JP6725941B2 - Conveyor device, transfer device, and weight estimation method - Google Patents

Description

The present invention relates to a conveyor device, a conveyor device, and a weight estimation method for estimating the weight of a conveyed object.

Conventionally, in industrial facilities such as factories and distribution warehouses, a conveyor device has been used to convey a conveyed object such as a cardboard. In this industrial facility, the place of placement varies depending on the weight of the transported object, and the transported object may be classified by weight and transported to a desired position. In such a case, it is preferable that the conveyor device is provided with a function of automatically detecting the weight of the conveyed object and conveying it to a desired conveying place.

Therefore, conventionally, as a measure for automatically measuring the weight of a conveyed object being conveyed by a conveyor device, there is a measure for providing a weight measuring sensor in the middle of the conveyor device.
However, the weight measuring sensor itself is expensive, and a system for controlling is also required.

Therefore, in recent years, a method of measuring the weight of a conveyed object without using a sensor for measuring the weight has been proposed (for example, Patent Document 1).
The conveyor device described in Patent Document 1 includes two zone conveyors driven by motors, and causes the motors of the two zone conveyors to rotate at constant speeds at different rotation speeds. Then, the rotational speed of the motor generated when the conveyed object is conveyed between the two zone conveyors is measured, and the Fourier transform or the like is performed to extract the fluctuation of the low-frequency component of the rotational speed. The weight is detected based on the fluctuation of the extracted low frequency component of the rotation speed.

International Publication No. 2013/191217

However, in the conveyor device described in Patent Document 1, two or more zone conveyors driven by motors are required to detect the weight of a conveyed object, and there is a problem that two motors must be provided for measurement. .. Therefore, in order to detect the weight of the conveyed object, a space in which two or more zone conveyors are arranged in series is required, and there is room for further improvement from the viewpoints of compactness and cost reduction.

Therefore, an object of the present invention is to provide a conveyor device, a transportation device, and a weight estimation method that can estimate the weight of a conveyed product in a small space without using a weight measuring sensor.

One aspect of the present invention for solving the above-mentioned problems is a conveyor device that includes a conveying path for conveying a conveyed object and conveys the conveyed object by a driving force of a motor, and a rotation speed or a rotation speed of the motor. And rotation speed measuring means for measuring the information corresponding to, and current measuring means for measuring the current of the motor, and the rotation speed of the motor or the information corresponding to the rotation speed when the conveyed object passes through the conveying path. And a current value of the motor, a weight estimating operation for estimating an estimated weight of the transported object is performed.

The "information corresponding to the rotation speed of the motor" here is information that corresponds to the rotation speed of the motor in a one-to-one correspondence. For example, when the motor and the roller rotate integrally, the rotation speed of the roller corresponds to “information corresponding to the rotation speed of the motor”. When the roller connected to the motor is connected to another free roller, the rotation speed of the free roller also corresponds to the “information corresponding to the rotation speed of the motor”.

According to this aspect, the weight estimation operation for estimating the estimated weight of the transported object is performed based on the rotation speed of the motor or the information corresponding to the rotation speed and the current value of the motor when the transported object passes through the transportation path. Therefore, the weight of the conveyed product can be estimated without using a sensor for measuring the weight.
Further, according to this aspect, since the weight of the transported object is estimated based on the rotational speed of one motor or the information corresponding to the rotational speed and the current value of the motor, only the transportation area driven by one motor is used. With this, the weight estimation of the transported object can be completed, and the size can be made smaller than the conventional one.

A preferred aspect is that the conveying path is inclined upward or downward in the conveying direction of the conveyed object.

According to this aspect, since the gravity applied to the conveyed product can be separated into the vertical component and the horizontal component with respect to the inclination direction of the conveyance path, the horizontal component of the weight of the conveyed product is equal to the rotation speed or the rotation speed of the motor. It is reflected in the corresponding information and the current value of the motor, and the weight of the conveyed product can be accurately estimated.

