定した前記記憶手段２１の前記第１計量値を合算して前記基準総重量値を算出することを特徴としている。 The boxing inspection system 1, 1', 1 "according to claim 1 is
The first weighing means 10 that weighs the product P and outputs the first weighing value,
A boxing means 4 in which a plurality of products P weighed by the first measuring means 10 are packed in a box to form a boxed product.
The second weighing means 12 that weighs the boxed product and outputs the second weighing value,
A calculation means 23 for calculating a reference total weight value of a boxed product based on the first measurement value, and
An inspection means 24 for inspecting the number of products P packed in a boxed product by comparing the reference total weight value with the second measurement value, and
Boxing inspection system 1,1', 1 "equipped with
A storage means 21 for storing the first measured value and
With respect to the product P boxed by the boxing means 4, the boxing specifying means 22 for specifying the first measurement value stored in the storage means 21 and the boxing specifying means 22
With more
The calculation means 23 is characterized in that the reference total weight value is calculated by adding up the first weighing values of the storage means 21 specified by the boxing specifying means 22.

請求項２に記載された箱詰検査システム１，１’は、請求項１に記載の箱詰検査システムにおいて、
前記記憶手段２１は、製品Ｐの計量順序に対応させて前記第１計量値を記憶し、前記箱詰特定手段２２が、箱詰された製品Ｐの計量順序を特定することを特徴としている。 The boxing inspection system 1, 1'according to claim 2 is the boxing inspection system according to claim 1.
The storage means 21 stores the first measurement value in correspondence with the measurement order of the product P, and the boxing specifying means 22 specifies the measurement order of the boxed product P.

請求項３に記載された箱詰検査システム１は、請求項１又は２に記載の箱詰検査システムにおいて、
前記第１計量手段１０で計量された製品Ｐを搬送する搬送手段２をさらに備え、
前記箱詰特定手段２２が、前記搬送手段２により搬送される製品Ｐの取り出し位置Ａ０よりも下流の所定位置において製品Ｐの通過を検知する製品検知センサ１３を含むことを特徴としている。 The boxing inspection system 1 according to claim 3 is the boxing inspection system according to claim 1 or 2.
A transport means 2 for transporting the product P weighed by the first weighing means 10 is further provided.
The boxing identifying means 22 is characterized by including a product detection sensor 13 that detects the passage of the product P at a predetermined position downstream of the take-out position A0 of the product P transported by the transport means 2.

請求項４に記載された箱詰検査システム１’は、請求項１又は２に記載の箱詰検査システムにおいて、
前記箱詰特定手段２２が、前記第１計量手段１０から搬出された製品Ｐの取り出し位置Ａ０を含む所定領域を撮像する製品検知カメラ３０を含むことを特徴としている。 The boxing inspection system 1'according to claim 4 is the boxing inspection system according to claim 1 or 2.
The boxing specifying means 22 is characterized by including a product detection camera 30 that captures a predetermined area including a take-out position A0 of the product P carried out from the first measuring means 10.

請求項５に記載された箱詰検査システム１’は、請求項１又は２に記載の箱詰検査システムにおいて、
前記第１計量手段１０で計量された製品Ｐを搬送する搬送手段２をさらに備え、
前記箱詰特定手段２２が、前記搬送手段２により搬送される製品Ｐの取り出し位置Ａ０よりも下流の所定領域を撮像する製品検知カメラ３０を含むことを特徴としている。 The boxing inspection system 1'according to claim 5 is the boxing inspection system according to claim 1 or 2.
A transport means 2 for transporting the product P weighed by the first weighing means 10 is further provided.
The boxing identifying means 22 is characterized by including a product detection camera 30 that captures a predetermined region downstream of the take-out position A0 of the product P transported by the transport means 2.

請求項６に記載された箱詰検査システム１”は、請求項１又は２に記載の箱詰検査システムにおいて、
前記箱詰特定手段２２が、前記第１計量手段１０によって製品Ｐが計量される前の位置である第１読み取り位置Ａ１と、前記箱詰手段４による製品Ｐの取り出し位置Ａ０と箱詰位置の間の位置である第２読み取り位置Ａ２にそれぞれ配置されて製品Ｐに設けられた識別情報を読み取る識別情報読み取り手段４１，４２を含むことを特徴としている。 The boxing inspection system 1 "described in claim 6 is the boxing inspection system according to claim 1 or 2.
The boxing specifying means 22 has a first reading position A1 which is a position before the product P is weighed by the first measuring means 10, a taking-out position A0 of the product P by the boxing means 4, and a boxing position. It is characterized by including identification information reading means 41 and 42, which are arranged at the second reading position A2, which is a position between them, and read the identification information provided in the product P.

請求項７に記載された箱詰検査方法は、
複数の製品Ｐを計量して取得した複数の第１計量値に基づいて箱詰品の基準総重量値を算出し、
前記第１計量値が計量された複数個の製品Ｐを箱に詰めた箱詰品を計量して第２計量値を取得し、
前記基準総重量値と前記第２計量値を比較して箱詰品に詰められた製品Ｐの個数を検査する箱詰検査方法であって、
複数の前記第１計量値の中から箱詰めされた製品Ｐの前記第１計量値を特定し、特定された前記第１計量値を合算して前記基準総重量値を算出することを特徴としている。 The boxing inspection method according to claim 7 is
The standard total weight value of the boxed product is calculated based on the plurality of first weighing values obtained by weighing the plurality of products P.
A boxed product in which a plurality of products P whose first weighing value is weighed is packed in a box is weighed to obtain a second weighing value.
A boxing inspection method for inspecting the number of products P packed in a boxed product by comparing the reference total weight value with the second weighing value.
It is characterized in that the first weighing value of the boxed product P is specified from a plurality of the first weighing values, and the specified first weighing value is added up to calculate the reference total weight value. ..

請求項１に記載された箱詰検査システム及び請求項７に記載された箱詰検査方法によれば、
複数の製品を計量して取得した複数の第１計量値に基づいて箱詰品の基準総重量値を算出し、さらに第１計量値が計量された複数個の製品を箱に詰めた箱詰品を計量して第２計量値を取得し、その後、基準総重量値と第２計量値を比較することにより箱詰品に詰められた製品の個数を検査することができるが、その検査の際に、第１計量値を記憶する記憶手段において、実際に箱詰めされた製品の第１計量値を特定して合算することにより、基準総重量値を算出することができる。このため、箱詰時の製品の取り扱い不良等により計量順と箱詰順が一致しない状態になったとしても、箱詰品に含まれる製品の欠品を製品の計量値に基づいて確実に判定できる。特に、箱詰品に含まれる製品の重量値の誤差範囲が大きくても、当該製品の箱詰検査において製品の欠品を確実に検出できる。 According to the boxing inspection system according to claim 1 and the boxing inspection method according to claim 7.
The standard total weight value of the boxed product is calculated based on the plurality of first weighing values obtained by weighing a plurality of products, and the plurality of products whose first weighing value is weighed are packed in a box. The number of products packed in a boxed product can be inspected by weighing the product to obtain the second weighing value and then comparing the reference gross weight value with the second weighing value. At that time, in the storage means for storing the first weighing value, the reference total weight value can be calculated by specifying the first weighing value of the actually boxed products and adding them together. Therefore, even if the weighing order and the boxing order do not match due to improper handling of the product at the time of packing, the missing product contained in the boxed product can be reliably determined based on the weighing value of the product. can. In particular, even if the error range of the weight value of the product contained in the boxed product is large, the missing product can be reliably detected in the boxing inspection of the product.

