JP3816172B2

JP3816172B2 - Sorting monitoring device

Info

Publication number: JP3816172B2
Application number: JP01451097A
Authority: JP
Inventors: 裕司浅井
Original assignee: エスアイ精工株式会社
Priority date: 1997-01-10
Filing date: 1997-01-10
Publication date: 2006-08-30
Anticipated expiration: 2017-01-10
Also published as: JPH10194441A

Description

【０００１】
【発明の属する技術分野】
この発明は、例えば、ミカン、リンゴ、梨、柿、桃、胡瓜、茄子等の果菜物、海産物、食品、電気製品、部品等の物品、袋体又は箱体で包装された包装物等の等の搬送物を仕分けする仕分け装置に備えられるような検知装置に関する。
【０００２】
【従来の技術】
従来、上述例のような搬送物を仕分けする装置としては、例えば、仕分け用コンベアの各載置部に載置された各搬送物を撮像用カメラにより撮像し、その撮像した画像データに基づいて、各搬送物の等階級を判定装置により個々に判定する。判定と対応する各仕分け部に各搬送物が搬送されたとき、判定装置による判定に基づいて、各仕分け部に配設された各仕分け器（例えば、ソレノイド、モータ、エアシリンダ等）を独立駆動し、搬送物が載置された載置部を仕分け器により仕分け動作（例えば、回動、傾動、開閉）して、各載置部に載置された各搬送物を各仕分け部に対して等階級別に仕分け処理する仕分け装置がある。
【０００３】
【発明が解決しようとする課題】
しかし、上述した仕分け時に於いて、仕分け器の可動部分に塵埃やゴミ等の異物が付着したり、可動部分が必要以上に摩耗したりすると、円滑な可動が妨げられ、可動部分に生じる抵抗が大きくなるため、仕分け器の動作を制御する回路に過電流が流れ、仕分け器が誤作動することがある。可動部分に生じる抵抗が大きいと、過電流により回路が断線したり、焼付きが起きたりすることがあり、仕分け器の動作及び機能が損なわれてしまう。且つ、仕分け器の動作速度が遅くなり、タイミングに若干ズレが生じるため、判定と対応する仕分け部に対して搬送物が仕分けられずに通過してしまい、仕分けミスが発生する。また、仕分け器の可動部分が破損したり、仕分け器に接続されたコードが断線した場合、判定と対応する仕分け部に搬送物が搬送されても、仕分け器が作動せず、搬送物の仕分け作業が実行できなくなるという問題点を有している。
【０００４】
つまり、仕分け部に配設した仕分け器に故障が生じても、その故障した仕分け器を作業者の目で発見することができないため、判定と対応する仕分け部に搬送物が仕分けられず、異なる仕分け部に対して搬送物が間違って仕分けられることがある。各仕分け部に仕分けられる各搬送物を作業者の目で検査することにより、仕分けミスが少なくなり、仕分け作業が正確に行えるが、多数個の各搬送物を個々に検査しなければならず、検査作業に手間及び時間が掛かる。且つ、判定と異なる仕分け部に仕分けられた各搬送物を、所定の各仕分け部に作業者の手で１個ずつ仕分け処理しなければならず、作業能率が悪くなるという問題点も有している。
【０００５】
この発明は上記問題に鑑み、上記仕分け手段を駆動する駆動信号と上記動作監視手段による検知信号に基づいて、各仕分け部の何処に動作異常が起きたかを動作判定手段により正確且つ確実に検知することができ、その動作異常が起きた仕分け部を修理又は部品を交換して、正常且つ適確な仕分け作業を行うので、仕分けミスが低減され、精度の高い仕分け作業が行える仕分け監視装置の提供を目的とする。
【０００６】
【課題を解決するための手段】
請求項１記載の発明は、搬送手段の各載置部に載置された各搬送物を検査手段により検査して、その検査に基づいて各仕分け部に設けられた各仕分け手段を駆動させ、検査と対応する各仕分け部に対して各搬送物を仕分け処理する搬送物仕分け装置に備えられる仕分け監視装置であって、上記各仕分け部の動作状態を監視する動作監視手段を設けると共に、上記仕分け手段を駆動する駆動信号と上記動作監視手段による検知信号に基づいて、各仕分け部の動作状態が正常又は異常かを判定する動作判定手段を備えた仕分け監視装置であることを特徴とする。
【０００７】
請求項２記載の発明は、上記請求項１記載の構成と併せて、上記各仕分け手段の動作を制御する制御回路の信号を監視する信号監視手段を設けた仕分け監視装置であることを特徴とする。
【０００８】
請求項３記載の発明は、上記請求項１又は２記載の構成と併せて、上記各仕分け部に対応して、上記動作判定手段による判定に基づいて動作異常が起きた仕分け部を報知する報知手段を設けた仕分け監視装置であることを特徴とする。
【０００９】
【作用】
請求項１記載の仕分け監視装置は、検査手段による検査（例えば、撮像用カメラで撮像した画像データ或いはバーコード、磁気データ、文字の読取り）に基づいて搬送物を仕分け処理するとき、搬送手段に設けられた各仕分け部を動作監視手段により個々に監視し、上記仕分け手段を駆動する駆動信号と上記動作監視手段による検知信号に基づいて、各仕分け部の何処に、例えば、誤作動、断線、破損、焼付き等の動作異常が起きたかを動作判定手段により判定するので、その動作異常の起きた仕分け部を正確且つ確実に検知することができる。且つ、動作異常が検知されたとき、その仕分け部を修理又は部品を交換して、正常且つ適確な仕分け作業を行うので、検査と異なる仕分け部に対して搬送物が間違って仕分け処理されるのを防止することができる。
【００１０】
請求項２記載の仕分け監視装置は、上記請求項１記載の作用と併せて、各仕分け手段の動作を制御する制御回路の信号を信号監視手段により監視し、その信号が予め設定された条件と一致するか比較して、仕分け動作が正常又は異常かを判定する。例えば、各仕分け部の何処に電圧、電流等の変動が起きたかを判定することで、作業者により発見が難しい動作異常が起きても確実に検知することができる。信号監視手段により正常と判定されたとき、仕分け動作を継続する。異常と判定されたとき、例えば、動作異常を報知又は仕分け作業を停止する。
【００１１】
請求項３記載の仕分け監視装置は、上記請求項１又は２記載の作用と併せて、各仕分け部の何処に、動作異常が起きたかを動作判定手段により判定して、その判定と対応する仕分け部を、例えば、回転灯、ランプ、ブザー、スピーカ、表示用モニタ等の報知手段により即報知するので、各仕分け部の何処に動作異常が起きても、作業者の目や耳等により確認することができ、動作異常が起きた仕分け部が正確に把握できるため、補修や交換等のメンテナンス作業が即行える。
【００１２】
【発明の効果】
この発明によれば、仕分け手段を駆動する駆動信号と動作監視手段による検知信号に基づいて、各仕分け部の何処に動作異常が起きたかを動作判定手段により判定するので、従来例のような誤作動、断線、破損、焼付き等の動作異常が起きても、その動作異常の起きた仕分け部を正確且つ確実に検知することができる。且つ、動作異常が検知されたとき、その仕分け部を修理又は部品を交換して、正常且つ適確な仕分け作業を行うので、検査手段による検査と異なる仕分け部に対して搬送物が間違って仕分け処理されるのを防止することができる。また、各仕分け手段を制御する制御回路の信号を信号監視手段により監視して、例えば、各仕分け部の何処に電圧、電流等の変動が起きたかを判定することで、作業者により発見が難しい動作異常が起きても確実に検知することができ、仕分けミスが少なくなり、精度の高い仕分け作業が行える。
【００１３】
さらに、動作判定手段による判定に基づいて、動作異常が起きた仕分け部を、例えば、回転灯、ランプ、ブザー、スピーカ、表示用モニタ等の報知手段により即報知するので、各仕分け部の何処に動作異常が起きても、作業者の目や耳等で確認することができる。その動作異常の起きた仕分け部が正確に把握できるため、仕分け部を修理したり、故障した部品を交換したりするメンテナンス作業が即行え、仕分けミスの低減を図ることができる。
【００１４】
【実施例】
