JP2022073666A - Conveying device, article inspection device, and sorting device - Google Patents

Abstract

To provide a conveying device capable of effectively suppressing frequent occurrence of abnormal stops due to an overload, and stoppage in production due to burning of a motor.SOLUTION: There are provided a conveyor 21 on a production line; a setting input part for designating conveyance speed thereof and maximum conveyance mass Mtmax; a storage part for storing conveyance conditions including conveyor length Lt, length La of an article W and mass Ma, and production capacity; a pitch calculation part for calculating a lower limit pitch P0 or P1 allowed as an article-conveying pitch, based on the maximum conveyance mass Mtmax and the conveyance conditions; a conveyor speed calculation part for calculating a lower limit conveyor speed satisfying the maximum conveyance mass Mtmax from the lower limit pitch; and a control part for drive-controlling the conveyor 21 so as to be the lower limit conveyor speed, when a conveyor conveyance speed designated at the setting input is smaller than the lower limit conveyor speed.SELECTED DRAWING: Figure 3

Description

The present invention relates to a transport device, an article inspection device and a sorting device, and more particularly to a transport device, an article inspection device and a sorting device having a transport capacity limitation due to a torque characteristic of a transport drive motor or the like.

In the production line of products such as groceries, various products are often inspected in boxes or bags, or sorted according to the destination and inspection results before shipment. In addition, individual packages and a plurality of boxed or bagged products are often transported and shipped in a state of being packed in a large amount of cardboard.

Therefore, the weight of the article to be conveyed changes with respect to the conveyor transfer capacity, or the set value of the transfer pitch of the article on the conveyor changes, so that the load of the motor or the like that drives the transfer of the conveyor greatly fluctuates. obtain.

Therefore, conventionally, there is a relay conveyor located between the inspection device and the sorting and sorting device, which has a relatively heavy transport article and a transport performance capable of responding to a change in the transport pitch (for example, a patent). See Document 1).

In the normal operation mode of this apparatus, according to the sorting timing signal, the sorting mechanism is operated at the timing when the work is conveyed to the sorting position after a lapse of a predetermined time after receiving the pass / fail determination signal to sort defective products. In addition, prior to the start of discharging the product by the sorting device, a nearby worker is notified that it is dangerous to approach the sorting operation area.

In addition, it is a conveyor transport device that intermittently transports lunch containers for filling lunch, and an alarm is displayed on the touch panel when an emergency stop switch is input or an overload is detected. It is known that the operation can be stopped when an abnormality occurs (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 2012-206816 Japanese Unexamined Patent Publication No. 2011-246206

However, in the conventional transport device, article inspection device, and sorting device as described above, an abnormality due to overload of the transport drive motor is detected (current detection or torque detection), and the conveyor is used when the overload is detected. It was only configured to be forcibly stopped.

Therefore, in the above-mentioned patent document 1, if the transport pitch of the workpieces is excessively clogged, a plurality of workpieces are placed on the conveyor belt, which causes an overload on the motor that drives the conveyor belt. Even if the conveyor is stopped by detecting an overload as described in 2, there is a concern that abnormal stoppage due to motor overload may lead to major troubles accompanied by production stoppage due to motor burnout. there were.

Therefore, an object of the present invention is to provide a transport device, an article inspection device, and a sorting device capable of effectively suppressing the frequent occurrence of abnormal stoppage due to overload during transport drive and production stoppage due to burning of the transport drive motor.

(1) In order to achieve the above object, the transport device according to the present invention is set to specify a transport means for transporting articles by a conveyor incorporated in a production line, a transport speed of the conveyor, and a maximum transport mass that can be driven. An input unit, a storage unit that stores transfer conditions including the transfer machine length of the conveyor, the transfer direction length and mass of the article, and the production capacity of the production line according to the transfer capacity of the article, the maximum transfer mass, and the storage unit. A pitch calculation unit that calculates the lower limit pitch allowed as the transfer pitch of the article on the conveyor based on the transfer conditions, and a conveyor speed calculation unit that calculates the lower limit conveyor speed that satisfies the maximum transfer mass from the lower limit pitch. And, when the transport speed of the conveyor specified by the setting input unit is smaller than the lower limit conveyor speed, the control unit for driving and controlling the conveyor so as to be the lower limit conveyor speed is provided. And.

With this configuration, in the present invention, the lower limit pitch allowed as the article transfer pitch on the conveyor is calculated based on the maximum transfer mass of the conveyor and the transfer conditions, and the lower limit conveyor speed satisfying the maximum transfer mass from the lower limit pitch. Is calculated, and when the conveyor speed specified by the setting input unit is smaller than the lower limit conveyor speed, the conveyor is driven and controlled so that the lower limit conveyor speed satisfies the maximum transport mass. Therefore, the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the conveyor is monitored, and the conveyor transfer speed is controlled so as not to exceed the maximum transfer mass of the conveyor, so that abnormal stop occurs frequently due to overload during transfer drive. And troubles such as production stoppage due to burning of the conveyor drive motor can be effectively suppressed.

(2) In a preferred embodiment of the present invention, there is an article detection unit that detects the article put into the production line, and the pitch calculation unit is obtained from a plurality of article detection signals of the article detection unit. The article transfer pitch during production is calculated based on a predetermined number of samples of the article transfer pitch, and the control unit sets the specified conveyor speed when the article transfer pitch during production is equal to or higher than the lower limit pitch. The conveyor can be driven and controlled.