請求項２に記載された箱詰検査システムによれば、
製品の計量順序に対応させて第１計量値が記憶手段に記憶されているので、箱詰めされた製品の計量順序を箱詰特定手段が特定することにより、実際に箱に詰められた製品の第１計量値を記憶手段から間違いなく取得することができる。これによって、箱詰時の製品の取り扱い不良等により計量順と箱詰順が一致しない場合が生じたとしても、箱詰品における製品の欠品を、製品の計量値に基づいて判定できる効果が確実に得られる。 According to the boxing inspection system according to claim 2.
Since the first weighing value is stored in the storage means corresponding to the weighing order of the products, the boxing specifying means specifies the weighing order of the boxed products, so that the product actually packed in the box is the first. 1 The measured value can be definitely obtained from the storage means. As a result, even if the weighing order and the boxing order do not match due to improper handling of the product at the time of packing, the effect of determining the missing product in the boxed product based on the weighing value of the product can be obtained. You can definitely get it.

請求項３に記載された箱詰検査システムによれば、
製品は、第１計量手段で計量された後、搬送手段によって搬送され、製品の取り出し位置において箱詰手段により搬送手段から移送されて箱に詰められる。箱詰手段が製品の取り扱いに失敗した場合、箱詰めされなかった製品はそのまま下流に搬送されるので、箱詰手段による製品の取り扱いタイミングの直後に、所定位置で製品検知センサに検知される。このため、箱詰特定手段は、箱詰めされなかった製品を特定することができ、従って記憶手段に記憶された第１計量値のうち、当該製品以外の実際に箱詰めされた製品の第１計量値を特定することができる。算出手段は、これらの第１計量値を合算して実際の箱詰品に対応した基準総重量値を算出することができる。 According to the boxing inspection system according to claim 3.
The product is weighed by the first weighing means, then transported by the transporting means, transferred from the transporting means by the boxing means at the product taking-out position, and packed in a box. When the boxing means fails to handle the product, the unboxed product is transported downstream as it is, and is detected by the product detection sensor at a predetermined position immediately after the product handling timing by the boxing means. Therefore, the boxing identifying means can identify the unboxed product, and therefore, among the first weighing values stored in the storage means, the first weighing value of the actually boxed product other than the product concerned. Can be identified. The calculation means can calculate the reference total weight value corresponding to the actual boxed product by adding up these first measurement values.

請求項４に記載された箱詰検査システムによれば、
製品は、第１計量手段で計量された後、搬送手段によって搬送され、製品の取り出し位置において箱詰手段により搬送手段から移送されて箱に詰められる。箱詰手段が製品の取り扱いに失敗した場合、箱詰めされなかった製品は、箱詰手段による製品の取り扱いタイミングの直後に、製品の取り出し位置を含む所定領域を撮像する製品検知カメラに撮像される。このため、箱詰特定手段は、箱詰めされなかった製品を特定することができ、従って記憶手段に記憶された第１計量値のうち、当該製品以外の実際に箱詰めされた製品の第１計量値を特定することができる。算出手段は、これらの第１計量値を合算して実際の箱詰品に対応した基準総重量値を算出することができる。 According to the boxing inspection system according to claim 4.
The product is weighed by the first weighing means, then transported by the transporting means, transferred from the transporting means by the boxing means at the product taking-out position, and packed in a box. If the boxing means fails to handle the product, the unboxed product is imaged by a product detection camera that captures a predetermined area including the product take-out position immediately after the product handling timing by the boxing means. Therefore, the boxing identifying means can identify the unboxed product, and therefore, among the first weighing values stored in the storage means, the first weighing value of the actually boxed product other than the product concerned. Can be identified. The calculation means can calculate the reference total weight value corresponding to the actual boxed product by adding up these first measurement values.

請求項５に記載された箱詰検査システムによれば、
製品は、第１計量手段で計量された後、搬送手段によって搬送され、製品の取り出し位置において箱詰手段により搬送手段から移送されて箱に詰められる。箱詰手段が製品の取り扱いに失敗した場合、箱詰めされなかった製品はそのまま下流に搬送されるので、箱詰手段による製品の取り扱いタイミングの直後に、所定範囲内において製品検知カメラに撮像される。このため、箱詰特定手段は、箱詰めされなかった製品を特定することができ、従って記憶手段に記憶された第１計量値のうち、当該製品以外の実際に箱詰めされた製品の第１計量値を特定することができる。算出手段は、これらの第１計量値を合算して実際の箱詰品に対応した基準総重量値を算出することができる。 According to the boxing inspection system according to claim 5.
The product is weighed by the first weighing means, then transported by the transporting means, transferred from the transporting means by the boxing means at the product taking-out position, and packed in a box. When the boxing means fails to handle the product, the unboxed product is transported downstream as it is, so that the product detection camera takes an image within a predetermined range immediately after the product handling timing by the boxing means. Therefore, the boxing identifying means can identify the unboxed product, and therefore, among the first weighing values stored in the storage means, the first weighing value of the actually boxed product other than the product concerned. Can be identified. The calculation means can calculate the reference total weight value corresponding to the actual boxed product by adding up these first measurement values.

請求項６に記載された箱詰検査システムによれば、
箱詰特定手段は、第１計量手段が製品を計量する前の段階で識別情報読み取り手段によって製品の識別番号を読み取り、第１計量手段が製品を計量した後、箱詰手段が製品を取り出してから箱詰めされる前の段階で識別情報読み取り手段によって製品の識別番号を読み取る。これによって、記憶手段には、製品の第１計量値と当該製品が詰込まれた箱の番号が、識別番号によって関連付けられた状態で記憶される。算出手段は、記憶手段に記憶された情報を基に、箱詰め後に第２計量手段に送られた箱の番号の計量値を記憶手段から読み出して合算することにより、実際の箱詰品に対応した基準総重量値を算出することができる。 According to the boxing inspection system according to claim 6.
In the boxing specifying means, the identification number of the product is read by the identification information reading means before the first measuring means weighs the product, and after the first measuring means weighs the product, the boxing means takes out the product. The product identification number is read by the identification information reading means before it is packed in the box. As a result, the first weighing value of the product and the number of the box in which the product is packed are stored in the storage means in a state of being associated with each other by the identification number. Based on the information stored in the storage means, the calculation means corresponds to the actual boxed product by reading the measured value of the box number sent to the second weighing means from the storage means and adding them together. The reference total weight value can be calculated.

第１実施形態の箱詰検査システムの構成図である。It is a block diagram of the boxing inspection system of 1st Embodiment. 第１実施形態の箱詰検査システムにおいて、制御部に記憶されたデータの構成を模式的に示すとともに、このデータを用いて行なわれる欠品判定の手順を示す図である。It is a figure which shows typically the structure of the data stored in the control part in the boxing inspection system of 1st Embodiment, and shows the procedure of the missing item determination performed using this data. 第２実施形態の箱詰検査システムの構成図である。It is a block diagram of the boxing inspection system of 2nd Embodiment. 第３実施形態の箱詰検査システムの構成図である。It is a block diagram of the boxing inspection system of 3rd Embodiment. 第３実施形態の箱詰検査システムにおいて、制御部に記憶されたデータの構成を模式的に示すとともに、このデータを用いて行なわれる欠品判定の手順を示す図である。It is a figure which shows typically the structure of the data stored in the control part in the boxing inspection system of 3rd Embodiment, and shows the procedure of the out-of-stock determination performed using this data.

本発明の第１実施形態に係る箱詰検査システムを、図１及び図２を参照して説明する。まず、図１を参照して箱詰検査システムの構成を説明する。図１は、機構部分を平面図で表しており、制御装置を機能ブロック図で表している。 The boxing inspection system according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. First, the configuration of the boxing inspection system will be described with reference to FIG. FIG. 1 shows a mechanical portion in a plan view and a control device in a functional block diagram.