A preferred aspect is to drive the motor to perform the weight estimating operation from a state where the rotation of the motor is stopped.

According to this aspect, since the motor is driven from the state where the rotation of the motor is stopped, it is easy to measure the rotational speed of the motor or information corresponding to the rotational speed and the change in the current value of the motor. Therefore, it is easy to extract the component due to the weight of the conveyed product, and it is easy to estimate the weight.

A preferable aspect is that, in the weight estimation operation, the conveyed object is moved by a predetermined distance, and the rotation speed of the motor or an average value of information corresponding to the rotation speed when moving the predetermined distance and the motor Is to estimate the estimated weight of the conveyed product based on the integrated value of the current amount.

According to this aspect, the weight of the transported object is estimated according to the rotational speed or information corresponding to the rotational speed and the transition of the amount of current to the motor, so that the weight of the transported object can be estimated more accurately.

A preferred aspect has a pair of rollers and a belt member that suspends between the pair of rollers, and one roller of the pair of rollers is driven by the motor, and That is, the transported object is placed, and the one roller is rotated by the rotation of the motor, so that the transported object moves together with the belt member.

The conveyor device of this aspect is a belt conveyor that includes a pair of rollers and a belt member that suspends these rollers, and the conveyed object is placed on the belt member, and the belt member is moved by the driving force of the motor. Are to be transported. Therefore, compared to the case where the conveyed object is directly placed on the roller and conveyed, the conveyed object does not slip with respect to the roller, and the weight of the conveyed object is the rotation speed of the motor or the information corresponding to the rotation speed and the motor current. It is easily reflected in the value. Therefore, the weight of the conveyed product can be estimated more accurately.

A preferable aspect is that the motor is alternately decelerated and accelerated a plurality of times to convey the conveyed object, and the rotation of the motor is performed for each movement of the conveyed object from deceleration of the motor to deceleration again. The information corresponding to the speed or the rotation speed and the current value of the motor are respectively measured, and the expected weight of the conveyed object is calculated from the information corresponding to the rotation speed or the rotation speed of the motor and the current value of the motor, respectively. This is to calculate an average value of expected weights for each movement of the conveyed object after decelerating the motor until decelerating again, and estimate the estimated value as the estimated weight of the conveyed object.

According to this aspect, the predicted weight is calculated based on the rotation speed of the motor or information corresponding to the rotation speed and the current value of the motor for each movement of the conveyed object after the motor is decelerated and then decelerated again. Since the average value of the predicted weights is estimated as the estimated weight of the conveyed object, the weight of the conveyed object can be estimated more accurately.

A preferred aspect is that the motor is alternately decelerated and accelerated a plurality of times to convey the conveyed object, and the average value of expected weights calculated by any of the following (A) to (D) It is to estimate the estimated weight of the transported object.
(A) The rotation speed of the motor or information corresponding to the rotation speed and the current value of the motor are measured for each movement of the conveyed object from the acceleration to the deceleration of the motor, and the rotation speed of the motor or The expected weight of the conveyed object is calculated from the information corresponding to the rotation speed and the current value of the motor, and the average value of the expected weight for each movement of the conveyed object from the acceleration to the deceleration of the motor is calculated. To do.
(B) The rotation speed of the motor or information corresponding to the rotation speed and the current value of the motor are measured for each movement of the conveyed object from deceleration to acceleration of the motor, and the rotation speed of the motor or The expected weight of the conveyed object is calculated from the information corresponding to the rotation speed and the current value of the motor, and the average value of the expected weight for each movement of the conveyed object from deceleration to acceleration of the motor is calculated. To do.
(C) The rotational speed of the motor or the information corresponding to the rotational speed and the current value of the motor are measured for each movement of the conveyed object from the acceleration of the motor to the acceleration of the motor again, and the rotational speed of the motor is measured. Alternatively, the expected weight of the conveyed object is calculated from the information corresponding to the rotation speed and the current value of the motor, and the average value of the expected weight for each movement of the conveyed object from the time when the motor is further accelerated to the time when the motor is accelerated again. To calculate.
(D) The rotational speed of the motor or the information corresponding to the rotational speed and the current value of the motor are measured for each movement of the conveyed object from the deceleration of the motor to the deceleration again, and the rotational speed of the motor is measured. Alternatively, the expected weight of the conveyed object is calculated from the information corresponding to the rotation speed and the current value of the motor, and the average value of the expected weight for each movement of the conveyed object from deceleration of the motor to deceleration again is calculated. To calculate.