In this case, by calculating the article transfer pitch during production based on a predetermined number of samples of the article transfer pitch, it is possible to monitor whether or not the article transfer pitch during production is equal to or higher than the lower limit pitch at an appropriate monitoring cycle. Therefore, it is possible to accurately execute the conveyor transport drive at the specified conveyor speed without causing an overload.

(3) In a preferred embodiment of the present invention, the pitch calculation unit acquires a sample of the predetermined number of article transport pitches corresponding to a certain number of articles sequentially put into the production line, and obtains the predetermined number of samples. It is possible to calculate the article transfer pitch during production by averaging the samples of the article transfer pitch.

By doing so, it becomes possible to accurately execute the conveyor belt transfer drive control at the designated conveyor speed while suppressing the load fluctuation.

(4) In a preferred embodiment of the present invention, the article detection unit is composed of a photoelectric sensor, and the pitch calculation unit uses the detection timing of the preceding article among a plurality of preceding articles by the article detection unit and the preceding article. It can also be configured to calculate the article transport pitch during production based on the detection timing by the article detection unit for the succeeding article.

In this case, based on the delay time corresponding to the transport pitch from the detection timing of the preceding article to the detection timing of the succeeding article, a predetermined number of articles (tray transported article or interconnected) before and after each article being produced or in the transport direction. It is possible to acquire data of the transport pitch sample from the preceding article or the preceding article group for each product).

(5) In a preferred embodiment of the present invention, the article detection unit has an image pickup means for imaging a transport path formed by the conveyor, and the article is said to be based on a change in an image captured by the image pickup means. The article may be detected when it reaches a predetermined position on the transport path.

In this way, the existing imaging means (for example, an imaging means for X-ray inspection) can also be used for detecting an article. Further, for example, it is possible to detect the transfer pitch in consideration of the position of the contents and the position of the center of gravity even for an article having a non-standard shape or an article packed in a box.

(6) In order to achieve the above object, the article inspection device of the present invention includes a transport device having the above-mentioned invention configuration and an inspection unit for inspecting the article on the production line.

In the article inspection apparatus of the present invention, the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the conveyor is monitored, and the conveyor transfer speed is controlled so as not to exceed the maximum transfer mass of the conveyor. It is an article inspection device that can effectively suppress troubles such as frequent abnormal stops due to overload and production stop due to burning of the conveyor drive motor. Further, even when the overload operation is not performed during the conveyor transport drive, the pitch between products can be maintained at the lower limit product pitch or higher.

(7) In order to achieve the above object, the sorting device of the present invention includes a transport device having the above-described configuration and a sorting mechanism for sorting the articles on the production line in a direction different from the transport direction by the conveyor. To prepare.

In the distribution device of the present invention, the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the conveyor is monitored, and the conveyor transfer speed is controlled so as not to exceed the maximum transfer mass of the conveyor, so that the conveyor transfer is driven. It is a distribution device that can effectively suppress troubles such as frequent abnormal stops due to overload and production stop due to burning of the conveyor drive motor.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a transport device, an article inspection device, and a sorting device capable of effectively suppressing the frequent occurrence of abnormal stoppage due to an overload during transport drive and production stoppage due to burning of the transport drive motor.

It is a top view which shows the schematic structure of the transport device which concerns on 1st Embodiment of this invention, and exemplifies the case which is configured as a relay conveyor located between the article inspection device on the upstream side and the distribution device on the downstream side. .. (A) is an operation explanatory diagram when the transport speed is controlled to the length-based transport pitch in the transport device according to the first embodiment of the present invention, and (b) is the weight in the transport device according to the first embodiment. It is an operation explanatory drawing at the time of speeding up to a reference transfer pitch and controlling a transfer speed. In the explanatory diagram of the control procedure for changing the setting to the lower limit pitch of the mass reference when the maximum transport mass is exceeded by the standard length reference lower limit pitch with respect to the transport capacity of the transport device according to the first embodiment of the present invention. be. It is a flowchart which shows the update control procedure of the transfer pitch during production in the transfer apparatus which concerns on 1st Embodiment of this invention. It is a graph which shows the measurement procedure for each batch which measures the product pitch time during production in the transfer apparatus which concerns on 1st Embodiment of this invention as a transfer pitch and acquires data, the vertical axis is the product pitch, and the horizontal axis is the number of measurements. Is shown. The control procedure for increasing the transport speed when the sorting capacity request corresponding to the article transport speed of the transport device according to the first embodiment of the present invention is set and input by the user and the maximum transport mass is exceeded. It is explanatory drawing. It is explanatory drawing of the control procedure in the case where the transfer apparatus which concerns on 1st Embodiment of this invention does not exceed the maximum transfer mass even in the standard length reference lower limit pitch, and it is not necessary to increase the speed. It is explanatory drawing of the other control procedure which increases the transfer speed and increases the lower limit pitch when the maximum transfer mass is exceeded in the transfer device according to the first embodiment of the present invention. It is explanatory drawing of the other control procedure which does not exceed the maximum transport mass even in the product length standard in the transport apparatus which concerns on 1st Embodiment of this invention, and does not need to increase the transport speed. It is explanatory drawing of the control procedure which increases the transport speed and increases the lower limit pitch when the maximum transport mass is slightly exceeded in the transport device according to the first embodiment of the present invention. It is a schematic block diagram of the article inspection apparatus which concerns on 2nd Embodiment of this invention. It is a schematic block diagram of the sorting apparatus which concerns on 3rd Embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

(First Embodiment)
As shown in FIG. 1-3, the transport device according to the first embodiment of the present invention is a relay interposed between the inspection device 10 such as the X-ray foreign matter detection method, which is an upstream device, and the distribution device 50 on the downstream side. It is configured as a transport device 20.