図１に示すように、箱詰検査システム１は、製品Ｐを搬送する搬送手段としての製品ライン２と、製品Ｐが詰込まれる受箱Ｂを搬送する搬送手段としての箱詰ライン３と、製品ライン２が搬送してくる製品Ｐを箱詰ライン３の受箱Ｂに詰込むロボットアーム等の箱詰手段４を有している。箱詰検査システム１は、規定入数の製品Ｐを箱に詰めて箱詰品とする生産装置であるとともに、以下に説明するように、生産された箱詰品に規定入数の製品Ｐが入っているか否かを計量により判定する検査装置でもある。 As shown in FIG. 1, the boxing inspection system 1 includes a product line 2 as a transporting means for transporting the product P, a boxing line 3 as a transporting means for transporting the receiving box B in which the product P is packed, and the boxing inspection system 1. It has a boxing means 4 such as a robot arm that packs the product P conveyed by the product line 2 into the receiving box B of the boxing line 3. The boxing inspection system 1 is a production device that packs a specified number of products P into a box to make a boxed product, and as described below, the boxed product produced contains a specified number of products P. It is also an inspection device that determines whether or not it is contained by weighing.

図１に示すように、製品ライン２の中途には、順次送られてくる製品Ｐの重量値を計量して第１計量値を出力する第１計量手段（図１中「製品用ＣＷ」と表示）１０が設けられている。第１計量手段１０が出力する個々の製品Ｐの計量値を第１計量値と称する。また、第１計量手段１０の下流側の製品ライン２には、計量値が許容範囲から外れた製品Ｐ（ＮＧ品）を、ライン外に排除するための選別機１１が設けられている。なお、許容範囲を下回るＮＧ品は図中上側の−ＮＧ側に排除され、許容範囲を上回るＮＧ品は図中下側の＋ＮＧ側に排除される。選別機１１の下流側の製品ライン２の一部は、箱詰手段４が製品Ｐを把持する取り出し位置Ａ０に指定されている。 As shown in FIG. 1, in the middle of the product line 2, the first weighing means (“CW for products” in FIG. 1) that weighs the weight values of the products P that are sequentially sent and outputs the first weighing value. Display) 10 is provided. The weighing value of each product P output by the first weighing means 10 is referred to as a first weighing value. Further, the product line 2 on the downstream side of the first weighing means 10 is provided with a sorting machine 11 for excluding the product P (NG product) whose weighing value is out of the permissible range from the line. NG products below the permissible range are excluded on the -NG side on the upper side in the figure, and NG products exceeding the permissible range are excluded on the + NG side on the lower side in the figure. A part of the product line 2 on the downstream side of the sorter 11 is designated at the take-out position A0 where the boxing means 4 grips the product P.

図１に示すように、箱詰ライン３の中途には、箱詰品を計量して第２計量値を出力する第２計量手段（図１中「箱詰用ＣＷ」と表示）１２が設けられている。第２計量手段１２が出力する箱詰品の計量値を第２計量値と称する。図示を一部省略するが、箱詰ライン３は、第２計量手段１２の上流側にあるだけでなく、下流側にも伸びており、第２計量手段１２での計量後に欠品と判定された箱詰品を下流に搬送して適当な処置をとり、また欠品がなく正規品と判定された箱詰品を出荷位置等に搬送できるようになっている。 As shown in FIG. 1, a second weighing means (indicated as "boxing CW" in FIG. 1) 12 for weighing the boxed product and outputting the second weighing value is provided in the middle of the boxing line 3. Has been done. The measured value of the boxed product output by the second measuring means 12 is referred to as a second measured value. Although a part of the illustration is omitted, the boxing line 3 extends not only to the upstream side of the second measuring means 12 but also to the downstream side, and is determined to be out of stock after weighing by the second measuring means 12. It is possible to transport the boxed products downstream and take appropriate measures, and to transport the boxed products that are judged to be genuine without any shortages to the shipping position or the like.

図１に示すように、製品ライン２の取り出し位置Ａ０よりも下流の所定位置には、製品検知センサ１３が設けられている。製品検知センサ１３は、後述する制御部２０の箱詰特定手段２２の一部であり、箱詰特定手段２２に接続されている。第１計量手段１０に計量され、選別機１１に排除されることなく取り出し位置Ａ０まで搬送されてきたが、箱詰手段４に把持されることなく取り出し位置Ａ０を通過して下流に搬送された製品Ｐは、この製品検知センサ１３によって検知される。すなわち、製品検知センサ１３が検知した製品Ｐは、第１計量値が許容範囲内に入っている正規品であるが、箱詰手段４が把持に失敗して箱詰できなかった製品Ｐである。 As shown in FIG. 1, a product detection sensor 13 is provided at a predetermined position downstream of the take-out position A0 of the product line 2. The product detection sensor 13 is a part of the box-packing specifying means 22 of the control unit 20 described later, and is connected to the box-packing specifying means 22. It was weighed by the first weighing means 10 and conveyed to the take-out position A0 without being excluded by the sorter 11, but was conveyed downstream through the take-out position A0 without being gripped by the boxing means 4. The product P is detected by the product detection sensor 13. That is, the product P detected by the product detection sensor 13 is a genuine product in which the first measurement value is within the permissible range, but the boxing means 4 fails to grip and cannot pack the product P. ..

図１に示すように、箱詰検査システム１は、以上説明したシステム各部を制御する制御装置２０を備えている。制御装置２０は、記憶手段２１と、箱詰特定手段２２と、算出手段２３と、検査手段としての欠品判定手段２４を有している。記憶手段２１は、製品Ｐの計量順序に対応させて第１計量値を記憶することができる。箱詰特定手段２２は、製品検知センサ１３からの検知信号により、箱詰めされなかった製品Ｐを特定することができ、従って記憶手段２１に記憶された第１計量値のうち、当該製品Ｐ以外の実際に箱詰めされた製品Ｐの第１計量値を特定することができる。算出手段２３は、記憶手段２１に記憶された第１計量値のうち、箱詰特定手段２２が特定した実際に箱詰めされた製品Ｐに対応する第１計量値に基づいて基準総重量値を算出する。欠品判定手段２４は、基準総重量値と第２計量値を比較して箱詰品に詰められた製品Ｐの個数を検査し、当該箱詰品に欠品があるか否かを判定する。 As shown in FIG. 1, the boxing inspection system 1 includes a control device 20 that controls each part of the system described above. The control device 20 includes a storage means 21, a boxing identification means 22, a calculation means 23, and a shortage determination means 24 as an inspection means. The storage means 21 can store the first measurement value in correspondence with the measurement order of the product P. The boxing identifying means 22 can identify the unboxed product P by the detection signal from the product detection sensor 13, and therefore, among the first weighing values stored in the storage means 21, other than the product P. The first weighing value of the actually boxed product P can be specified. The calculation means 23 calculates the reference total weight value based on the first weighing value corresponding to the actually boxed product P specified by the boxing specifying means 22 among the first weighing values stored in the storage means 21. do. The shortage determination means 24 compares the reference total weight value with the second weighing value, inspects the number of products P packed in the boxed product, and determines whether or not the boxed product is missing. ..

次に、図１及び図２を参照して箱詰検査システムにおける箱詰品の欠品検査について説明する。
図１において、製品ライン２は複数の製品Ｐを搬送して次々と第１計量手段１０に送り込む。第１計量手段１０は、次々と製品Ｐを計量して複数の第１計量値を取得し、制御装置２０の記憶手段２１に送る。 Next, the shortage inspection of the boxed product in the boxing inspection system will be described with reference to FIGS. 1 and 2.
In FIG. 1, the product line 2 conveys a plurality of products P and sends them to the first measuring means 10 one after another. The first weighing means 10 weighs the product P one after another, acquires a plurality of first weighing values, and sends them to the storage means 21 of the control device 20.