図面は搬送物の一例として、果菜物を等階級別に仕分けする搬送物仕分け装置に各仕分け部を監視するための仕分け監視装置を備えた実施例を示し、図１、図２に於いて、この搬送物仕分け装置１は、荷受けされる多数の各果菜物Ａ…を分散用コンベア２から各整列用コンベア３…に順次移載し、各整列用コンベア３…により整列された各果菜物Ａ…を各仕分け用コンベア４…に順次載置する。仕分け用コンベア４上の検査部ａに配設した等階級検査装置５は各果菜物Ａ…の等階級を判定し、その判定に基づいて、仕分け用コンベア４上の各仕分け部ｂ〜ｆに配設した各分配用コンベア６…に対して各果菜物Ａ…を等階級別に放出し、仕分け部ｇに配設した回収用コンベア７に対して規格外の果菜物Ａを放出する。且つ、等階級検査装置５に接続された仕分け監視装置８は各仕分け部ｂ〜ｇの仕分け動作を常時監視し、作業中に於いて、各仕分け部ｂ〜ｇの何処かに動作異常が起きたとき即検知し、その検知に基づいて、動作異常の起きた各仕分け部ｂ〜ｇを報知器９で作業者に報知する。
【００１５】
上述した仕分け用コンベア４は、複数本（例えば、２本）の無端帯１８，１８を、搬送路の一側下部に軸支した始端部及び終端部のスプロケット１９，１９間に張架し、スプロケット１９，１９の一側軸端を復帰板２０，２０の回転中心部に固定して、始端側下部に配設した減速機付き送り用モータ２１の駆動力により、スプロケット２２，２３及び駆動チェーン２４を介して、無端帯１８，１８及び復帰板２０，２０を送り方向に回転させ、無端帯１８，１８の搬送側縁部に枢着した各回転体２５…を、整列用コンベア３よりも速い速度で送り方向に周回移動させる。且つ、検査部ａの前部及び下部に配設した回転機５６，５６により各回転体２５…を回転させる。
【００１６】
無端帯１８，１８の上縁部間には、図３、図４、図５に示すように、各取付け部材２６…が送り方向に対して等間隔に隔てて固定され、取付け部材２６の下端部には、軸支部材２７を送り方向に対して直交する方向に枢着し、軸支部材２７の上端部に、支軸２８の基端側軸部を送り方向に対して直交する方向に固定し、支軸２８の遊端側軸部に、中央部外周面から両端部外周面に向けて大径となる形状に外周面が形成され、中空又は中実に形成した回転体２５を自由回転可能に軸受すると共に、多数個の各回転体２５…を送り方向に対して果菜物Ａが載置される前後間隔に隔てて配列し、送り方向に対して直交する方向に上下揺動可能に枢着している。また、上述した回転体２５に代えて、一端側外周面から他端側外周面に向けて同一外径となる形状に外周面が形成された回転体２５を軸受してもよい。
【００１７】
取付け部材２６の上端部には、係止レバー２９が回動可能に枢着され、相互の後端側に圧縮装填したバネ部材３０の弾性により、軸支部材２７の上端部に固定した係止軸３１に、係止レバー２９の係止爪３２が係止される方向に回動付勢し、取付け部材２６の上端部に固定した規制軸３３に軸支部材２７と係止レバー２９とを当接して、係止軸３１と係止爪３２とが係止される位置に回動規制する。相互を係止固定又は係止解除することで、果菜物Ａが載置される水平姿勢と、放出姿勢とに回転体２５が上下揺動される。軸支部材２７の下端部に形成した規制突起３４と、取付け部材２６の前端部に固定した当接部材３５とを当接して、回転体２５を斜め下向きとなる放出姿勢に揺動規制する。
【００１８】
軸支部材２７を軸支する支軸２７ａ上には、回転体２５，２５間に対して出没許容される形状及び厚さに形成した長尺形状の持上げ部材３６が上下揺動可能に枢着され、各回転体２５…間に配設した各持上げ部材３６…は、果菜物Ａが水平姿勢に支持される間隔に隔てて一体的に形成又は連結している。実施例では、長尺形状及び短尺形状に形成した３本の各持上げ部材３６…を一体的に形成又は連結している。
【００１９】
各持上げ部材３６…の下縁部は、検査部ａの前部及び下部に架設したガイド部材３９に沿って周回ガイドされ、各持上げ部材３６…をガイド部材３９に係合したとき、水平姿勢の各回転体２５…間よりも各持上げ部材３６…の上縁部が若干上方に突出され、各回転体２５…間に載置された果菜物Ａが突き上げられる高さであって、各回転体２５…の外周面から果菜物Ａの少なくとも一部又は全部を非接触状態に浮上がらせる突出位置に周回ガイドされる。
【００２０】
各持上げ部材３６…がガイド部材３９から脱落したとき、係止レバー２９を軸支する支軸２９ａに各持上げ部材３６…の基端側が当接され、水平姿勢の各回転体２５…間よりも下方であって、放出姿勢の各回転体２５…間よりも各持上げ部材３６…が若干上方に突出されると共に、その各回転体２５…よりも傾斜が小さく、各回転体２５…間に載置された果菜物Ａが突き上げられる高さであって、放出方向に向けて果菜物Ａが排出される高さ及び傾斜となる没入位置に回動規制される。
【００２１】
前述した等階級検査装置５は、図２、図６に示すように、仕分け用コンベア４上に設定した検査部ａ全体を遮光ボックス４０で囲繞して、検査部ａ内を前側検査領域と後側検査領域とに分割している。遮蔽カバー４１で囲繞された前側検査領域の上部には、果菜物Ａの上部周面と対向して等階級を検査する撮像用カメラ４５を配設し、その左側周面と対向して等級を検査する撮像用カメラ４６を配設し、遮蔽カバー４２で囲繞された上部に、果菜物Ａの上部周面と対向して腐りを検査する撮像用カメラ４７を配設している。遮蔽カバー４３で囲繞された後側検査領域の上部には、果菜物Ａの上部周面と対向して等階級を検査する撮像用カメラ４８を配設し、その右側周面と対向して等級を検査する撮像用カメラ４９を配設し、遮蔽カバー４４で囲繞された上部に、果菜物Ａの上部周面と対向して腐りを検査する撮像用カメラ５０を配設している。
【００２２】
撮像用カメラ４５〜５０は、例えば、ＣＣＤカメラ、画素子（ＣＣＤ）等の撮像手段で構成され、果菜物Ａの等階級を判定するための装置本体５１と、果菜物Ａの映像を写し出すためのモニタ５２とに接続すると共に、検査部ａに配設した物品検出センサS1、原点検出センサS2、通過検出センサS3と、仕分け部ｂ〜ｇに配設した原点検出センサS2、通過検出センサS3と、係止解除器５５とを装置本体５１に接続している。遮蔽カバー４１，４３内に移動される果菜物Ａは、例えば、ハロゲンランプ等で構成される照光器５３…により照光され、遮蔽カバー４２，４４内に移動される果菜物Ａは、例えば、紫外線ランプ等で構成される照光器５４…により照光される。
【００２３】
等階級及び腐りを検査する４個所の撮像個所には、各回転体２５…間に載置された果菜物Ａの通過を検知する物品検出センサS1と、先頭の回転体２５と対応して取付け部材２６の後縁部に固定された原点片２６ａの通過を検知する原点検出センサS2と、各回転体２５…と対応して取付け部材２６の下面側に突設された検出片２６ｂ…の通過を検知する通過検出センサS3とを夫々配設し、仕分け部ｂ〜ｇには、原点検出センサS2と、通過検出センサS3とを夫々配設している。
【００２４】
装置本体５１は、センサS1，S2，S3による検知に対応して、各回転体２５…間に載置された果菜物Ａの上下周面及び左右周面を撮像用カメラ４５〜５０で撮像し、撮像用カメラ４５〜５０で撮像した画像データと、各回転体２５…の移動数データとを対応させて記憶し、予め格納された等階級及び腐り具合のデータと画像データとを比較して、等階級（例えば、色、糖度、傷、腐り、外径、形状、高さ、幅、体積、偏平度、成熟度、等階級に該当しない規格外）を判定する。且つ、センサS2，S3による検知に基づいて、仕分け部ｂ〜ｇに移動される各回転体２５…の通過数をカウンタで計数し、判定と対応する各仕分け部ｂ〜ｇに各回転体２５…が移動したとき、仕分け器５５を作動して、果菜物Ａが載置された各回転体２５…を放出姿勢に上下揺動する。
【００２５】
前述した回転機５６は、接触抵抗の大きい弾性部材で形成した回転付与ベルト５７を、各回転体２５…の遊端側下部周面に対して圧接される高さ位置に張架し、回転付与ベルト５７を、減速機付きモータ（図示省略）の駆動力により各回転体２５…の周回方向と一致する方向に高速回転（送り速度以上）させ、或いは、周回方向と対向する方向に低速回転又は回転停止させて、回転付与ベルト５７に圧接される各回転体２５…を前方又は後方に回転させながら周回移動することで、各回転体２５…の小径側及び大径側に生じる周速差により大小の果菜物Ａを同一領域で前後方向に表裏反転（例えば、１８０度）する。各回転体２５…の遊端側を若干持上げて一方に傾斜させた状態のまま回転させ、斜め又は起立する果菜物Ａを水平姿勢に傾倒する。他の方法として、回転付与ベルト５７と同一部材で形成した回転付与パッド（図示省略）に、各回転体２５…を圧接しながら周回移動させることで、上述と同様に、各回転体２５…間に載置された果菜物Ａが前後方向に回転される。