First, the configuration thereof will be described. As shown in FIG. 1, the relay transfer device 20 has a relay conveyor 21 that conveys the work W, which is an article to be inspected. The relay conveyor 21 constitutes a part of the production line 1 together with the upstream conveyor (upstream side) 11 located on the inspection device 10 side and the downstream conveyor 51 located on the distribution device 50 side.

In the production line 1, food or the like is produced as a work W, is conveyed to the downstream side by a series of conveyors 11, 21, 51, and is carried out from the downstream side. That is, the relay conveyor 21 is incorporated in the production line 1 and is a transport means for transporting the work W sequentially carried in from the upstream conveyor 11 in a predetermined transport direction.

As shown in FIG. 1, the relay transfer device 20 is from an article detection sensor 22 installed on the upstream end side of the relay conveyor 21, a control unit 30 that captures an article detection signal from the article detection sensor 22, and a control unit 30. It is configured to include a motor unit 40 capable of driving and controlling the relay conveyor 21 according to a transfer control signal.

The article detection sensor 22 is an article detection unit that detects a work W that has been put into a production line and has reached the vicinity of the upstream end of the relay conveyor 21, and is composed of, for example, a photoelectric sensor.

The control unit 30 has a control circuit configuration having a control function for the inspection device 10 and the distribution device 50, and corresponds to an operation unit 31 capable of manually operating setting input and screen display, and each device specification and product type. A storage unit 32 that stores setting information, control parameters, detection / measurement data, inspection control, transfer control, and a plurality of control programs for distribution control, and various control values for inspection control, transfer control, and distribution control. It has a control / calculation unit 33 that calculates a determination value and the like, and an image processing unit 34 that executes image processing for inspection of the inspection device 10 or further image processing for automatically recognizing the mass and size of the product. There is.

Specifically, as shown in FIGS. 2 (a), 2 (b) and 3, the operation unit 31 has the conveyor length Lt [mm], which is the length of the conveyor, and the maximum transfer mass as parameters of the relay conveyor 21. Mtmax [g] can be set and input, and for each product type of work W, the mass Ma [g] of the product, the product length La [mm] in the transport direction, the designated sorting capacity [pieces / min], and the designated conveyor. It is a setting input unit by manual operation for setting and inputting production and product information such as speed [mm / s]. Here, the designated sorting capacity [pieces / min] corresponds to the production capacity of the production line 1 according to the article transporting capacity [pieces / min] of the relay conveyor 21 and the sorting capacity [pieces / min] of the sorting device 50. ..

The storage unit 32 includes transport conditions such as parameters of the relay conveyor 21 set by the operation unit 31, production / product information for each product type of the work W, article transport capacity of the relay conveyor 21, and product spacing Lb [mm]. It consists of a storage device that readablely stores detection / measurement data, multiple control programs, and the like.

The control / calculation unit 33 allows the work W on the relay conveyor 21 to have a transfer pitch based on the maximum transfer mass Mtmax specified and input by the operation unit 31, the transfer speed of the relay conveyor 21, and other setting information of the transfer conditions. The function of the pitch calculation unit that calculates the lower limit product pitch P0 based on the product length and the lower limit product pitch P1 based on the product mass, and the lower limit conveyor that satisfies the maximum transfer mass of the relay conveyor 21 from the calculated lower limit product pitch P0 or P1. It has the function of a conveyor speed calculation unit that calculates the speed.

Here, the maximum transport mass Mtmax is specified by the specifications relating to the transport capacity as a transport device determined in order to suppress the frequent occurrence of abnormal stops due to overload and the production stop due to burning of the transport drive motor.

When the transport speed of the relay conveyor 21 specified by the operation unit 31 is smaller than the lower limit conveyor speed, the control / calculation unit 33 also drives and controls the relay conveyor 21 so that the lower limit conveyor speed is reached. It also has the function of a control unit that generates.

The image processing unit 34 inspects mixed foreign matter by performing image processing for inspection of the inspection device 10, for example, feature extraction processing, differentiation processing, filter processing, etc. based on the shading tone data of the X-ray transmission image. Alternatively, it is possible to perform image processing for automatically recognizing the product mass and product length corresponding to the X-ray transmission thickness based on the density setting information of the work W. Further, as a substitute for the article detection sensor 22, it may play a role as an article detection unit for detecting the work W.

The motor unit 40 has a motor 41 capable of driving the relay conveyor 21 and a motor driver 42 that drives the motor 41 while controlling the current and timing to be passed through the motor 41 according to a control signal from the control unit 30. .. Further, the motor 41 is a variable speed control type capable of changing the motor torque that opposes the transport drive load according to the amount of current to be passed and changing the transport speed. The motor driver 42 is connected to a power source (not shown).

(Conveyor speed correction at the time of setting)
More specifically, the control / calculation unit 33 of the control unit 30 first has a product length reference as shown in FIG. 2 so that the transfer speed of the relay conveyor 21 when the transfer conditions are set can be corrected as necessary. The lower limit product pitch P0 and the total mass for the total number of pieces mounted on the relay conveyor 21 are calculated by the following equations [1] and [2].