制御装置２０の記憶手段２１では、図２に示すように、第１計量値が入力される度に、順次増加するＩＤ（通番）を付して、これを記憶していく。また当該第１計量値が所定の許容範囲内にあるか否かの判定が制御装置２０で行なわれ、その判定結果（図２中「判定」の欄参照）も記憶手段２１に記憶される。「判定」結果が「ＯＫ」の製品Ｐ（図２ではＩＤが１０５以外の製品Ｐ）は、製品ライン２によって取り出し位置Ａ０まで搬送され、箱詰手段４によって箱詰ライン３の箱Ｂに箱詰めされる。「判定」結果が「ＮＧ」の製品Ｐ（図２ではＩＤが１０５の製品Ｐ）は、選別機１１によって製品ライン２から排除されるので箱詰手段４の取り出し位置Ａ０には送られてこない。すなわち、箱詰の対象にならない製品Ｐである。 As shown in FIG. 2, the storage means 21 of the control device 20 assigns an ID (serial number) that gradually increases each time the first metric value is input, and stores the ID (serial number). Further, the control device 20 determines whether or not the first measurement value is within a predetermined allowable range, and the determination result (see the “determination” column in FIG. 2) is also stored in the storage means 21. The product P whose "judgment" result is "OK" (the product P whose ID is other than 105 in FIG. 2) is conveyed to the take-out position A0 by the product line 2 and packed in the box B of the boxing line 3 by the boxing means 4. Will be done. The product P whose "judgment" result is "NG" (the product P having the ID 105 in FIG. 2) is excluded from the product line 2 by the sorter 11, so that the product P is not sent to the take-out position A0 of the boxing means 4. .. That is, it is a product P that is not subject to boxing.

図２において「ＯＫ」判定の製品Ｐは、図１に示すように製品ライン２によって取り出し位置Ａ０まで搬送される。箱詰手段４は、製品ライン２の取り出し位置Ａ０から規定入数（本実施形態では４）の製品Ｐを順次取り出して箱詰ライン３の箱Ｂに詰めて箱詰品を生産する。箱詰品は箱詰ライン３で搬送され、第２計量手段１２で計量される。第２計量手段１２で取得される第２計量値は、制御装置２０に送られる。 In FIG. 2, the product P determined to be “OK” is conveyed to the take-out position A0 by the product line 2 as shown in FIG. The boxing means 4 sequentially takes out a specified number of products P (4 in this embodiment) from the take-out position A0 of the product line 2 and packs them in the box B of the boxing line 3 to produce a boxed product. The boxed product is conveyed by the boxing line 3 and weighed by the second weighing means 12. The second metric value acquired by the second metric means 12 is sent to the control device 20.

この箱詰作業の際に、箱詰手段４が製品Ｐを把持し損ねる場合がある。このような場合、製品Ｐは製品ライン２の取り出し位置Ａ０を通過して下流で製品検知センサ１３に検知され、製品検知センサ１３の検知信号が制御装置２０に送られる。このように、箱詰手段４による製品Ｐの取り扱いタイミングの直後に、製品Ｐが製品検知センサ１３に検知されることにより、制御装置２０の箱詰特定手段２２は、箱詰の対象であったが箱詰めされなかった製品Ｐを特定することができる。箱詰特定手段２２は、記憶手段２１に記憶された第１計量値のうち、箱詰めされなかった製品Ｐに相当する第１計量値（図２ではＩＤが１０９の第１計量値）に特定情報（図２では「非」の文字で表示）を付して、実際に箱に詰められた他の製品Ｐの第１計量値と区別できるようにする。このように箱詰特定手段２２は、実際に箱詰めされた製品Ｐを特定することができる。 During this boxing operation, the boxing means 4 may fail to grip the product P. In such a case, the product P passes through the take-out position A0 of the product line 2 and is detected by the product detection sensor 13 downstream, and the detection signal of the product detection sensor 13 is sent to the control device 20. As described above, the product P is detected by the product detection sensor 13 immediately after the timing of handling the product P by the boxing means 4, so that the boxing specifying means 22 of the control device 20 is the target of boxing. Can identify the product P that was not boxed. The boxing specifying means 22 identifies information in the first weighing value (the first weighing value whose ID is 109 in FIG. 2) corresponding to the unboxed product P among the first weighing values stored in the storage means 21. (Indicated by the letter "non" in FIG. 2) is added so that it can be distinguished from the first weighing value of the other product P actually packed in the box. In this way, the boxing specifying means 22 can identify the actually boxed product P.

制御装置２０における欠品判定の手順について、図２を参照して説明する。
この例では、許容範囲を含めた製品Ｐの重量値は１００±１０ｇであり、箱詰品の正規入数は４とする。また、箱Ｂの重量は２０ｇとする。算出手段２３は、記憶手段２１の第１計量値の中から、実際に箱詰めされた製品Ｐの第１計量値であると箱詰特定手段２２が特定した値を合算し、さらに箱Ｂの重量値を加えて基準総重量値を算出する。また欠品判定手段２４は、第２計量値の測定誤差を考慮して余裕を持たせた所定の許容量で基準総重量値を修正した値と、第２計量値とを比較して箱詰品における製品Ｐの欠品を判定する。 The procedure for determining the shortage of the control device 20 will be described with reference to FIG.
In this example, the weight value of the product P including the permissible range is 100 ± 10 g, and the regular number of boxed products is 4. The weight of the box B is 20 g. The calculation means 23 adds up the values specified by the boxing specifying means 22 as the first weighing values of the actually boxed product P from the first weighing values of the storage means 21, and further adds up the weight of the box B. Add the values to calculate the standard gross weight value. Further, the shortage determination means 24 compares the value obtained by correcting the reference total weight value with a predetermined allowable amount having a margin in consideration of the measurement error of the second measurement value and the second measurement value, and packs the box. Determine the shortage of product P in the product.

具体的には、基準総重量値から所定の許容量を差し引いた重量値よりも第２計量値が小さければ欠品があると判定する。例えば許容量１０ｇとすると、次の式が成立する場合には欠品があると判定し、成立しない場合には欠品はないと判定する。
（基準総重量値−１０ｇ）＞（第２計量値）…判定式
この判定式は、合算により得られた基準総重量値よりも若干小さい値が、箱詰品の実際の重量値（第２計量値）よりも大きければ、第２計量手段１２の測定誤差を考慮しても欠品はないと判断できるとの考えに基づく。 Specifically, if the second weighing value is smaller than the weight value obtained by subtracting the predetermined allowable amount from the reference total weight value, it is determined that there is a missing item. For example, assuming that the allowable amount is 10 g, if the following formula is satisfied, it is determined that there is a shortage, and if it is not satisfied, it is determined that there is no shortage.
(Reference total weight value -10 g)> (Second measurement value) ... Judgment formula In this judgment formula, a value slightly smaller than the reference total weight value obtained by summing is the actual weight value of the boxed product (second). If it is larger than the measured value), it can be determined that there is no shortage even if the measurement error of the second measuring means 12 is taken into consideration.

合算（１−１）では、ＩＤが１０１から１０４までの４つの製品Ｐの第１計量値は、判定が何れもＯＫであり、特定情報に「非」がないので、そのまま合算する。第１計量値の合算値４００ｇに箱の重量値２０ｇを加えた４２０ｇが基準総重量値であり、ここから１０ｇを減じた４１０ｇと第２計量値を比較する。第２計量値はＩＤが１０１から１０４までの４つの製品Ｐが箱詰めされた箱詰品の重量値となり４２０ｇであるから判定式は成立せず、欠品なしの判定となる。 In the summation (1-1), the first metric values of the four products P having IDs 101 to 104 are all OK in the determination, and there is no "non" in the specific information, so they are summed up as they are. The standard total weight value is 420 g, which is obtained by adding the box weight value of 20 g to the total value of 400 g of the first weight value, and the second weight value is compared with 410 g obtained by subtracting 10 g from this. Since the second weighing value is the weight value of the boxed product in which the four products P having IDs 101 to 104 are packed in a box and weighs 420 g, the determination formula does not hold and the determination is made without any missing item.

ＩＤが１０５の製品Ｐの第１計量値は１２０ｇであり許容範囲から外れているので判定はＮＧであり、選別機１１で排除されているため、箱詰めの対象にならず、欠品の判定には関係しない。 Since the first weighing value of the product P having the ID of 105 is 120 g, which is out of the permissible range, the judgment is NG, and since it is excluded by the sorter 11, it is not subject to boxing and is judged to be out of stock. Does not matter.