【００２６】
前述した仕分け器５５は、例えば、ソレノイド、モータ、エアシリンダ等で構成され、仕分け部ｂ〜ｇの一側下部に、取付け部材２６に取付けられた係止レバー２９の後端部と対向して夫々配設している。各仕分け器５５…は、等階級検査装置５による判定に基づいて独立作動され、係止レバー２９の後端部を解除部材５５ａにより連続押下して、軸支部材２７の係止軸３１と係止レバー２９の係止爪３２とを係止解除し、果菜物Ａが載置された各回転体２５…を放出姿勢に揺動する。一方、各回転体２５…及び各持上げ部材３６…は、復帰板２０，２０の外周縁部に係合しながら始端側に周回移動され、係止軸３１と係止爪３２とが互いに係止して、水平姿勢に回動復帰させる。各持上げ部材３６…は、ガイド部材３９の上縁部に沿って送り方向に周回移動させる。また、各回転体２５…を自重又はバネ等の復帰手段により回動復帰させてもよい。
【００２７】
図７は、仕分け監視装置８の制御回路ブロック図を示し、各仕分け部ｂ〜ｇ毎に設けられた回路は同一であるので、一つの回路を図面に基づいて説明する。等階級検査装置５を構成する装置本体５１には、各仕分け部ｂ〜ｇの異常を報知する各報知器９…と、各仕分け部ｂ〜ｇの動作を制御する動作用シーケンサ５８と、各仕分け部ｂ〜ｇの動作を監視する監視用シーケンサ５９とが接続され、各報知器９…及び各シーケンサ５８，５９は、装置本体５１から出力される信号に基づいて、予め記憶回路に格納されたプログラムに沿って動作制御される。
【００２８】
動作用シーケンサ５８には、ＩＣスイッチ回路６０を介して仕分け器５５が接続され、図８に示すように、装置本体５１からプログラム出力ビットが出力されたとき、動作用シーケンサ５８の検出タイミング信号（イ）に同期して仕分け器５５に駆動信号（ロ）を出力する。ＩＣスイッチ回路６０は、動作用シーケンサ５８から駆動信号（ロ）が入力されたとき、ＯＮ動作される。この時、仕分け器５５が作動（所定時間）される。一方、動作用シーケンサ５８から駆動信号（ロ）が入力されないとき、ＯＦＦ動作される。仕分け器５５は作動されない。
【００２９】
仕分け器５５とＩＣスイッチ回路６０との回路間には、ＩＣスイッチ回路６１を介して監視用シーケンサ５９が接続され、ＩＣスイッチ回路６１は、仕分け器５５から出力される電圧（例えば、約２４Ｖ）がハイレベルかローレベルかを判定する。つまり、検出タイミング信号（イ）の入力時に、動作用シーケンサ５８から駆動信号（ロ）が出力され、ＩＣスイッチ回路６０がＯＮ動作されたとき、仕分け器５５が作動される。仕分け器５５が正常に作動した場合、仕分け器５５から出力信号（ハ）が入力されるため、ＩＣスイッチ回路６１がＯＦＦ動作される。この時、ＩＣスイッチ回路６１の動作検知信号（ニ）が監視用シーケンサ５９に入力されるが、監視用シーケンサ５９は異常検知信号（ホ）を出力しない。装置本体５１は、各信号（イ、ロ、ハ、ニ）が予め設定された条件と一致するか比較し、仕分け動作が正常又は異常かを判定する。正常と判定されたときには、仕分け動作を継続する。異常と判定されたときは、動作異常が起きたことを報知器９で報知し、仕分け作業を一時停止する。
【００３０】
動作用シーケンサ５８から駆動信号（ロ）が出力されず、ＩＣスイッチ回路６０がＯＦＦのとき、仕分け器５５が作動されず、出力信号（ハ）が入力されないため、ＩＣスイッチ回路６１はＯＮ動作される。この時、ＩＣスイッチ回路６１から動作検知信号（ニ）が入力されないため、監視用シーケンサ５９は異常検知信号（ホ）を出力する。装置本体５１は、各信号（イ、ロ、ハ、ニ）が予め設定された条件と一致しないため、仕分け動作が異常と判定し、動作異常が起きたことを報知器９で報知する。
【００３１】
動作用シーケンサ５８から駆動信号（ロ）が出力され、ＩＣスイッチ回路６０がＯＮのとき、仕分け器５５が作動しない場合、出力信号（ハ）が入力されないため、ＩＣスイッチ回路６１はＯＮ動作される。この時、ＩＣスイッチ回路６１から動作検知信号（ニ）が入力されないため、上述と同様に、監視用シーケンサ５９は異常検知信号（ホ）を出力する。装置本体５１は、動作異常が起きたことを報知器９で報知する。
【００３２】
また、検出タイミング信号（イ）が入力されず、動作用シーケンサ５８から駆動信号（ロ）が出力されず、ＩＣスイッチ回路６０がＯＦＦのとき、仕分け器５５が誤作動した場合、出力信号（ハ）が入力され、ＩＣスイッチ回路６１はＯＮ動作される。この時、ＩＣスイッチ回路６１の動作検知信号（ニ）が監視用シーケンサ５９に入力されるが、各信号（イ、ロ、ハ、ニ）が予め設定された条件と一致しないため、装置本体５１は、仕分け動作に異常が発生したと判定し、動作異常が起きたことを報知器９で報知する。
【００３３】
仕分け器５５が作動しない場合、出力信号（ハ）が入力されず、ＩＣスイッチ回路６１がＯＮ動作される。この時、ＩＣスイッチ回路６１の動作検知信号（ニ）が監視用シーケンサ５９に入力されるが、上述と同様に、仕分け動作が異常と判定され、動作異常が起きたことを報知器９で報知する。また、電流の変動を監視するもよく、例えば、仕分け器５５の両端に付加される電圧の変化を検知することにより監視可能することができ、上述と同様に、各仕分け部ｂ〜ｇの何処に動作異常が起きたかを検知することができる。なお、各信号（イ、ロ、ハ、ニ、ホ）の電圧レベル又は電流レベルは、使用する部品によって逆転するので、そのレベルに応じて条件を設定することにより、上述と同様に動作異常を検知することができる。
【００３４】
図示実施例は上記の如く構成するものにして、以下、搬送物仕分け装置１により多数の各果菜物Ａ…を仕分け処理するときの動作を説明する。
先ず、図１、図２に示すように、荷受けされる各果菜物Ａ…を分散用コンベア２により分散して各整列用コンベア３…に夫々振分け、各整列用コンベア３…により整列される各果菜物Ａ…を各仕分け用コンベア４…の各回転体２５…間に対して１個ずつ移載する。
【００３５】
次に、仕分け用コンベア４の各回転体２５…を回転機５６により回転させ、各回転体２５…間に載置された果菜物Ａを前後回転すると共に、斜め又は起立する果菜物Ａを横転させて定姿勢に揃えて搬送する。続いて、図４に示すように、各回転体２５…間よりも若干上方に各持上げ部材３６…を突出して、果菜物Ａの一部又は全部を浮上がらせ、各回転体２５…間に挾まっていたり、斜め又は起立した状態のまま搬送される大小の果菜物Ａを水平姿勢に向き修正する。
【００３６】
検査部ａの前側検査領域に於いて、図３、図７に示すように、センサS1，S2，S3による検知に対応して、各持上げ部材３６…により水平姿勢に保持された果菜物Ａの表側周面と左側周面とを撮像用カメラ４５，４６で撮像し、表側周面の腐り具合を撮像用カメラ４７で撮像して、撮像用カメラ４５，４６，４７で撮像した画像データと、各回転体２５…の移動数データとを対応させて装置本体５１に記憶する。
【００３７】
次に、各持上げ部材３６…を一旦没入させ、果菜物Ａを各回転体２５…間に再び載置して搬送する。前側検査領域の直後に於いて、上述と同様に、各回転体２５…を回転機５６により回転させ、各回転体２５…間に載置された大小の果菜物Ａを表裏反転する。反転後、各持上げ部材３６…を突出して、各回転体２５…間に載置された果菜物Ａの一旦持上げて、果菜物Ａを水平姿勢に向き修正する。
【００３８】
次に、後側検査領域に於いて、センサS1，S2，S3による検知に対応して、各持上げ部材３６…により水平姿勢に保持された果菜物Ａの裏側周面と右側周面とを撮像用カメラ４８，４９で撮像し、裏側周面の腐り具合を撮像用カメラ５０で撮像して、撮像用カメラ４８，４９，５０で撮像した画像データと、各回転体２５…の移動数データとを対応させて装置本体５１に記憶する。
【００３９】