Product length standard_Lower limit Product pitch P0 [mm] = Product length La + Product spacing Lb ・ ・ ・ [1]
Product length standard_Total number = Conveyor length Lt / Product length standard_Lower limit Product pitch P0
= Total number (integer part) + Total number (decimal part) ・ ・ ・ [2]
The product interval Lb [mm] referred to here is an interval corresponding to the operation time required to enable the article inspection by the inspection device 10 and the sorting operation by the sorting device 50, but the work being transported. It may be an interval required by other requirements such as an interval required as a work space of an article inspection device or a sorting device for W, and an arbitrary setting is also possible.

The control / calculation unit 33 also has the following equation [3a]-[ 3d] is used to calculate the product length reference_total mass [g], and the product length reference_total mass is compared with the maximum transport mass Mtmax (see FIG. 3) stored as a parameter.
Semi-product length standard_Lower limit Product pitch Ph [mm] =
Product length standard_Lower limit Product pitch P0 [mm] x Total number (fractional part) ... [3a]
Semi-finished product transport ratio =
(Semi-product length standard_Lower limit product pitch Ph [mm]) / (Product length La [mm]) ・ ・ ・ [3b]
When the semi-finished product transport ratio ≧ 1 (one product is listed in the semi-finished product length standard_lower limit product pitch)
└ Product length standard_Total mass [g] =
(Total number (integer part) + 1) x product mass [g] ・ ・ ・ [3c]
When the semi-finished product transport ratio <1 (semi-finished product length standard_lower limit product pitch does not include one product)
└ Product length standard_Total mass [g] =
(Total number (integer part) + semi-finished product transport ratio) x product mass [g] ・ ・ ・ [3d]
Then, the control / calculation unit 33 executes the setting process of the lower limit product pitch in the following cases (a1)-(a3) according to the comparison result of the total mass of the product length reference and the maximum transport mass. It has become like.

(A1) When product length standard_total mass ≤ maximum transport mass The lower limit product pitch P0 of the product length standard is set as the lower limit product pitch.

(A2) Product length standard_total mass> maximum transport mass The lower limit product pitch P1 of the product mass standard is the lower limit product pitch.

(A3) When one product mass> maximum transport mass Since conveyor transport is not possible, the operation unit 31 displays an alarm and the control / calculation unit 33 executes an alarm output.

When the lower limit product pitch P1 of the product mass standard is set as the lower limit product pitch, the control / calculation unit 33 uses the following equations [4]-[6] to obtain the total number of products based on the product mass ((integer part) + (fractional part). )) To obtain the lower limit product pitch P1 based on the product mass.

Product mass standard_Total number = Maximum transport mass Mtmax [g] / Product mass Ma [g]
= Total number (integer part) + total number (decimal part) ・ ・ ・ [4]
Semi-mounted product length [mm] = product length [mm] x total number (fractional part) ・ ・ ・ [5]
Product mass standard_Lower limit Product pitch P1 [mm]
= (Conveyor length Lt-Half-mounted product length) / Total number (integer part) [pieces] ・ ・ ・ [6]
Next, the control / calculation unit 33 determines the lower limit conveyor speed [mm / min] that satisfies the maximum transfer mass from the lower limit product pitch P1 or P0 [mm] and the sorting capacity [pieces / min] by the following equation [7]. Calculated by. At this time, the speed safety factor is 1 to 1.2.

Lower limit conveyor speed = lower limit product pitch x sorting capacity x speed safety factor ... [7]
Next, the control / calculation unit 33 corrects the transfer speed of the relay conveyor 21 while classifying the cases as follows so that the designated conveyor speed specified by the operation unit 31 becomes equal to or higher than the lower limit conveyor speed.

(B1) If the specified conveyor speed <lower limit conveyor speed, correct to the lower limit conveyor speed, and (b2) if the specified conveyor speed ≥ lower limit conveyor speed, correct to the specified conveyor speed.

At the start of production, the control / calculation unit 33 commands the motor unit 40 to drive the relay conveyor 21 at a conveyor speed that does not exceed the maximum transfer mass.

(Conveyor speed correction during production)
The control / calculation unit 33 of the control unit 30 calculates the following based on the product pitch time [s] during production detected for each passage of the subsequent work W by the article detection sensor 22 near the upstream end of the relay conveyor 21. The product pitch P2 [mm] during production and the conveyor speed that does not exceed the maximum transfer mass are obtained, and the conveyor speed is automatically adjusted.

Specifically, the control / calculation unit 33 first starts with N measured product pitch times [s], production pitch time [s], production sorting capacity [pieces / min], and production pitch [s]. mm] is calculated by the following equations [8]-[10].

Product pitch time during production [s] = Σ measurement N_Product pitch time [s] / number of batches [times] ・ ・ ・ [8]
Sorting capacity during production [pieces / min] = 60 / product pitch time during production [s] ・ ・ ・ [9]
Product pitch in production P2 [mm]
= Product pitch time during production [s] x Conveyor speed [mm / s] ・ ・ ・ [10]
That is, the control / calculation unit 33 measures the product detection time interval corresponding to the transport pitch of the product being produced as the product pitch time [s] during production, which is averaged for each batch, and sorts the corresponding product during production for each batch. Obtain data on capacity and product pitch in production.

Then, the control / calculation unit 33 calculates the conveyor speed [mm / min] during production by the following equation [11].