合算（１−２）では、ＩＤが１０６から１１０の５つの製品Ｐの第１計量値のうち、ＩＤが１０９の製品Ｐは、箱詰めされなかった製品Ｐが検知されたとの特定情報（「非」）が付されているため、その第１計量値は使用されない。算出手段２３は、ＩＤが１０６から１０８の３つと、１１０の合計４つの製品Ｐの第１計量値を合算する。これらの第１計量値の合算値３９５ｇに箱Ｂの重量値２０ｇを加えた４１５ｇが基準総重量値であり、ここから１０ｇを減じた４０５ｇと第２計量値を比較する。第２計量値はＩＤが１０６から１０８と１１０の４つの製品Ｐが箱詰めされた箱詰品の重量値となり４１５ｇであるから判定式は成立せず、欠品なしの判定となる。 In the total (1-2), among the first weighing values of the five products P having the IDs 106 to 110, the product P having the ID 109 has the specific information that the unboxed product P was detected (“non-boxed product P”). ”) Is attached, so the first metric value is not used. The calculation means 23 adds up the first measurement values of the three products P having IDs 106 to 108 and 110, which is a total of four products P. The standard total weight value is 415 g, which is obtained by adding the weight value of the box B of 20 g to the total value of 395 g of these first measured values, and 405 g obtained by subtracting 10 g from this is compared with the second measured value. Since the second weighing value is the weight value of the boxed product in which the four products P having IDs 106 to 108 and 110 are packed in a box and weighs 415 g, the determination formula does not hold and it is determined that there is no shortage.

仮に、合算（１−２）において、非箱詰が検知されず、ＩＤが１０９である製品Ｐの第１計量値に特定情報（「非」）が付されないと、算出手段２３はＩＤが１０６から１０９の４つの第１計量値を合算するため、判定は次のようになる。これらの第１計量値の合算値４１５ｇに箱の重量値２０ｇを加えた４３５ｇが基準総重量値であり、ここから１０ｇを減じた４２５ｇと第２計量値を比較する。第２計量値は前述した４１５ｇであるから判定式は成立し、欠品との誤った判定となる。 If non-boxing is not detected in the total (1-2) and specific information (“non”) is not attached to the first measurement value of the product P having the ID of 109, the calculation means 23 has the ID of 106. In order to add up the four first metric values from to 109, the determination is as follows. The standard total weight value is 435 g, which is the sum of 415 g of these first weighed values plus 20 g of the box weight, and 425 g obtained by subtracting 10 g from this is compared with the second weighed value. Since the second weighing value is 415 g described above, the determination formula is established, and it is erroneously determined that the product is out of stock.

合算（１−３）では、ＩＤが１１１から１１４までの４つの製品Ｐの第１計量値は、判定が何れもＯＫであり、また箱詰手段４は４つの製品Ｐを何れも正規な状態で把持して製品ライン２の取り出し位置Ａ０から取り出しているので、製品検知センサ１３は製品Ｐを検知しておらず、従って特定情報に「非」もない。ところが、ＩＤが１１４の製品Ｐは、取り出し位置Ａ０と箱Ｂの間で箱詰手段４から離れて落ち、箱Ｂに入っていなかった。このような例では、第１計量値の合算値４００ｇに箱Ｂの重量値２０ｇを加えた４２０ｇが基準総重量値であり、ここから１０ｇを減じた４１０ｇと第２計量値を比較する。第２計量値はＩＤが１１１から１１３の３つの製品Ｐが箱詰めされた箱詰品の重量値となり３２５ｇであるから判定式は成立し、実態通り欠品と判定される。 In the total (1-3), the first measurement values of the four products P having IDs 111 to 114 are all OK, and the boxing means 4 is in a normal state for all the four products P. Since the product is gripped by the product line 2 and taken out from the take-out position A0 of the product line 2, the product detection sensor 13 does not detect the product P, and therefore there is no “non” in the specific information. However, the product P having the ID of 114 fell away from the boxing means 4 between the take-out position A0 and the box B, and was not in the box B. In such an example, 420 g, which is the sum of 400 g of the first measured values and 20 g of the weight value of the box B, is the reference total weight value, and 410 g obtained by subtracting 10 g from this is compared with the second measured value. Since the second weighing value is the weight value of the boxed product in which the three products P having IDs 111 to 113 are packed in a box and weighs 325 g, the determination formula is established and it is determined that the product is out of stock as it is.

なお、以上説明した第１実施形態では、箱詰手段４としてロボットアームを図示したが、製品Ｐを箱に移動させるための操作機能を特定のものに限定する意図ではなく、前記操作機能としては、例えば、把持、吸着、押し出し等、いかなるものでもよく、従って箱詰手段の構造、形態はロボットアームに限らない。 In the first embodiment described above, the robot arm is illustrated as the boxing means 4, but the operation function for moving the product P to the box is not intended to be limited to a specific one, and the operation function is not limited to a specific one. For example, gripping, suction, extrusion, etc. may be used, and therefore the structure and form of the boxing means are not limited to the robot arm.

本発明の第２実施形態に係る箱詰検査システム１’を、図３を参照して説明する。なお、図３は、図１とは異なり機構部分を正面図で表している。制御装置２０は図１と同様、機能ブロック図で表している。第２実施形態における第１実施形態と同一の部分については、第１実施形態の説明を援用して再度の説明を省略し、第１実施形態と異なる部分を中心に説明する。 The boxing inspection system 1'according to the second embodiment of the present invention will be described with reference to FIG. Note that, unlike FIG. 1, FIG. 3 shows the mechanism portion in a front view. The control device 20 is represented by a functional block diagram as in FIG. Regarding the same parts as those of the first embodiment in the second embodiment, the description of the first embodiment will be referred to and the description will be omitted again, and the parts different from those of the first embodiment will be mainly described.

図３に示すように、箱詰検査システム１’では、制御装置２０の箱詰特定手段２２は、製品ライン２における製品Ｐの取り出し位置Ａ０より下流の所定領域を撮像する製品検知カメラ３０を有している。製品検知カメラ３０から送られるカメラ画像は、制御装置２０の箱詰特定手段２２に送られる。従って、取り出し位置Ａ０において箱詰手段４が製品Ｐの把持に失敗した場合、箱詰めされなかった製品Ｐは下流に搬送され、箱詰手段４による製品Ｐの把持タイミングの直後に製品検知カメラ３０で撮像される。そして箱詰特定手段２２は、カメラ画像によって箱詰めされなかった製品Ｐを特定することができ、従って記憶手段２１に記憶された第１計量値のうち、当該製品Ｐ以外の実際に箱詰めされた製品Ｐの第１計量値を特定することができる。 As shown in FIG. 3, in the boxing inspection system 1', the boxing identifying means 22 of the control device 20 has a product detection camera 30 that images a predetermined area downstream of the take-out position A0 of the product P in the product line 2. is doing. The camera image sent from the product detection camera 30 is sent to the boxing identification means 22 of the control device 20. Therefore, when the boxing means 4 fails to grip the product P at the take-out position A0, the unboxed product P is transported downstream, and the product detection camera 30 immediately after the gripping timing of the product P by the boxing means 4. It is imaged. Then, the boxing specifying means 22 can identify the product P that has not been boxed by the camera image, and therefore, among the first measured values stored in the storage means 21, the actually boxed product other than the product P. The first metric value of P can be specified.