次に、各持上げ部材３６…を没入させ、果菜物Ａを各回転体２５…間に再び載置して搬送する。同時に、装置本体５１は、撮像用カメラ４５〜５０で撮像した画像データと、予め格納された等階級及び腐り具合のデータとを比較して、等階級を総合判定する。図５に示すように、センサS2，S3による検知に基づいて、各仕分け部ｂ〜ｇに移動される各回転体２５…の移動数を計数し、各仕分け部ｂ〜ｇに移動された回転体２５の移動数データと、装置本体５１に記憶された移動数データとが一致するか判定し、且つ、等階級と対応する位置に移動されたかを判定して、判定と対応する位置に果菜物Ａが移動されたとき、各仕分け部ｂ〜ｇの動作を制御する仕分け監視装置８の動作用シーケンサ５８に対して装置本体５１のプログラム出力ビットが出力される。
【００４０】
次に、仕分け監視装置８は、図７、図８に示すように、動作用シーケンサ５８が検出タイミング信号（イ）に同期して駆動信号（ロ）を出力したとき、ＩＣスイッチ回路６０がＯＮ動作されると共に、判定と対応する位置に配設した仕分け器５５が各回転体２５…の周回速度に同期して作動され、果菜物Ａが載置された各回転体２５…のみを放出姿勢に揺動して放出する。仕分け器５５が正常に作動した場合、ＩＣスイッチ回路６１がＯＦＦされ、ＩＣスイッチ回路６１の動作検知信号（ニ）が監視用シーケンサ５９に入力されるが、監視用シーケンサ５９は異常検知信号（ホ）を出力しないので、装置本体５１は、各信号（イ、ロ、ハ、ニ）が予め設定された条件と一致するか比較し、正常又は異常かを判定する。正常と判定されたとき、仕分け動作が継続して行われる。
【００４１】
若し、動作用シーケンサ５８から駆動信号（ロ）が出力されず、ＩＣスイッチ回路６０がＯＦＦのとき、仕分け器５５が作動されず、ＩＣスイッチ回路６１がＯＮされる。この時、動作検知信号（ニ）が入力されず、監視用シーケンサ５９は異常検知信号（ホ）を出力するので、装置本体５１は、各信号（イ、ロ、ハ、ニ）が予め設定された条件と一致しないため、仕分け動作が異常と判定し、動作異常が起きたことを報知器９で報知する。
【００４２】
また、動作用シーケンサ５８から駆動信号（ロ）が出力され、ＩＣスイッチ回路６０がＯＮされても、仕分け器５５が作動しない場合、ＩＣスイッチ回路６１がＯＦＦされる。この時、動作検知信号（ニ）が入力されず、上述と同様に、監視用シーケンサ５９は異常検知信号（ホ）を出力するので、装置本体５１は、動作異常が起きたことを報知器９で報知する。
【００４３】
また、検出タイミング信号（イ）が入力されず、動作用シーケンサ５８から駆動信号（ロ）が出力されず、ＩＣスイッチ回路６０がＯＦＦのとき、例えば、ショート等の原因により仕分け器５５が誤作動した場合、出力信号（ハ）が入力され、ＩＣスイッチ回路６１はＯＮされる。或いは、断線等の原因により仕分け器５５が作動しない場合、出力信号（ハ）が入力されず、ＩＣスイッチ回路６１がＯＮされるが、上述した状況が生じたとき、ＩＣスイッチ回路６１の動作検知信号（ニ）が監視用シーケンサ５９に入力され、監視用シーケンサ５９は異常検知信号（ホ）を出力するので、上述と同様に、装置本体５１は、動作異常が起きたことを報知器９で報知する。
【００４４】
上述と同様にして、各仕分け用コンベア４…に設けられた各仕分け部ｂ〜ｇを個々に監視することにより、各仕分け部ｂ〜ｇの何処に動作異常が起きたかを正確且つ確実に検知することができる。同時に、各仕分け部ｂ〜ｇの何処かに動作異常が起きたとき、その位置を各報知器９…により即報知するので、作業者の目や耳等で確認することができ、その個所が正確に把握できるため、修理や交換等の作業が即実行できる。以下同様に、装置本体５１による判定に基づいて、各仕分け部ｂ〜ｇに移動される各果菜物Ａ…を等階級別に放出し、各仕分け部ｂ〜ｆに配設した各分配用コンベア６…は、等階級別に仕分けられた各果菜物Ａ…を次工程（例えば、箱詰め工程）に搬送し、仕分け部ｇに配設した回収用コンベア７は規格外の各果菜物Ａ…を回収部（図示省略）に搬送する。
【００４５】
以上のように、仕分け用コンベア４に設けられた各仕分け部ｂ〜ｇを個々に監視し、各仕分け部ｂ〜ｇの何処に動作異常が起きたかを仕分け監視装置８により判定するので、従来例のような誤作動、断線、破損、焼付き等の動作異常が起きても、その動作異常の起きた各仕分け部ｂ〜ｇを正確且つ確実に検知することができる。且つ、動作異常が検知されたとき、その各仕分け部ｂ〜ｇを修理又は部品を交換して、正常且つ適確な仕分け作業を行うので、等階級検査装置５による判定と異なる各仕分け部ｂ〜ｇに対して果菜物Ａが間違って仕分け処理されるのを防止することができる。また、各仕分け部ｂ〜ｇの制御回路に付加される電圧、電流等の変動を監視することにより、作業者により発見が難しい動作異常が起きても確実に検知することができ、仕分けミスが少なくなり、精度の高い仕分け作業が行える。
【００４６】
さらに、装置本体５１による判定に基づいて、動作異常が起きた各仕分け部ｂ〜ｇを、例えば、回転灯、ランプ、ブザー、スピーカ、表示用モニタ等で構成される各報知器９…により作業者に報知するので、各仕分け部ｂ〜ｇの何処に動作異常が起きても、作業者の目や耳等で確認することができる。且つ、動作異常の起きた各仕分け部ｂ〜ｇが正確に把握できるため、各仕分け器５５…を修理したり、故障した部品を交換したりするメンテナンス作業が即行え、仕分けミスの低減を図ることができる。
【００４７】
この発明の構成と、上述の実施例との対応において、
この発明の搬送物は、実施例の果菜物Ａに対応し、
以下同様に、
搬送手段は、仕分け用コンベア４に対応し、
載置部は、実施例の回転体２５に対応し、
検査手段は、等階級検査装置５に対応し、
報知手段は、報知器９に対応するも、
動作判定手段は、装置本体５１に対応し、
仕分け手段は、仕分け器５５に対応し、
動作監視手段、信号監視手段、制御回路は、動作用シーケンサ５８、監視用シーケンサ５９、ＩＣスイッチ回路６０，６１に対応するも、
この発明は、上述の実施例の構成のみに限定されるものではない。
【００４８】
なお、上述した実施例では、果菜物Ａの表裏周面及び左右周面を各撮像用カメラ４５〜５０で撮像するが、例えば、検査部ａに搬送される果菜物Ａの前後周面を、斜め上方に配設した撮像用カメラ（図示省略）で前方及び又は後方から撮像するもよく、果菜物Ａの周面全体を確実に撮像することができ、等階級が正確且つ適確に判定できる。
【００４９】
また、実施例では、回転体２５により載置部を構成しているが、例えば、カップ、バケット、受け板等の載置部で構成するもよく、実施例と同様に仕分けすることができる。
【図面の簡単な説明】
【図１】搬送物仕分け装置の全体構成を示す平面図。
【図２】仕分け用コンベアによる果菜物の搬送状態を示す側面図。
【図３】回転体による果菜物の載置状態を示す背面図。
【図４】持上げ部材による果菜物の持上げ状態を示す背面図。
【図５】回転体及び持上げ部材の揺動状態を示す背面図。
【図６】撮像用カメラによる果菜物の撮像状態を示す斜視図。
【図７】仕分け監視装置の回路構成を示す制御回路ブロック図。
【図８】仕分け監視装置の動作時間を示すタイムチャート図。
【符号の説明】
Ａ…果菜物
ａ…検査部
ｂ〜ｇ…仕分け部
１…搬送物仕分け装置
４…仕分け用コンベア
５…等階級検査装置
６…分配用コンベア
７…回収用コンベア
８…仕分け監視装置
９…報知器
２５…回転体
５１…装置本体
５５…仕分け器
５８…動作用シーケンサ
５９…監視用シーケンサ
６０，６１…ＩＣスイッチ回路[0001]
BACKGROUND OF THE INVENTION
This invention is, for example, fruit vegetables such as mandarin oranges, apples, pears, persimmons, peaches, peppers, eggplants, marine products, foods, electrical products, parts, etc., packages packaged in bags or boxes, etc. The present invention relates to a detection device that is provided in a sorting device that sorts the conveyed items.