Conveyor speed during production [mm / min]
= Lower limit product pitch [mm] x sorting capacity during production [pieces / min] x speed safety factor ... [11]
The speed safety factor at this time is 1-1.2.

As shown in FIG. 4, the data acquisition of the product pitch during production is repeated for a predetermined number of batches, for example, N batches, and the product pitch time [s] during production is repeatedly measured in each batch process (FIG. 4). In 4), "Σ measurement N_product pitch time"), the measured value is averaged by dividing by the number of batches N, and the conveyor speed [mm / s] is added to the averaged product pitch time [s] during production. ] To calculate the product pitch P2 in production. Further, the sorting capacity [pieces / min] during production is calculated as 60 / product pitch time [s] during production by the formula [9] (step S11 in FIG. 4).

As shown in FIG. 5, this batch process for measuring the pitch of products during production is suspended immediately after the start of production when the variation in measurement data becomes large, and then as a batch process of a predetermined number of batches N times, for example, 5 times. Data is acquired for calculating the product pitch P2 during production, and when the data update conditions described later are satisfied, the data is updated, and immediately after that, multiple batches, for example, three batches, have a suitable measurement cycle. Data acquisition is suspended.

The control / calculation unit 33 also compares the calculated product pitch P2 in production with the set current lower limit product pitch P0 or P1 (hereinafter referred to as lower limit product pitch Ps) (step S12 in FIG. 4). When the state of "lower limit product pitch Ps> product pitch P2 during production" is satisfied, it is determined that the maximum transport mass is exceeded (YES in step S12 in FIG. 4), and the conveyor speed during production is determined by the formula [11]. Is recalculated (step S13 in FIG. 4).

By the way, in FIG. 5, after the measurement is suspended for one batch immediately after the start of production, it is determined for each batch whether or not the above-mentioned data update condition is satisfied, and the batch data update is performed if the condition is not satisfied. Is not executed, and the data is updated at the stage (number of batches 10-14) when the product pitch during production is lowered and the update condition is satisfied. As shown in FIG. 4, when the conveyor speed [mm / s] during production is updated, the pause processing is executed a predetermined number of times of the measurement batch, for example, three times (step S14 in FIG. 4).

The control / calculation unit 33 further determines whether or not the speed is the designated conveyor speed designated and input in advance by the operation unit 31, and if the speed is the designated conveyor speed, the product pitch is determined by performing the following cases. And determine the conveyor speed.
(C1) When the product pitch during production ≥ the lower limit product pitch [mm], the conveyor speed is determined to be the designated conveyor speed.
(C2) When the product pitch during production <lower limit product pitch [mm], the conveyor speed is determined to be the conveyor speed during production.

Then, the control / calculation unit 33 commands the motor unit 40 to instruct the determined conveyor speed to increase the conveyor speed in a timely manner, so that the product pitch can be corrected so as not to exceed the maximum transfer mass. ..

When the conveyor speed reaches the maximum speed (upper limit value), an alarm display from the operation unit 31 and an alarm output from the control / calculation unit 1-3 to the external neglected device are executed. ..

As described above, in the present embodiment, the control / calculation unit 33 as the pitch calculation unit acquires a predetermined number of samples of the article transfer pitch from the article detection signals obtained at the plurality of article detection timings of the article detection sensor 22. , The article transfer pitch during production is calculated based on a predetermined number of samples of the article transfer pitch. The predetermined number of article transport pitches referred to here is a numerical value of 1 or more, and may include an integer part and a decimal part as described above.

Further, when the product transport pitch P2 during production is equal to or higher than the lower limit product pitch Ps, the control / calculation unit 33 (control unit) of the control unit 30 has a conveyor speed corresponding to the production capacity specified in advance by the operation unit 31. The relay conveyor 21 and the front and rear conveyors 11 and 51 are driven and controlled.

Further, the control / calculation unit 33 as the pitch calculation unit sequentially inputs to the production line 1 for each measurement batch executed as a batch process for each predetermined number of products for measuring the product pitch time [s] from the start of production. A predetermined number of samples of the article transfer pitch P2 corresponding to the fixed number of workpieces W are obtained from the corresponding product pitch time [s], and the samples of the predetermined number of article transfer pitch P2 are averaged and processed. The article transport pitch P2 during production is calculated for a plurality of measurement batch processes.

In addition, the article detection sensor 22 in the present embodiment is composed of a photoelectric sensor, and the control / calculation unit 33 has the article detection sensor 22 for the preceding work W (for example, W1 or W2 in FIG. 2) among the plurality. Production based on the first detection timing detected by non-contact and the second detection timing by the article detection sensor 22 for the work W following the preceding work W (for example, W2 or W3 in FIG. 2). The article transport pitch P2 inside is calculated.

The article detection unit according to the present invention is not limited to the one composed of a photoelectric sensor like the article detection sensor 22, but instead, images a transport path 21a formed by, for example, a relay conveyor 21. It has an image pickup means and detects the work W when the work W reaches a predetermined position on the transport path 21a (for example, the transport position at the time of tip detection by the article detection sensor 22) from the change of the image captured by the image pickup means. It may be something to do.

Next, the operation will be described.

In the transport device 20 in the production line 1 of the present embodiment configured as described above, the lower limit allowed as the article transport pitch P2 on the conveyor 21 based on the maximum transport mass and the transport conditions of the relay conveyor 21. The product pitch Ps is calculated as the lower limit product pitch P0 based on the product length or the lower limit product pitch P1 based on the product mass, and the lower limit conveyor speed satisfying the maximum transfer mass is calculated from the lower limit product pitch Ps. When the designated transfer speed of the relay conveyor 21 designated by the operation unit 31 is smaller than the lower limit conveyor speed, the conveyor is driven and controlled so as to have a lower limit conveyor speed that satisfies the maximum transfer mass.