本発明の第２実施形態に係る箱詰検査システム１’の変形例を説明する。
第２実施形態の変形例では、選別機１１の下流には製品ライン２のような搬送手段は設けられておらず、選別機１１から排出された製品Ｐは、選別機１１の排出方向の隣部に設けられた平板状の排出台の上に排出されるようになっており、ここが箱詰手段４による製品Ｐの取り出し位置Ａ０になっている。この排出台は、固定されたテーブルでもよいし、回転して製品Ｐを移動させる回転式のテーブルでもよい。そして、取り出し位置Ａ０で箱詰手段４によって把持されなかった製品Ｐは、この取り出し位置Ａ０を含む所定領域を撮像する製品検知カメラ３０によって撮像される。其の他の構成及び制御手順は第２実施形態と同一である。 A modified example of the boxing inspection system 1'according to the second embodiment of the present invention will be described.
In the modified example of the second embodiment, the transport means such as the product line 2 is not provided downstream of the sorter 11, and the product P discharged from the sorter 11 is next to the discharge direction of the sorter 11. It is designed to be discharged on a flat plate-shaped discharge table provided in the portion, and this is the take-out position A0 of the product P by the boxing means 4. The discharge table may be a fixed table or a rotary table that rotates to move the product P. Then, the product P that is not grasped by the boxing means 4 at the take-out position A0 is imaged by the product detection camera 30 that images a predetermined region including the take-out position A0. The other configuration and control procedure are the same as those in the second embodiment.

本発明の第３実施形態に係る箱詰検査システム１”を、図４及び図５を参照して説明する。まず、図４を参照して箱詰検査システム１”の構成を説明するが、この図４は図１と同様に機構部分を平面図で、制御装置２０を機能ブロック図で表している。第３実施形態における第１実施形態と同一の部分については、第１実施形態の説明を援用して再度の説明を省略し、第１実施形態と異なる部分を中心に説明する。 The boxing inspection system 1 "according to the third embodiment of the present invention will be described with reference to FIGS. 4 and 5. First, the configuration of the boxing inspection system 1" will be described with reference to FIG. As in FIG. 1, FIG. 4 shows the mechanism portion in a plan view and the control device 20 in a functional block diagram. Regarding the same parts as those of the first embodiment in the third embodiment, the description of the first embodiment will be referred to and the description will be omitted again, and the parts different from those of the first embodiment will be mainly described.

第３実施形態の箱詰検査システム１”では、各製品Ｐに固有の識別情報である識別記号が、印刷やシール等の任意の態様で各製品Ｐに付されている。そして図４に示すように、第３実施形態の箱詰検査システム１”は、箱Ｂに詰められた製品Ｐを特定するために、製品Ｐの識別記号を読み取る２個の識別情報読み取り手段４１，４２を有している。第１の識別情報読み取り手段４１は、第１計量手段１０によって製品Ｐが計量される前の位置である第１読み取り位置Ａ１に配置されており、第１計量手段１０での計量前に製品Ｐの識別記号を読み取る。第２の識別情報読み取り手段４２は、箱詰手段４による製品Ｐの取り出し位置Ａ０と箱詰位置（箱Ｂが配置されている位置）の間である第２読み取り位置Ａ２に配置されており、箱詰手段４が取り出し位置Ａ０で製品Ｐを持ち上げたタイミングで製品Ｐの識別記号を読み取る。これらの識別情報読み取り手段４１，４２は、制御部２０の箱詰特定手段２２の一部であり、箱詰特定手段２２に接続されている。 In the boxing inspection system 1 "of the third embodiment, an identification symbol, which is identification information unique to each product P, is attached to each product P in an arbitrary manner such as printing or a sticker, and is shown in FIG. As described above, the boxing inspection system 1 "of the third embodiment has two identification information reading means 41 and 42 for reading the identification symbol of the product P in order to identify the product P packed in the box B. ing. The first identification information reading means 41 is arranged at the first reading position A1 which is the position before the product P is weighed by the first weighing means 10, and the product P is arranged before the product P is weighed by the first weighing means 10. Read the identification code of. The second identification information reading means 42 is arranged at the second reading position A2, which is between the taking-out position A0 of the product P by the boxing means 4 and the boxing position (the position where the box B is arranged). The identification symbol of the product P is read at the timing when the boxing means 4 lifts the product P at the take-out position A0. These identification information reading means 41 and 42 are a part of the boxing specifying means 22 of the control unit 20, and are connected to the boxing specifying means 22.

次に、図４及び図５を参照して箱詰検査システム１”における箱詰品の欠品検査について説明する。
図４において、製品ライン２は複数の製品Ｐを第１計量手段１０に向けて搬送する。製品Ｐが第１計量手段１０の上流側である第１読み取り位置Ａ１に来た時に、第１の識別情報読み取り手段４１が製品Ｐの識別記号を読み取る。識別記号を読み取られた製品Ｐは、次々と第１計量手段１０に入って計量され、取得された第１計量値は制御装置２０の記憶手段２１に送られる。 Next, the out-of-stock inspection of the boxed product in the boxing inspection system 1 ”will be described with reference to FIGS. 4 and 5.
In FIG. 4, the product line 2 conveys a plurality of products P toward the first measuring means 10. When the product P comes to the first reading position A1 which is the upstream side of the first measuring means 10, the first identification information reading means 41 reads the identification symbol of the product P. The product P whose identification code has been read enters the first measuring means 10 one after another and is weighed, and the acquired first weighing value is sent to the storage means 21 of the control device 20.

図５に示すように、制御装置２０の記憶手段２１では、第１計量値と識別記号であるＩＤが関連付けられて記憶され、また当該第１計量値が所定の許容範囲内にあるか否かの判定が制御装置２０で行なわれ、その判定結果（図２中「判定」の欄参照）も記憶手段２１に記憶される。「判定」結果が「ＯＫ」の製品（図５ではＩＤが１０５以外の製品Ｐ）は、製品ライン２によって取り出し位置Ａ０まで搬送され、箱詰手段４によって箱詰ライン３の箱Ｂに箱詰めされる。「判定」結果が「ＮＧ」の製品（図２ではＩＤが１０５の製品Ｐ）は、選別機１１によって製品ライン２から排除されるので箱詰手段４の取り出し位置Ａ０には送られてこない。すなわち、箱詰の対象にならない製品Ｐである。 As shown in FIG. 5, in the storage means 21 of the control device 20, the first metric value and the ID which is the identification symbol are stored in association with each other, and whether or not the first metric value is within a predetermined allowable range. Is determined by the control device 20, and the determination result (see the “determination” column in FIG. 2) is also stored in the storage means 21. A product whose "judgment" result is "OK" (product P whose ID is other than 105 in FIG. 5) is conveyed to the take-out position A0 by the product line 2 and packed in the box B of the boxing line 3 by the boxing means 4. NS. A product whose "determination" result is "NG" (product P having an ID of 105 in FIG. 2) is excluded from the product line 2 by the sorter 11, so that the product is not sent to the take-out position A0 of the boxing means 4. That is, it is a product P that is not subject to boxing.

図５において「ＯＫ」判定の製品Ｐは、図４に示すように製品ライン２によって取り出し位置Ａ０まで搬送される。箱詰手段４は、製品ライン２の取り出し位置Ａ０から規定入数（本実施形態では４）の製品Ｐを順次取り出して箱詰ライン３の箱Ｂに詰めて箱詰品を生産する。この箱詰作業において、箱詰手段４が製品Ｐを把持して取り上げることにより、製品Ｐが第２読み取り位置Ａ２（取り出し位置Ａ０と箱Ｂの間の位置）に来た時に、第２の識別情報読み取り手段４２が製品Ｐの識別記号を読み取る。第２の識別情報読み取り手段４２が読み取った識別記号の情報は制御装置２０に送られる。 In FIG. 5, the product P determined to be “OK” is conveyed to the take-out position A0 by the product line 2 as shown in FIG. The boxing means 4 sequentially takes out a specified number of products P (4 in this embodiment) from the take-out position A0 of the product line 2 and packs them in the box B of the boxing line 3 to produce a boxed product. In this boxing operation, the boxing means 4 grips and picks up the product P, so that when the product P comes to the second reading position A2 (the position between the take-out position A0 and the box B), the second identification is performed. The information reading means 42 reads the identification symbol of the product P. The information of the identification symbol read by the second identification information reading means 42 is sent to the control device 20.