[0002]
[Prior art]
Conventionally, as an apparatus for sorting the transported objects as in the above-described example, for example, each transported object placed on each placing portion of the sorting conveyor is imaged by an imaging camera, and based on the captured image data The equal class of each conveyed product is individually determined by a determination device. When each conveyed product is conveyed to each sorting unit corresponding to the determination, each sorter (for example, solenoid, motor, air cylinder, etc.) disposed in each sorting unit is independently driven based on the determination by the determination device. Then, a sorting operation (for example, rotation, tilting, opening and closing) is performed on the placement unit on which the conveyed product is placed by the sorter, and each conveyed product placed on each placement unit is sent to each sorting unit. There is a sorting device that sorts by class.
[0003]
[Problems to be solved by the invention]
However, during the sorting process described above, if foreign matter such as dust or debris adheres to the movable part of the sorter or if the movable part is worn more than necessary, smooth movement is hindered, and resistance generated in the movable part is reduced. Therefore, an overcurrent flows in a circuit that controls the operation of the sorter, and the sorter may malfunction. If the resistance generated in the movable part is large, the circuit may be disconnected or seizure may occur due to overcurrent, and the operation and function of the sorter will be impaired. In addition, since the operation speed of the sorter is slowed and timing is slightly shifted, the conveyed product passes through the sorting unit corresponding to the determination without being sorted, and a sorting error occurs. Also, if the movable part of the sorter is damaged or the cord connected to the sorter is disconnected, the sorter will not operate even if the transported item is transported to the sorting unit corresponding to the judgment, and the sorting of the transported item There is a problem that the work cannot be executed.
[0004]
In other words, even if a failure occurs in the sorter arranged in the sorting unit, the broken sorter cannot be found by the operator's eyes, so the transported items are not sorted into the sorting unit corresponding to the determination, which is different. In some cases, the transported objects are sorted incorrectly to the sorting unit. By inspecting each transported item sorted by each sorting section with the eyes of the operator, sorting errors can be reduced and sorting work can be performed accurately, but each of the many transported items must be individually inspected, Inspection work takes time and effort. In addition, each transported item sorted into a sorting unit different from the judgment must be sorted by the operator's hand one by one into each predetermined sorting unit, which has a problem that work efficiency is deteriorated. Yes.
[0005]
In view of the above problems, the present invention A drive signal for driving the sorting means; Detection by the operation monitoring means signal Based on the above, it is possible to accurately and reliably detect where the abnormal operation has occurred in each sorting unit by the operation determining means, and repair or replace the parts in which the abnormal operation has occurred. An object of the present invention is to provide a sorting monitoring apparatus capable of performing sorting work with high accuracy by reducing sorting mistakes because accurate sorting work is performed.
[0006]
[Means for Solving the Problems]
The invention described in claim 1 Each transported object placed on each placement part of the transport means is inspected by the inspection means, and each sorting means provided in each sorting part is driven based on the inspection, and each sorting part corresponding to the inspection is driven. In contrast, a sorting monitoring device provided in a transported material sorting device that sorts each transported material, While providing an operation monitoring means for monitoring the operation state of each of the sorting units, A drive signal for driving the sorting means; Detection by the operation monitoring means signal Based on the above, it is a sorting monitoring device provided with an operation judging means for judging whether the operating state of each sorting unit is normal or abnormal.
[0007]
The invention described in claim 2 is a sorting monitoring apparatus provided with signal monitoring means for monitoring a signal of a control circuit for controlling the operation of each sorting means, in addition to the configuration described in claim 1 above. To do.
[0008]
The invention according to claim 3 is a notification for notifying the sorting unit in which the operation abnormality has occurred based on the determination by the operation determining unit corresponding to each sorting unit in combination with the configuration according to claim 1 or 2. It is a sorting monitoring apparatus provided with means.
[0009]
[Action]
The sorting monitoring device according to claim 1, when sorting a transported object based on an inspection by an inspection unit (for example, reading of image data captured by an imaging camera, barcode, magnetic data, or characters), Each sorting section provided is individually monitored by the operation monitoring means, A drive signal for driving the sorting means; Detection by the operation monitoring means signal Based on the above, it is determined by the operation determination means where, for example, an operation abnormality such as malfunction, disconnection, breakage, seizure, etc. has occurred. Can be detected. In addition, when an abnormal operation is detected, the sorting section is repaired or the parts are replaced, and normal and accurate sorting work is performed. Can be prevented.
[0010]
The sorting monitoring apparatus according to claim 2 monitors the signal of the control circuit that controls the operation of each sorting means by the signal monitoring means in combination with the operation according to claim 1 above, and the signal has a preset condition. It is determined whether the sorting operation is normal or abnormal by comparing whether they match. For example, by determining where in each sorting unit a change in voltage, current, etc. has occurred, it is possible to reliably detect an abnormal operation that is difficult for an operator to detect. When it is determined that the signal monitoring means is normal, the sorting operation is continued. When it is determined that there is an abnormality, for example, the operation abnormality is notified or the sorting operation is stopped.
[0011]
The sorting monitoring device according to claim 3 is a sorting unit corresponding to the determination by determining, by the operation determining means, where the operation abnormality has occurred in each sorting unit in combination with the operation according to claim 1 or 2. The parts are immediately notified by notification means such as rotating lamps, lamps, buzzers, speakers, display monitors, etc., so that any abnormality in each sorting part can be confirmed by the operator's eyes or ears. In addition, since the sorting section where the operation abnormality has occurred can be accurately grasped, maintenance work such as repair and replacement can be performed immediately.
[0012]
【The invention's effect】
According to this invention, A drive signal for driving the sorting means; Detection by motion monitoring means signal Based on the above, the operation determination means determines where the abnormal operation has occurred in each sorting unit, so even if an abnormal operation such as malfunction, disconnection, breakage, seizure, etc. occurs as in the conventional example, the abnormal operation Thus, it is possible to accurately and reliably detect the sorting section where the error occurred. In addition, when an abnormal operation is detected, the sorting unit is repaired or replaced, and normal and accurate sorting work is performed. It can be prevented from being processed. Further, the signal of the control circuit that controls each sorting means is monitored by the signal monitoring means, and for example, it is difficult for the operator to find out by determining where in each sorting section a change in voltage, current, etc. has occurred. Even if an abnormal operation occurs, it can be detected reliably, sorting errors are reduced, and sorting work with high accuracy can be performed.
[0013]
Further, based on the determination by the operation determining means, the sorting section in which the operation abnormality has occurred is immediately notified by a reporting means such as a rotating lamp, lamp, buzzer, speaker, display monitor, etc. Even if an abnormal operation occurs, it can be confirmed by the operator's eyes and ears. Since the sorting unit in which the operation abnormality has occurred can be accurately grasped, maintenance work for repairing the sorting unit or replacing a failed part can be performed immediately, and sorting errors can be reduced.
[0014]
【Example】
The drawings show an embodiment in which a sorting monitoring device for monitoring each sorting unit is provided in a sorting device for sorting fruits and vegetables as an example, and for monitoring each sorting unit, as shown in FIG. 1 and FIG. The conveyed product sorting apparatus 1 sequentially transfers a large number of fruit vegetables A to be received from the dispersing conveyor 2 to the aligning conveyors 3, and the fruit vegetables A aligned by the aligning conveyors 3. Are sequentially placed on each of the sorting conveyors 4. The equal class inspection device 5 disposed in the inspection unit a on the sorting conveyor 4 determines the equal class of each fruit and vegetable A, and on the basis of the determination, each classifying unit b to f on the sorting conveyor 4 is determined. Each vegetable vegetable A ... is discharged to each distribution conveyor 6 ... arranged in equal classes, and non-standard fruit vegetables A are discharged to the collection conveyor 7 arranged in the sorting section g. In addition, the sorting monitoring device 8 connected to the equal class inspection device 5 constantly monitors the sorting operation of each sorting unit b to g, and an operation abnormality occurs in some part of each sorting unit b to g during work. Immediately, and based on the detection, each of the sorting units b to g in which the operation abnormality has occurred is notified to the operator by the notification device 9.