For example, as shown in FIG. 3, the conveyor length Lt, the product mass Ma, the product length La in the transport direction, the product interval Lb, and the lower limit product pitch P0 = La + Lb of the product length standard are normally stable on the relay conveyor 21. When the maximum transfer mass Mtmax that can be conveyed limits the transfer capacity of the relay conveyor 21, the total number that can be simultaneously transferred by the relay conveyor 21 from the viewpoint of weight is calculated by dividing the maximum transfer mass Mtmax by the product mass Ma and 2 .5 pieces.

On the other hand, when the lower limit pitch of the product length standard is set, the product pitch P0 = La + Lb. Therefore, when the conveyor length Lt is divided by the product pitch P0, the total number of products that can be mounted on the relay conveyor 21 is the product length La or the product. Depending on the interval Lb, it can be, for example, three.

In this case, the transport mass of 3 Ma exceeds the maximum transport mass Mtmax corresponding to 2.5 of the product mass Ma (Mtmax <3Ma).

Therefore, based on the monitoring result of such a setting state, the lower limit product pitch Ps is switched from the lower limit pitch setting based on the product length to the lower limit pitch setting based on the product mass, and the maximum transport mass Mtmax = 2.5Ma is set at equal intervals. By setting the product interval Lb'(> Lb) to be established, the transport speed is increased and the occurrence of an overload state that exceeds the maximum transport mass Mtmax is avoided.

For example, the conveyor length Lt = 800 [mm], the maximum transport mass Mtmax = 5000 [g], the product mass Ma = 2000 [g], the product length La = 70 [mm], and the product spacing Lb = 280 [ With respect to the setting of [mm], the lower limit product pitch Ps becomes the lower limit product pitch P0 = 350 [mm] based on the product length, and the maximum transport mass is exceeded with the maximum number of mounted 3 pieces. Therefore, by switching to the lower limit product pitch P1 = 382.5 [mm] of the product mass standard, the speed is increased so that the product spacing Lb = 280 [mm] is expanded to the product spacing Lb'= 312.5 [mm]. , 2.5 pieces are mounted to make the maximum loading capacity.

In this embodiment, in this way, prior to the start of production, the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the relay conveyor 21 is monitored, and the conveyor transfer speed is not exceeded so as not to exceed the maximum transfer mass of the relay conveyor 21. Is controlled. As a result, troubles such as frequent abnormal stops due to overload of the motor 41 (conveyor drive motor) during conveyor transfer drive and production stoppage due to burning of the motor 41 are effectively suppressed.

Further, in the present embodiment, whether or not the article transfer pitch P2 being produced is equal to or greater than the lower limit product pitch Ps by calculating the article transfer pitch P2 during production based on a predetermined number of samples of the article transfer pitch. Can be monitored at an appropriate monitoring cycle, and the transfer drive of the relay conveyor 21 at a designated conveyor speed can be accurately executed without causing an overload.

Further, in the present embodiment, the control / calculation unit 33 acquires a predetermined number of samples of the article transfer pitch corresponding to a certain number of articles sequentially put into the production line 1 for each measurement batch of the article transfer pitch. The article transfer pitch P2 being produced is calculated by averaging the samples of the predetermined number of article transfer pitches. Therefore, it is possible to accurately execute the conveyor conveyor drive at the designated conveyor speed while suppressing the load fluctuation.

In addition, in the present embodiment, the article detection sensor 22 is composed of a photoelectric sensor, and the control / calculation unit 33 for pitch calculation is set to the first article detection timing for the preceding work W among the plurality and the preceding work W. The article transfer pitch P2 during production is calculated based on the second article detection timing for the subsequent subsequent work W. Therefore, based on the delay time corresponding to the transport pitch from the detection timing of the preceding article to the detection timing of the succeeding article, a predetermined number of articles (tray-transported article or continuous packaged article) before and after each article being produced or in the transport direction. Etc.), it is possible to acquire data of the transport pitch from the preceding article or the preceding article group.

Incidentally, FIG. 6 illustrates a case where the product mass Ma and the product length La are larger than the case shown in FIG. 3, in which case the product mass Ma = 2600 [g] and the product length La = 240 [mm]. The lower limit product pitch Ps becomes the lower limit product pitch P0 = 520 [mm] of the product length standard with respect to the user setting of the product interval Lb = 280 [mm], and the maximum transport mass is exceeded with the maximum number of mounted two. Therefore, by switching to the lower limit product pitch P1 = 578.5 [mm] based on the product mass, the speed is increased so that the product spacing Lb = 280 [mm] is expanded to the product spacing Lb'= 338.5 [mm]. The maximum loading capacity is 1.92.

FIG. 7 illustrates a case where the product mass Ma and the product length La are larger than the case shown in FIG. 3, in which case the product mass Ma = 2500 [g], the product length La = 120 [mm], and the product spacing. Since Mtmax = 2Ma and Lt = 2P0 are established at Lb = 280 [mm], the lower limit product pitch Ps does not need to be switched with the lower limit product pitch P0 = 400 [mm] of the product length standard. ..