制御装置２０の箱詰特定手段２２は、製品Ｐの箱詰めのタイミングで第２の識別情報読み取り手段４２が読み取った識別記号を図５に示すように箱番号に関連づけ、記憶手段２１に記憶させる。記憶手段２１には、第１計量値とＩＤ（識別記号）が関連付けて記憶されているので、記憶手段２１のデータは、ＩＤ（識別記号）を介して第１計量値と箱番号が関連づけられた構造となる。なお、箱番号は、箱詰特定手段２２において例えば１から昇順で生成される箱詰め管理用の特定情報であって、新規の箱番号が設定される度に、第２の識別情報読み取り手段４２から入力される識別番号の入力回数のカウントを開始し、入力回数が規定入数の４に達して箱詰め完了となったところで、つぎの箱番号にカウントアップさせる。 The boxing specifying means 22 of the control device 20 associates the identification symbol read by the second identification information reading means 42 at the timing of packing the product P with the box number as shown in FIG. 5, and stores it in the storage means 21. Since the storage means 21 stores the first metric value and the ID (identification symbol) in association with each other, the data of the storage means 21 is associated with the first metric value and the box number via the ID (identification symbol). It has a structure. The box number is specific information for boxing management generated in the boxing specifying means 22 in ascending order from, for example, and each time a new box number is set, the boxing identification information reading means 42 The counting of the number of times the input identification number is input is started, and when the number of times of input reaches the specified number of 4 and the boxing is completed, the number is counted up to the next box number.

箱詰品は箱詰ライン３で搬送され、第２計量手段１２で計量される。第２計量手段１２で取得される第２計量値は、制御装置２０に送られる。 The boxed product is conveyed by the boxing line 3 and weighed by the second weighing means 12. The second metric value acquired by the second metric means 12 is sent to the control device 20.

制御部２０の算出手段２３は、上述した記憶手段２１の情報を基に、箱詰め完了後に第２計量手段１２に送られた箱Ｂの箱番号に対応する４個の製品Ｐの第１計量値を合算する等、第１実施形態と同様の演算を行なって基準総重量値を算出する。欠品判定手段２４は、第１実施形態と同様の判定式に従い、以下のように行なう。 The calculation means 23 of the control unit 20 is based on the information of the storage means 21 described above, and based on the information of the storage means 21, the first measurement value of the four products P corresponding to the box number of the box B sent to the second measurement means 12 after the completion of boxing. The reference total weight value is calculated by performing the same calculation as in the first embodiment, such as adding up. The shortage determination means 24 is performed as follows according to the determination formula similar to that of the first embodiment.

第３実施形態の箱詰検査システム１”において制御装置２０が行なう欠品判定の手順について、図５を参照して説明する。
合算（３−１）では、ＩＤが１０１から１０４までの４つの製品Ｐの第１計量値は、箱番号２６が共通であるので合算する。第１計量値の合算値４００ｇに箱の重量値２０ｇを加えた４２０ｇが基準総重量値であり、ここから１０ｇを減じた４１０ｇと第２計量値を比較する。第２計量値はＩＤが１０１から１０４までの４つの製品Ｐが箱詰めされた箱詰品の重量値となり４２０ｇであるから判定式は成立せず、欠品なしの判定となる。 The procedure for determining the shortage of goods performed by the control device 20 in the boxing inspection system 1 "of the third embodiment will be described with reference to FIG.
In the summation (3-1), the first weighing values of the four products P having IDs 101 to 104 are summed up because the box number 26 is common. The standard total weight value is 420 g, which is obtained by adding the box weight value of 20 g to the total value of 400 g of the first weight value, and the second weight value is compared with 410 g obtained by subtracting 10 g from this. Since the second weighing value is the weight value of the boxed product in which the four products P having IDs 101 to 104 are packed in a box and weighs 420 g, the determination formula does not hold and the determination is made without any missing item.

ＩＤが１０５である製品Ｐの第１計量値は１２０ｇであり許容範囲から外れているので判定はＮＧであり、この製品Ｐは選別機１１で排除されているため、箱詰めの対象にならず、箱番号は付されず、欠品の判定には関係しない。 The first weighing value of the product P having the ID of 105 is 120 g, which is out of the permissible range, so the judgment is NG. Since this product P is excluded by the sorter 11, it is not subject to boxing. No box number is attached and it is not related to the judgment of missing items.

合算（３−２）では、箱番号２７が共通であるＩＤ１０６、１０７、１０９、１１１の４つの製品Ｐの第１計量値を合算する。これらの第１計量値の合算値３９５ｇに箱の重量値２０ｇを加えた４１５ｇが基準総重量値であり、ここから１０ｇを減じた４０５ｇと第２計量値を比較する。第２計量値はＩＤが１０６、１０７、１０９、１１１の４つの製品Ｐが箱詰めされた箱詰品の重量値となり４１５ｇであるから判定式は成立せず、欠品なしの判定となる。 In the summation (3-2), the first measurement values of the four products P of ID 106, 107, 109, and 111 having the common box number 27 are summed up. The standard total weight value is 415 g, which is the sum of the total value of these first measured values of 395 g and the weight value of the box of 20 g, and the second measured value is compared with 405 g obtained by subtracting 10 g from this. The second weighing value is the weight value of the boxed product in which the four products P having IDs 106, 107, 109, and 111 are packed in a box, which is 415 g. Therefore, the determination formula does not hold, and it is determined that there is no shortage.

合算（３−２）における４個の製品Ｐは、計量順序は連続していないが、箱番号２７の同一の箱Ｂに入っている。このように計量順と箱詰め順が一致しないのは、例えば、第１計量手段１０を通過した後、製品Ｐの状態を確認する等の理由でラインの側にいる作業者がライン上の製品Ｐを抜き取る場合があり、これをラインに戻す際に製品Ｐの前後が入れ代わることがあるからである。しかしながら、本実施形態によれば、このような場合でも欠品を確実に判定することができる。また、ＩＤが１０８の製品Ｐは判定もＯＫであり、本来は箱詰め対象となるはずであるが、第１計量手段１０を通過した後、何らかの理由で箱詰対象とならなかったものである。このように第１計量手段１０で計量を受けた製品Ｐであっても、箱Ｂに入らなかったものはＩＤを用いた照合により合算の対象とならないので、欠品の判定を正規の状態で行なうことができる。 The four products P in the total (3-2) are contained in the same box B of the box number 27, although the weighing order is not continuous. The reason why the weighing order and the boxing order do not match in this way is that, for example, after passing through the first weighing means 10, a worker on the line side checks the state of the product P on the line. This is because the front and back of the product P may be interchanged when returning the product to the line. However, according to the present embodiment, it is possible to reliably determine the shortage even in such a case. Further, the product P having the ID of 108 can be determined and should be the target of boxing, but it is not the target of boxing for some reason after passing through the first measuring means 10. Even if the product P is weighed by the first weighing means 10 in this way, the product P that does not fit in the box B is not included in the total by the collation using the ID. Can be done.

合算（３−３）では、箱番号２７が共通であるＩＤ１１０、１１２、１１３、１１４の４つの製品Ｐの第１計量値を合算する。これらの第１計量値の合算値４００ｇに箱の重量値２０ｇを加えた４２０ｇが基準総重量値であり、ここから１０ｇを減じた４１０ｇと第２計量値を比較する。第２計量値はＩＤが１１０、１１２、１１３、１１４の４つの製品Ｐが箱詰めされた箱詰品の重量値となり４２０ｇであるから判定式は成立せず、欠品なしの判定となる。 In the summation (3-3), the first measurement values of the four products P of ID110, 112, 113, and 114 having the common box number 27 are summed up. The standard total weight value is 420 g, which is the sum of 400 g of these first weighed values plus 20 g of the box weight, and 410 g obtained by subtracting 10 g from this is compared with the second weighed value. Since the second weighing value is 420 g, which is the weight value of the boxed product in which the four products P having IDs 110, 112, 113, and 114 are packed in a box, the determination formula does not hold, and it is determined that there is no shortage.