[0015]
The above-described sorting conveyor 4 has a plurality of (for example, two) endless belts 18 and 18 stretched between sprockets 19 and 19 at the start and end portions that are pivotally supported on one lower side of the conveyance path, One side shaft end of the sprockets 19 and 19 is fixed to the center of rotation of the return plates 20 and 20, and the sprockets 22 and 23 and the driving chain are driven by the driving force of the feed motor 21 with a speed reducer disposed at the lower part of the starting end side. 24, the endless belts 18 and 18 and the return plates 20 and 20 are rotated in the feeding direction so that the rotating bodies 25 pivotally attached to the conveyance side edges of the endless belts 18 and 18 are arranged more than the alignment conveyor 3. Move around in the feed direction at high speed. And each rotary body 25 ... is rotated by the rotary machines 56 and 56 arrange | positioned at the front part and the lower part of the test | inspection part a.
[0016]
As shown in FIGS. 3, 4, and 5, the attachment members 26 are fixed between the upper edge portions of the endless bands 18, 18 at equal intervals in the feeding direction. The shaft support member 27 is pivotally attached to the portion in a direction orthogonal to the feed direction, and the base end side shaft portion of the support shaft 28 is orthogonal to the feed direction at the upper end portion of the pivot support member 27. The outer peripheral surface is formed in a shape having a large diameter from the outer peripheral surface of the central portion toward the outer peripheral surface of both ends at the free end side shaft portion of the support shaft 28, and the rotating body 25 formed hollow or solid is freely rotated. In addition to bearings as possible, a large number of rotating bodies 25 are arranged at intervals in the front-rear direction where the fruits and vegetables A are placed with respect to the feed direction, and can be swung up and down in a direction perpendicular to the feed direction. It is pivotally attached. Further, instead of the rotating body 25 described above, a rotating body 25 having an outer peripheral surface formed in a shape having the same outer diameter from the one outer peripheral surface to the other end outer peripheral surface may be supported.
[0017]
A locking lever 29 is pivotally attached to the upper end portion of the mounting member 26, and is locked to the upper end portion of the shaft support member 27 by the elasticity of the spring member 30 compression-loaded on the rear end side of each other. The shaft 31 is pivotally biased in the direction in which the locking claw 32 of the locking lever 29 is locked, and the shaft support member 27 and the locking lever 29 are attached to the restriction shaft 33 fixed to the upper end portion of the mounting member 26. The rotation is restricted to a position where the locking shaft 31 and the locking claw 32 are locked. By locking and unlocking each other, the rotator 25 is swung up and down between the horizontal posture where the vegetables A are placed and the discharge posture. A regulating protrusion 34 formed on the lower end portion of the shaft support member 27 and an abutting member 35 fixed to the front end portion of the mounting member 26 are brought into contact with each other, and the rotator 25 is controlled to swing in a discharge posture that is inclined downward.
[0018]
On the support shaft 27a that supports the shaft support member 27, an elongate lifting member 36 formed in a shape and thickness allowed to protrude and retract between the rotary bodies 25 and 25 is pivotally mounted so as to be swingable up and down. The lifting members 36 arranged between the rotating bodies 25 are integrally formed or connected at intervals at which the vegetable products A are supported in a horizontal posture. In the embodiment, the three lifting members 36 formed in a long shape and a short shape are integrally formed or connected.
[0019]
The lower edge portions of the lifting members 36 are guided around the guide members 39 installed on the front and lower portions of the inspection portion a. When the lifting members 36 are engaged with the guide members 39, the lower edge portions are in a horizontal posture. The upper edge portion of each lifting member 36... Projects slightly upward from between the respective rotary bodies 25..., And the height of the fruit and vegetables A placed between the respective rotary bodies 25. Circumferentially guided from the outer peripheral surface of 25... To the projecting position where at least a part or the whole of the vegetable products A floats in a non-contact state.
[0020]
When the lifting members 36 are detached from the guide members 39, the base end sides of the lifting members 36 are brought into contact with the support shafts 29a that pivotally support the locking lever 29, so that the lifting members 36 are in a horizontal posture rather than between the rotary members 25 in a horizontal posture. Each lifting member 36 is projected slightly upward from between the rotating bodies 25 in the discharge posture, and the inclination is smaller than the rotating bodies 25. It is the height at which the placed vegetable product A is pushed up, and the rotation is restricted to the immersion position where the vegetable product A is discharged to the height and inclined in the discharge direction.
[0021]
As shown in FIGS. 2 and 6, the equal class inspection apparatus 5 described above is a conveyor for sorting. 4 The entire inspection portion a set above is surrounded by a light shielding box 40, and the inspection portion a is divided into a front inspection region and a rear inspection region. In the upper part of the front inspection area surrounded by the shielding cover 41, an imaging camera 45 for inspecting the equal class is arranged facing the upper peripheral surface of the fruit vegetable A, and the grade is determined facing the left peripheral surface. An imaging camera 46 to be inspected is disposed, and an imaging camera 47 to inspect for rotting is disposed on the upper part surrounded by the shielding cover 42 so as to face the upper peripheral surface of the fruit vegetable A. In the upper part of the rear inspection area surrounded by the shielding cover 43, an imaging camera 48 for inspecting the equal class is arranged opposite to the upper peripheral surface of the fruit vegetable A, and the grade is opposed to the right peripheral surface thereof. An imaging camera 49 for inspecting for rot is disposed on the upper part surrounded by the shielding cover 44 so as to face the upper peripheral surface of the fruit vegetable A.
[0022]
The imaging cameras 45 to 50 are configured by imaging means such as a CCD camera and an image element (CCD), for example, and the apparatus main body 51 for determining the equal class of the fruit vegetable A and the image of the fruit vegetable A are displayed. And an article detection sensor S1, an origin detection sensor S2, and a passage detection sensor S3 disposed in the inspection section a, and an origin detection sensor S2 and a passage detection sensor S3 disposed in the sorting sections b to g. And the latch release device 55 is connected to the apparatus main body 51. The fruits and vegetables A moved into the shielding covers 41 and 43 are illuminated by, for example, an illuminator 53 formed of a halogen lamp, and the fruits and vegetables A moved into the shielding covers 42 and 44 are, for example, ultraviolet rays. Illuminated by illuminators 54... Composed of lamps or the like.
[0023]
At the four imaging locations for inspecting the equal class and the rotting, the article detection sensor S1 for detecting the passage of the fruit vegetables A placed between the rotary bodies 25. The origin detection sensor S2 that detects the passage of the origin piece 26a fixed to the rear edge of the member 26, and the passage of the detection pieces 26b that protrude from the lower surface side of the mounting member 26 corresponding to the rotating bodies 25. A passage detection sensor S3 for detecting the passage is provided, and an origin detection sensor S2 and a passage detection sensor S3 are provided in the sorting sections b to g, respectively.
[0024]
In response to the detection by the sensors S1, S2, and S3, the apparatus main body 51 images the upper and lower peripheral surfaces and the left and right peripheral surfaces of the fruit vegetables A placed between the rotating bodies 25. The image data captured by the imaging cameras 45 to 50 and the movement number data of each rotating body 25 are stored in association with each other, and the pre-stored isoclass and rotting condition data are compared with the image data. , Class (for example, color, sugar content, scratches, rot, outer diameter, shape, height, width, volume, flatness, maturity, non-standard that does not correspond to the equal class) is determined. Further, based on the detection by the sensors S2, S3, the number of passages of the rotating bodies 25... Moved to the sorting units b to g is counted by a counter, and the rotating units 25 are assigned to the sorting units b to g corresponding to the determination. When the... Moves, the sorter 55 is operated to swing the rotary bodies 25 on which the fruits and vegetables A are placed in a discharge posture.
[0025]
In the rotating machine 56 described above, a rotation imparting belt 57 formed of an elastic member having a large contact resistance is stretched at a height position where it is pressed against the lower peripheral surface of the free end side of each rotating body 25. The belt 57 is rotated at a high speed (more than the feed speed) in a direction coinciding with the rotating direction of each rotating body 25... By a driving force of a motor with a reduction gear (not shown), or rotated at a low speed in a direction opposite to the rotating direction. Due to the circumferential speed difference generated on the small-diameter side and the large-diameter side of each rotating body 25 by rotating and rotating around each rotating body 25 that is pressed against the rotation applying belt 57 forward or backward, the rotation is stopped. The large and small fruit vegetables A are reversed in the front-rear direction (for example, 180 degrees) in the same region. The free end side of each rotating body 25 is slightly lifted and rotated while being tilted to one side, and the vegetable product A that is tilted or stands up is tilted to a horizontal posture. As another method, each rotary body 25 is moved in a rotating manner while being pressed against a rotation imparting pad (not shown) formed of the same member as the rotation imparting belt 57, so that the rotary bodies 25 are spaced from each other in the same manner as described above. The fruits and vegetables A placed on is rotated in the front-rear direction.