FIG. 8 illustrates a case where the product mass Ma and the product length La are smaller than the case shown in FIG. 3, in which case the product mass Ma = 1000 [g], the product length La = 100 [mm], and the product spacing. With respect to the setting of Lb = 50 [mm], the lower limit product pitch Ps becomes the lower limit product pitch P0 = 150 [mm] of the product length standard, and the maximum transport mass is exceeded with the maximum number of mounted 5.5 pieces. Therefore, by switching to the lower limit product pitch P1 = 160 [mm] of the product mass standard, the speed is increased so that the product spacing Lb = 50 [mm] is expanded to the product spacing Lb'= 60 [mm], and five pieces are mounted. The maximum loading capacity is set.

FIG. 9 illustrates a case where the product mass Ma and the product length La are smaller than the case shown in FIG. 3, in which case the product mass Ma = 500 [g], the product length La = 100 [mm], and the product spacing. Even if the lower limit product pitch Ps is Lb = 50 [mm] and the lower limit product pitch P0 = 150 [mm] based on the product length, the maximum number of mounted products is 5.5, which is less than the maximum transport mass. Therefore, it is not necessary to switch the lower limit product pitch Ps or increase the speed.

In the case illustrated in FIG. 10, the product mass Ma = 950 [g], the product length La = 100 [mm], the product interval Lb = 50 [mm] depending on the inspection device 10, and the lower limit product pitch Ps is the product length. Assuming that the lower limit product pitch P0 = 150 [mm] of the standard, the maximum transport mass is exceeded with the maximum number of mounted 5.5 pieces. Therefore, by switching to the lower limit product pitch P1 = 154.8 [mm] based on the product mass, the speed is increased so that the product spacing Lb = 50 [mm] is expanded to the product spacing Lb'= 54.8 [mm]. Mount 5.26 pieces to maximize the loading capacity.

As described above, according to the transport device 20 of the present embodiment, it is possible to effectively suppress the occurrence of problems such as frequent occurrence of abnormal stop due to overload during transport drive and production stop due to burning of the motor 41.

(Second Embodiment)
FIG. 11 shows a schematic configuration of an article inspection device according to a second embodiment of the present invention.

As shown in the figure, the article inspection device 10 of the present embodiment includes the configuration of the transfer device 20 of the first embodiment described above, and the X-ray inspection unit 12 (inspection) inspects the work W on the production line 1. Department) is further equipped.

The X-ray inspection unit 12 has an X-ray source such as an X-ray tube (not shown) and an X-ray line sensor 13 that detects X-rays irradiated from the X-ray source and transmitted through the work W, and is upstream. The entire work W conveyed by the side conveyor 11 can be imaged by X-rays. That is, the article inspection device 10 has an image pickup means for imaging the transport path 11 formed by the upstream conveyor 11. Further, an article detection sensor 14 for detecting the work W loaded into the inspection device 10 is provided near the upstream end of the conveyor 11.

Further, the control unit 30 is provided with an image storage unit 35 that cooperates with the image processing unit 34, a drive circuit for an X-ray source (not shown), and the like, and the motor unit 40 is provided with a conveyor that drives the upstream conveyor 11. The drive motor 43 is driven and controlled by the control unit 30 via the motor driver 42.

The relay conveyor 21 of the transfer device 20 is configured here as a series of or integrated conveyors 11 and 21 that are synchronously driven with the upstream conveyor 11.

In the present embodiment, the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the conveyors 11 and 21 is monitored, and the transfer speed of the conveyors 11 and 21 is controlled so as not to exceed the maximum transfer mass of the conveyors 11 and 21. By doing so, it becomes an article inspection device that can effectively suppress troubles such as frequent abnormal stops due to overload during conveyor transfer drive and production stoppage due to burning of the transfer drive motor.

Since the article inspection device 10 has an image pickup means for capturing an image of the transport path 11a formed by the upstream conveyor 11 together with the work W, the work W is on the transport path 11a due to a change in the image captured by the image pickup means. It can also be used as an article detecting means for detecting the work W when the predetermined position of the work W is reached.

By doing so, the existing imaging means (for example, an imaging means for X-ray inspection) can also be used for detecting an article, and even if the work W has a non-standard shape or is packed in a box, the contents are included. It is possible to detect the transfer pitch in consideration of the position of the center of gravity and the position of the center of gravity.

(Third Embodiment)
FIG. 12 shows a schematic configuration of an article inspection device according to a third embodiment of the present invention.

The distribution device 50 of the present embodiment includes the configuration of the transfer device 20 of the first embodiment described above, and the work W on the production line 1 is in a direction different from the transfer direction (right side in FIG. 12) by the conveyor 21. It is provided with a distribution mechanism 52 for distribution (downward in FIG. 12).

Further, the control unit 30 is provided with a sorting control unit 36 that generates a sorting control signal by sorting based on the image processing result of the image processing unit 34, and a sorting mechanism according to the sorting control signal from the sorting control unit 36. A control circuit or a drive circuit 54 for a fluid pressure such as an air pressure for operating the 52 is provided. By moving the pusher portion 55 forward and backward with respect to the main body portion 53, the sorting mechanism 52 enables a sorting operation in which the work W on the production line 1 is discharged downward in FIG. 12, which is different from the transport direction by the conveyor 21. It has become. Of course, it goes without saying that the distribution mechanism 52 is not limited to the pusher method.