合算（３−３）における４個の製品Ｐも、合算（３−２）の場合と同様、計量順序は連続しておらず、計量順と箱詰め順が一致していないが、やはり欠品を確実に判定することができている。 As in the case of the total (3-2), the four products P in the total (3-3) also do not have a continuous weighing order, and the weighing order and the boxing order do not match, but they are still out of stock. It can be determined with certainty.

以上説明した第３実施形態に係る箱詰検査システム１”では、同一の箱Ｂに箱詰めされた製品Ｐを特定するために箱番号を用いていたが、箱番号を用いない運用例も可能である。例えば、識別情報読み取り手段４２を箱Ｂの近傍に設置し、箱詰手段４に把持された状態で識別情報読み取り手段４２で識別記号を読み取られた製品Ｐは、必ず箱Ｂに入るものと考える。また、識別情報読み取り手段４２から送られた識別記号を記憶する第２の記憶手段を設けておく。第２の記憶手段に４つの識別記号が記憶される度に、これら４つの識別記号と同一の識別記号（ＩＤ）の第１計量値を記憶手段２１から読み出して合算する。この手法によれば、実際に箱詰めされた製品Ｐの識別記号に基づいて、多くの第１計量値の中から実際に箱詰めされた製品Ｐの第１計量値を選んで合算するので、搬送途中で製品が紛失したり、製品の並び順が変わっていても、箱詰品に含まれる製品の欠品を製品の計量値に基づいて確実に判定することができる。 In the boxing inspection system 1 "according to the third embodiment described above, the box number is used to identify the product P boxed in the same box B, but an operation example in which the box number is not used is also possible. For example, a product P in which the identification information reading means 42 is installed in the vicinity of the box B and the identification code is read by the identification information reading means 42 while being held by the boxing means 4 is always contained in the box B. Further, a second storage means for storing the identification symbol sent from the identification information reading means 42 is provided. Each time four identification symbols are stored in the second storage means, these four identifications are made. The first metric value of the identification symbol (ID) that is the same as the symbol is read from the storage means 21 and added up. According to this method, many first metric values are based on the identification symbol of the actually boxed product P. Since the first weighing value of the product P actually packed in the box is selected from the items and added up, even if the product is lost during transportation or the order of the products is changed, the product included in the boxed product is missing. The product can be reliably judged based on the measured value of the product.

また、第１及び第２実施形態では、製品検知センサ１３や製品検知カメラ３０によって箱詰手段４が取り損ねた製品Ｐ（図２においてＩＤ１０９の「特定情報」が「非」の」製品Ｐ）を検知することで、これ以外の実際に箱詰めされた製品Ｐの第１計量値を合算していたが、この図２の「特定情報」には箱番号を記憶させるものとしてもよい。すなわち、記憶手段において、製品検知センサ１３や製品検知カメラ３０によって検知された製品ＰやＮＧ品以外の製品Ｐについて、所定入数（実施形態では４）ずつ同一の箱番号を付しておき、欠品の判定においては、箱番号が同一のものを合算して基準重量値を求めてもよい。 Further, in the first and second embodiments, the product P that the boxing means 4 fails to remove due to the product detection sensor 13 and the product detection camera 30 (the product P in which the "specific information" of ID 109 is "non" in FIG. 2). By detecting the above, the first weighing values of the other actually boxed products P were added up, but the box number may be stored in the "specific information" of FIG. That is, in the storage means, the same box number is assigned to each of the predetermined quantity (4 in the embodiment) of the product P detected by the product detection sensor 13 and the product detection camera 30 and the product P other than the NG product. In determining the missing item, the items having the same box number may be added up to obtain the reference weight value.

以上説明したように、各実施形態の箱詰検査システムによれば、箱詰時の製品Ｐの取り扱い不良等により計量順と箱詰順が一致しなかったり、製品Ｐが紛失したような場合が生じても、箱詰品における製品Ｐの欠品を製品Ｐの計量値に基づいて確実に判定することができ、特に重量値の誤差範囲が大きい製品Ｐの箱詰検査に有効であるという効果がある。 As described above, according to the boxing inspection system of each embodiment, there are cases where the weighing order and the boxing order do not match due to improper handling of the product P at the time of boxing, or the product P is lost. Even if it occurs, the shortage of the product P in the boxed product can be reliably determined based on the measured value of the product P, and the effect that it is particularly effective for the boxing inspection of the product P having a large error range of the weight value. There is.

１，１’，１”…箱詰検査システム
２…搬送手段としての箱詰ライン
３…搬送手段としての製品ライン
４…箱詰手段
１０…第１計量手段
１２…第２計量手段
１３…製品検知センサ
２０…制御装置
２１…記憶手段
２２…箱詰特定手段
２３…算出手段
２４…検査手段としての欠品判定手段
３０…製品検知カメラ
４１，４２…識別情報読み取り手段
Ｐ…製品
Ｂ…箱
Ａ０…製品の取り出し位置
Ａ１…第１読み取り位置
Ａ２…第２読み取り位置 1,1', 1 "... Boxing inspection system 2 ... Boxing line as a transport means 3 ... Product line as a transport means 4 ... Boxing means 10 ... 1st weighing means 12 ... 2nd weighing means 13 ... Product detection Sensor 20 ... Control device 21 ... Storage means 22 ... Boxing identification means 23 ... Calculation means 24 ... Out of stock determination means as inspection means 30 ... Product detection cameras 41, 42 ... Identification information reading means P ... Product B ... Box A0 ... Product take-out position A1 ... 1st reading position A2 ... 2nd reading position

Claims

The first weighing means (10) that weighs the product (P) and outputs the first weighing value, and
The boxing means (4), in which a plurality of products weighed by the first weighing means are packed in a box to form a boxed product,
A second weighing means (12) that weighs the boxed product and outputs the second weighing value,
A calculation means (23) for calculating a reference total weight value of a boxed product based on the first measurement value, and
An inspection means (24) for inspecting the number of products packed in a box by comparing the reference total weight value with the second measurement value, and
It is a boxing inspection system (1,1', 1 ") equipped with
A storage means (21) for storing the first measured value and
With respect to the product packed in the box by the boxing means, the boxing specifying means (22) for specifying the first measurement value stored in the storage means and the boxing specifying means (22).
With more
The boxing inspection system (1,1) is characterized in that the calculation means (23) calculates the reference total weight value by adding up the first weighing values of the storage means specified by the boxing specifying means. ', 1').

The storage means (21) stores the first weighing value in correspondence with the weighing order of the product (P), and the boxing specifying means (22) specifies the weighing order of the boxed product. The boxing inspection system (1, 1') according to claim 1.

A transport means (2) for transporting the product (P) weighed by the first weighing means is further provided.
1. The boxing specifying means (22) includes a product detection sensor (13) that detects the passage of a product at a predetermined position downstream of the take-out position of the product transported by the transport means. Or the boxing inspection system (1) according to 2.

The boxing identifying means (22) is characterized by including a product detection camera (30) that captures a predetermined area including a take-out position (A0) of the product (P) carried out from the first measuring means (10). The boxing inspection system (1') according to claim 1 or 2.

A transport means (2) for transporting the product (P) weighed by the first weighing means (10) is further provided.
1. The boxing inspection system (1') according to 2.

The boxing specifying means (22) has a first reading position (A1), which is a position before the product (P) is weighed by the first measuring means (10), and a product taking-out position by the boxing means. It is characterized by including identification information reading means (41, 42) which are arranged at the second reading position (A2), which is a position between (A0) and the boxing position, and which reads the identification information provided in the product. The boxing inspection system (1 ") according to claim 1 or 2.

The standard total weight value of the boxed product is calculated based on the plurality of first weighing values obtained by weighing the plurality of products (P).
A boxed product in which a plurality of products whose first weighing value is weighed is packed in a box is weighed to obtain a second weighing value.
A boxing inspection method for inspecting the number of products packed in a boxed product by comparing the reference total weight value with the second measured value.
A box characterized in that the first weighing value of a boxed product is specified from a plurality of the first weighing values, and the specified first weighing value is added up to calculate the reference total weight value. Packing inspection method.