[0026]
The above-described sorter 55 includes, for example, a solenoid, a motor, an air cylinder, and the like, and is opposed to the rear end portion of the locking lever 29 attached to the attachment member 26 at one side lower part of the sort parts b to g. Each is arranged. Each of the classifiers 55 is independently operated based on the determination by the equal class inspection device 5, and the rear end portion of the locking lever 29 is continuously pressed by the release member 55 a to engage with the locking shaft 31 of the shaft support member 27. The locking claw 32 of the locking lever 29 is unlocked, and the rotary bodies 25 on which the fruits and vegetables A are placed are swung to the discharge posture. On the other hand, the rotating bodies 25 and the lifting members 36 are moved to the starting end side while engaging with the outer peripheral edge portions of the return plates 20 and 20, and the locking shaft 31 and the locking claws 32 are locked to each other. Then, the rotation is returned to the horizontal posture. Each lifting member 36... Moves in the feed direction along the upper edge of the guide member 39. Further, each of the rotating bodies 25 may be rotated and returned by returning means such as its own weight or a spring.
[0027]
FIG. 7 shows a control circuit block diagram of the sorting monitoring device 8. Since the circuits provided for the sorting sections b to g are the same, one circuit will be described with reference to the drawings. In the apparatus main body 51 constituting the equal class inspection apparatus 5, each alarm device 9 for notifying abnormality of each sorting unit b to g, an operation sequencer 58 for controlling the operation of each sorting unit b to g, A monitoring sequencer 59 that monitors the operation of the sorting units b to g is connected, and each of the alarms 9... And each of the sequencers 58 and 59 is stored in advance in a storage circuit based on a signal output from the apparatus main body 51. The operation is controlled according to the program.
[0028]
A sorter 55 is connected to the operation sequencer 58 via an IC switch circuit 60. When a program output bit is output from the apparatus main body 51 as shown in FIG. A drive signal (b) is output to the sorter 55 in synchronization with (b). The IC switch circuit 60 is turned on when a drive signal (b) is input from the operation sequencer 58. At this time, the sorter 55 is activated (predetermined time). On the other hand, when the drive signal (b) is not input from the operation sequencer 58, the operation is turned off. The sorter 55 is not activated.
[0029]
A monitoring sequencer 59 is connected between the sorter 55 and the IC switch circuit 60 via an IC switch circuit 61. The IC switch circuit 61 outputs a voltage (for example, about 24V) output from the sorter 55. Determine whether is high or low. That is, when the detection timing signal (A) is input, the drive signal (B) is output from the operation sequencer 58, and when the IC switch circuit 60 is turned ON, the sorter 55 is operated. When the sorter 55 operates normally, an output signal (c) is input from the sorter 55, so that the IC switch circuit 61 is turned off. At this time, the operation detection signal (d) of the IC switch circuit 61 is input to the monitoring sequencer 59, but the monitoring sequencer 59 does not output the abnormality detection signal (e). The apparatus main body 51 compares each signal (A, B, C, D) with a preset condition to determine whether the sorting operation is normal or abnormal. When it is determined to be normal, the sorting operation is continued. When it is determined that there is an abnormality, the alarm 9 notifies that the operation abnormality has occurred, and the sorting operation is temporarily stopped.
[0030]
When the drive signal (B) is not output from the operation sequencer 58 and the IC switch circuit 60 is OFF, the sorter 55 is not operated and the output signal (C) is not input, so the IC switch circuit 61 is turned ON. The At this time, since the operation detection signal (d) is not input from the IC switch circuit 61, the monitoring sequencer 59 outputs an abnormality detection signal (e). The apparatus main body 51 determines that the sorting operation is abnormal because each signal (A, B, C, D) does not match a preset condition, and notifies the alarm device 9 that an operation abnormality has occurred.
[0031]
When the drive signal (B) is output from the operation sequencer 58 and the IC switch circuit 60 is ON, if the sorter 55 does not operate, the output signal (C) is not input, so the IC switch circuit 61 is turned ON. . At this time, since the operation detection signal (d) is not input from the IC switch circuit 61, the monitoring sequencer 59 outputs the abnormality detection signal (e) as described above. The apparatus main body 51 notifies the alarm 9 that an operation abnormality has occurred.
[0032]
In addition, when the detection timing signal (A) is not input, the drive signal (B) is not output from the operation sequencer 58, the IC switch circuit 60 is OFF, and the sorter 55 malfunctions, the output signal (HA) ) Is input, and the IC switch circuit 61 is turned on. At this time, the operation detection signal (d) of the IC switch circuit 61 is input to the monitoring sequencer 59. However, since the signals (a, b, c, d) do not match the preset conditions, the apparatus main body 51 Determines that an abnormality has occurred in the sorting operation, and notifies the alarm device 9 that an operation abnormality has occurred.
[0033]
When the sorter 55 does not operate, the output signal (C) is not input and the IC switch circuit 61 is turned on. At this time, the operation detection signal (d) of the IC switch circuit 61 is input to the monitoring sequencer 59. As described above, the sorting operation is determined to be abnormal, and the alarm 9 notifies that the operation abnormality has occurred. To do. Further, the current fluctuation may be monitored, for example, by monitoring the change of the voltage applied to both ends of the sorter 55, and in the same manner as described above, where each of the sorting units b to g is monitored. It is possible to detect whether an abnormal operation has occurred. Note that the voltage level or current level of each signal (I, B, C, D, E) is reversed depending on the parts used, so by setting conditions according to the level, abnormal operation can be achieved as described above. Can be detected.
[0034]
The illustrated embodiment is configured as described above, and hereinafter, an operation when a large number of fruits and vegetables A ... are sorted by the conveyed product sorting apparatus 1 will be described.
First, as shown in FIG. 1 and FIG. 2, each fruit and vegetables A to be received is dispersed by the dispersing conveyor 2 and distributed to the respective aligning conveyors 3. 3 Each of the fruits and vegetables A arranged by the above is transferred one by one to the respective rotary bodies 25 of the sorting conveyors 4.
[0035]
Next, the rotating bodies 25 of the sorting conveyor 4 are rotated by a rotating machine 56, and the vegetable products A placed between the rotating bodies 25 are rotated back and forth, and the vegetable products A that are tilted or stand upside down are turned over. And transport it in a fixed posture. Subsequently, as shown in FIG. 4, the lifting members 36 are protruded slightly above the spaces between the rotary bodies 25, so that a part or all of the fruit vegetables A are floated, and the rotary bodies 25 are interposed between the rotary bodies 25. The large and small fruit vegetables A conveyed in a slanted or slanted or upright state are corrected to a horizontal posture.
[0036]
In the front inspection area of the inspection section a, as shown in FIGS. 3 and 7, the fruits and vegetables A held in a horizontal posture by the lifting members 36 in response to detection by the sensors S1, S2, and S3. Imaging the front peripheral surface and the left peripheral surface with the imaging cameras 45, 46, imaging the degree of decay of the front peripheral surface with the imaging camera 47, and image data captured with the imaging cameras 45, 46, 47; The number-of-movements data of each rotating body 25 is stored in the apparatus main body 51 in association with it.
[0037]
Next, the lifting members 36 are temporarily immersed, and the fruits and vegetables A are again placed between the rotating bodies 25 and conveyed. Immediately after the front inspection area, as described above, the rotating bodies 25 are rotated by the rotating machine 56, and the large and small fruit vegetables A placed between the rotating bodies 25 are turned upside down. After the reversal, the lifting members 36 are protruded, and the vegetable products A placed between the rotating bodies 25 are once lifted to correct the vegetable products A in the horizontal posture.
[0038]
Next, in the rear side inspection area, in response to the detection by the sensors S1, S2, S3, the back side peripheral surface and the right side peripheral surface of the fruit vegetable A held in the horizontal posture by the lifting members 36. Image data taken by the imaging cameras 48, 49, the rotting condition of the rear peripheral surface by the imaging camera 50, and taken by the imaging cameras 48, 49, 50, and the movement number data of each rotating body 25 ... Are stored in the apparatus main body 51.
[0039]
Next, the lifting members 36 are immersed, and the fruits and vegetables A are again placed between the rotating bodies 25 and conveyed. At the same time, the apparatus main body 51 compares the image data captured by the imaging cameras 45 to 50 with the pre-stored isoclass and decay condition data, and comprehensively determines the isoclass. As shown in FIG. 5, based on the detection by the sensors S2 and S3, the number of movements of the rotating bodies 25... Moved to the sorting units b to g is counted, and the rotation moved to the sorting units b to g. It is determined whether the movement number data of the body 25 matches the movement number data stored in the apparatus main body 51, and it is determined whether the movement number data has been moved to a position corresponding to the equal class. When the object A is moved, the program output bit of the device main body 51 is output to the operation sequencer 58 of the sorting monitoring device 8 that controls the operations of the sorting units b to g.