Further, the motor unit 40 is provided with a transport drive motor 45 for driving the downstream conveyor 51 on the distribution device 50 side, and the motor 45 is driven and controlled by the control unit 30 via the motor driver 42. It has become. The relay conveyor 21 of the transfer device 20 is configured here as a series of or integrated conveyors 21 and 51 that are synchronously driven with the downstream conveyor 51.

In the present embodiment, the transfer speeds of both conveyors 21 and 51 are controlled so that the suitability of the setting contents of the transfer conditions for the maximum transfer mass of the conveyors 21 and 51 is monitored and the maximum transfer mass of the conveyors 21 and 51 is not exceeded. By doing so, the distribution device can effectively suppress troubles such as frequent abnormal stops due to overload of the motors 41 and 45 during conveyor transfer drive and production stoppage due to burning of the transfer drive motor.

Further, the transport device 20 of the first embodiment described above is arranged in front of the article inspection device and the sorting device to monitor the suitability of the setting contents of the transport conditions with respect to the maximum transport mass of the conveyor, and the maximum transport mass of the conveyor. By controlling the conveyor transfer speed so that it does not exceed the above, it is only necessary to effectively suppress problems such as frequent abnormal stops due to overload during conveyor transfer drive and production stoppage due to burning of the transfer drive motor. It is possible to keep the pitch between products above the lower limit product pitch.

As described above, according to the present invention, there is a transport device, an article inspection device, and a sorting device that can effectively suppress the frequent occurrence of abnormal stoppage of the transport device due to overload during transport drive and production stoppage due to burning of the transport drive motor. It is something that can be provided. The present invention is useful for a transport device, an article inspection device, and a sorting device in general, which have a transport capacity limitation due to the torque characteristics of the transport drive motor and the like.

1 Production line 10 Inspection equipment (article inspection equipment)
11 Conveyor (upstream conveyor, inspection department conveyor)
11a Transport path 12 X-ray inspection unit 13 X-ray line sensor 14, 22 Goods detection sensor 20 Relay transport device (transport device)
21 Conveyor (relay conveyor, conveyor of transfer device, transfer means)
21a Transport path 22 Article detection sensor 22 Article detection sensor 30 Control unit 31 Operation unit (setting input unit)
32 Storage unit 33 Control / calculation unit 34 Image processing unit 35 Image storage unit 36 Sorting control unit 40 Motor unit 41, 43, 45 Motors (conveying drive motors)
42 Motor driver 50 Sorting device 51 Conveyor (downstream side conveyor, sorting device conveyor)
52 Sorting mechanism 53 Main body 54 Drive circuit 55 Pusher La Product length (length of article in transport direction)
Lb product spacing (distance between products)
Lb'Product spacing (corrected product spacing)
Lt conveyor length (conveyor conveyor length)
Ma Product mass Mtmax Maximum transport mass P0 Lower limit product pitch (Lower limit product pitch based on product length)
P1 lower limit product pitch (lower limit product pitch based on product mass)
P2 Product pitch during production (Product transport pitch during production)
Ph Semi-product length standard_Lower limit Product pitch W work (article, product, inspected article, transported article, sorted article)
W1 work (preceding article)
W2 work (preceding article or succeeding article)
W3 work (subsequent article)

Claims (7)

Conveyor means for transporting goods by a conveyor built into the production line,
A setting input unit that specifies the transfer speed of the conveyor and the maximum transfer mass that can be transferred, and
A storage unit that stores transfer conditions including the transfer machine length of the conveyor, the transfer direction length and mass of the article, and the production capacity of the production line according to the transfer capacity of the article.
A pitch calculation unit that calculates the lower limit pitch allowed as the transfer pitch of the article on the conveyor based on the maximum transfer mass and the transfer conditions.
A conveyor speed calculation unit that calculates the lower limit conveyor speed that satisfies the maximum transfer mass from the lower limit pitch,
When the conveyor speed specified by the setting input unit is smaller than the lower limit conveyor speed, the conveyor is provided with a control unit for driving and controlling the conveyor so as to reach the lower limit conveyor speed. Conveyor device. It has an article detection unit that detects the article put into the production line.
The pitch calculation unit calculates the article transfer pitch during production based on a predetermined number of samples of the article transfer pitch obtained from the plurality of article detection signals of the article detection unit.
The conveyor according to claim 1, wherein the control unit drives and controls the conveyor so as to have a designated conveyor speed when the article transport pitch during production is equal to or higher than the lower limit pitch. The pitch calculation unit acquires samples of the predetermined number of article transfer pitches corresponding to a certain number of articles sequentially put into the production line, averages the samples of the predetermined number of article transfer pitches, and performs the above-mentioned The transport device according to claim 2, wherein the transport pitch of goods during production is calculated. The article detection unit is composed of a photoelectric sensor.
The pitch calculation unit is an article being produced based on the detection timing by the article detection unit for the preceding article among a plurality of preceding articles and the detection timing by the article detection unit for the succeeding article following the preceding article. The transport device according to any one of 1 to 3, wherein the transport pitch is calculated. The article detecting unit has an image pickup means for capturing an image of a transport path formed by the conveyor, and when the article reaches a predetermined position on the transport path from a change in an image captured by the image pickup means, the article is described. The conveyor according to any one of claims 1 to 3, wherein the transport device is characterized by detecting. The transport device according to any one of claims 1 to 5.
An article inspection device comprising an inspection unit for inspecting the article on the production line. The transport device according to any one of claims 1 to 5.
A sorting device including a sorting mechanism for sorting the articles on the production line in a direction different from the transport direction by the conveyor.

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