[0040]
Next, as shown in FIG. 7 and FIG. 8, the sorting monitoring device 8 turns on the IC switch circuit 60 when the operation sequencer 58 outputs a drive signal (b) in synchronization with the detection timing signal (b). In addition to being operated, the sorter 55 disposed at a position corresponding to the determination is operated in synchronization with the rotating speed of each rotary body 25..., And only the rotary bodies 25 on which the fruits and vegetables A are placed are discharged. Swing to release. When the sorter 55 operates normally, the IC switch circuit 61 is turned off, and the operation detection signal (d) of the IC switch circuit 61 is input to the monitoring sequencer 59. ) Is not output, the apparatus main body 51 determines whether each signal (A, B, C, D) matches a preset condition to determine whether it is normal or abnormal. When it is determined to be normal, the sorting operation is continuously performed.
[0041]
If the drive signal (B) is not output from the operation sequencer 58 and the IC switch circuit 60 is OFF, the sorter 55 is not operated and the IC switch circuit 61 is turned ON. At this time, since the operation detection signal (d) is not input and the monitoring sequencer 59 outputs the abnormality detection signal (e), the apparatus body 51 is preset with each signal (i, b, c, d). Therefore, it is determined that the sorting operation is abnormal, and the notification device 9 notifies that an abnormal operation has occurred.
[0042]
In addition, even if a drive signal (b) is output from the operation sequencer 58 and the IC switch circuit 60 is turned on, the IC switch circuit 61 is turned off when the sorter 55 does not operate. At this time, since the operation detection signal (d) is not input and the monitoring sequencer 59 outputs an abnormality detection signal (e) as described above, the apparatus main body 51 notifies the alarm 9 that an operation abnormality has occurred. To inform.
[0043]
Further, when the detection timing signal (A) is not input, the drive signal (B) is not output from the operation sequencer 58, and the IC switch circuit 60 is OFF, for example, the sorter 55 malfunctions due to a short circuit or the like. In this case, the output signal (c) is input and the IC switch circuit 61 is turned on. Alternatively, when the sorter 55 does not operate due to disconnection or the like, the output signal (c) is not input and the IC switch circuit 61 is turned on. However, when the above situation occurs, the operation detection of the IC switch circuit 61 is performed. Since the signal (d) is input to the monitoring sequencer 59 and the monitoring sequencer 59 outputs an abnormality detection signal (e), the apparatus body 51 uses the alarm 9 to notify that an operation abnormality has occurred, as described above. Inform.
[0044]
In the same manner as described above, it is possible to accurately and reliably detect where an abnormal operation has occurred in each sorting unit b to g by individually monitoring each sorting unit b to g provided on each sorting conveyor 4. can do. At the same time, when an operation abnormality occurs in any of the sorting units b to g, the position is immediately notified by each of the alarms 9..., So that it can be confirmed by an operator's eyes and ears. Since it can be accurately grasped, work such as repair and replacement can be performed immediately. Similarly, based on the determination by the apparatus main body 51, the fruits and vegetables A ... that are moved to the sorting units b to g are discharged in equal classes, and the respective distribution conveyors 6 disposed in the sorting units b to f are used. ... conveys each vegetable product A ... sorted by equal class to the next process (for example, a boxing step), and the collection conveyor 7 arranged in the sorting unit g collects each non-standard fruit product A ... (Not shown).
[0045]
As described above, the sorting units b to g provided on the sorting conveyor 4 are individually monitored, and the sorting monitoring device 8 determines where the abnormal operation has occurred in each of the sorting units b to g. Even if an operation abnormality such as malfunction, disconnection, breakage, or seizure occurs as in the example, each of the sorting units b to g in which the operation abnormality has occurred can be accurately and reliably detected. In addition, when an abnormal operation is detected, each sorting unit b to g is repaired or parts are replaced and normal and accurate sorting work is performed. Therefore, each sorting unit b different from the determination by the equal class inspection device 5 is performed. It is possible to prevent the fruit vegetables A from being sorted by mistake with respect to ~ g. In addition, by monitoring fluctuations in voltage, current, etc. added to the control circuits of the respective sorting units b to g, it is possible to reliably detect even an abnormal operation that is difficult to find by an operator, and there is no sorting error. This reduces the amount of time required for highly accurate sorting.
[0046]
Further, based on the determination by the apparatus main body 51, the sorting units b to g in which the operation abnormality has occurred are operated by the respective alarm devices 9 including a rotating lamp, a lamp, a buzzer, a speaker, a display monitor, and the like. Therefore, it is possible to check with an operator's eyes or ears regardless of where the operation abnormality occurs in each of the sorting units b to g. In addition, since each of the sorting units b to g in which the operation abnormality has occurred can be accurately grasped, maintenance work for repairing each sorter 55... Or replacing a failed part can be performed immediately, thereby reducing sorting mistakes. be able to.
[0047]
In the correspondence between the configuration of the present invention and the above-described embodiment,
The conveyed product of this invention corresponds to the fruit and vegetable product A of the example,
Similarly,
The conveying means corresponds to the sorting conveyor 4,
The mounting portion corresponds to the rotating body 25 of the embodiment,
The inspection means corresponds to the equal class inspection device 5,
The notification means corresponds to the notification device 9,
The operation determination means corresponds to the apparatus main body 51,
The sorting means corresponds to the sorter 55,
The operation monitoring means, the signal monitoring means, and the control circuit correspond to the operation sequencer 58, the monitoring sequencer 59, and the IC switch circuits 60 and 61,
The present invention is not limited to the configuration of the above-described embodiment.
[0048]
In addition, in the Example mentioned above, although the front and back peripheral surface and right-and-left peripheral surface of fruit vegetables A are imaged with each imaging camera 45-50, for example, the front and rear peripheral surfaces of fruit vegetables A conveyed to the inspection part a An imaging camera (not shown) disposed obliquely above may be used to capture images from the front and / or rear, and the entire peripheral surface of the fruit vegetable A can be reliably captured, and the equal class can be accurately and accurately determined. .
[0049]
In the embodiment, the mounting portion is configured by the rotating body 25. However, for example, it may be configured by a mounting portion such as a cup, a bucket, and a receiving plate, and can be sorted in the same manner as in the embodiment.
[Brief description of the drawings]
FIG. 1 is a plan view showing the overall configuration of a conveyed product sorting apparatus.
FIG. 2 is a side view showing a state of transporting fruits and vegetables by a sorting conveyor.
FIG. 3 is a rear view showing a state where fruits and vegetables are placed by a rotating body.
FIG. 4 is a rear view showing a state in which fruits and vegetables are lifted by a lifting member.
FIG. 5 is a rear view showing a swinging state of a rotating body and a lifting member.
FIG. 6 is a perspective view showing an imaging state of fruit and vegetables by an imaging camera.
FIG. 7 is a control circuit block diagram showing a circuit configuration of the sorting monitoring apparatus.
FIG. 8 is a time chart showing the operation time of the sorting monitoring apparatus.
[Explanation of symbols]
A ... Fruits and vegetables
a ... Inspection Department
b to g: Sorting department
1 ... Conveyed material sorting device
4 ... Conveyor for sorting
5 ... Equal class inspection device
6 ... Conveyor for distribution
7 ... Recovery conveyor
8 ... Sorting monitoring device
9 ... Alarm
25 ... Rotating body
51 ... Device body
55 ... sorter
58 ... Sequencer for operation
59 ... Sequencer for monitoring
60, 61 ... IC switch circuit

Claims

Each transported object placed on each placement part of the transport means is inspected by the inspection means, and each sorting means provided in each sorting part is driven based on the inspection, and each sorting part corresponding to the inspection is driven. In contrast, a sorting monitoring device provided in a transported material sorting device that sorts each transported material,
While providing an operation monitoring means for monitoring the operation state of each of the sorting units,
A sorting monitoring apparatus comprising operation determining means for determining whether the operation state of each sorting unit is normal or abnormal based on a drive signal for driving the sorting means and a detection signal from the operation monitoring means.

2. A sorting monitoring apparatus according to claim 1, further comprising signal monitoring means for monitoring a signal of a control circuit for controlling the operation of each sorting means.

The classification monitoring apparatus according to claim 1 or 2, further comprising a notification unit that notifies the classification unit in which an abnormal operation has occurred based on the determination by the operation determination unit, corresponding to each of the classification units.