According to this aspect, the weight of the conveyed product can be estimated more accurately.

A more preferable aspect is one in which the motor is stopped and driven a plurality of times to convey the conveyed object, and the rotation speed of the motor or the rotation speed of the motor for each movement of the conveyed object from the time the motor is driven until the object is stopped. The information corresponding to the rotation speed and the current value of the motor are respectively measured, and the expected weight of the conveyed product is calculated from the rotation speed of the motor or the information corresponding to the rotation speed and the current value of the motor, and the motor is further calculated. Is to estimate the estimated weight of the conveyed product by calculating an average value of expected weights for each movement of the conveyed product from the time when the vehicle is driven until the vehicle stops.

According to this aspect, it is possible to more accurately estimate the weight of the conveyed product.

Ｍｘは予想重量、Ｉは電流値、ｖは回転速度、ｃ１，ｃ２，ｃ３は係数を表す。A preferable aspect is that the weight estimation operation calculates the estimated weight of the conveyed product using the following mathematical expression (1).

Mx is an estimated weight, I is a current value, v is a rotation speed, and c1, c2 and c3 are coefficients.

According to this aspect, since the estimated weight of the conveyed product is calculated using the mathematical expression (1), the estimated weight of the conveyed product can be calculated without using a complicated mathematical formula such as Fourier transform.

A preferred aspect is to drive the motor in a state in which the conveyed object does not pass through the conveying path, acquire the rotational speed of the motor or information corresponding to the rotational speed and the current value of the motor, and acquire the acquired information. The estimated weight is corrected using the rotation speed of the motor or information corresponding to the rotation speed and the current value of the motor.

According to this aspect, the estimated weight estimated in the weight estimation operation is corrected by using the rotation speed of the motor or information corresponding to the rotation speed and the current value of the motor in a state where the conveyed object is not conveyed. There is. Therefore, a more accurate estimated weight can be calculated.

A preferred aspect is to use the size of the package to correct the estimated weight.

According to this aspect, the estimated weight estimated by the weight estimation operation is corrected by using at least one of the length, the width, and the height of the conveyed product. That is, according to this aspect, the estimated weight can be corrected according to the size of the conveyed product, and the more accurate estimated weight can be calculated.

One aspect of the present invention is a transport device in which a transport path of a conveyor device of the above aspect and a transport path of another conveyor device are connected in series to form a transport channel for transporting a transported object.

According to this aspect, since the weight of the conveyed goods can be estimated in a part of the conveying passages, the conveyed goods can be more easily sorted by weight.

One aspect of the present invention is a weight estimation method for estimating the weight of a conveyed object placed on a conveyor device, wherein a motor is driven to convey a conveyed object inclined upward or downward in the conveying direction. The transported weight on the path, and the estimated weight of the transported weight based on the current value of the motor and the rotation speed of the motor or information corresponding to the rotation speed when the transported weight passes through the transportation path. This is a weight estimating method for performing an estimating weight estimating operation.

According to this aspect, the weight of the conveyed product can be estimated without using a sensor for measuring the weight.

ADVANTAGE OF THE INVENTION According to this invention, even if it does not use the sensor for weight measurement, the weight of conveyed goods can be estimated in a small space, and weight can be estimated at low cost compared with the past.

It is a perspective view which showed typically the conveyance apparatus of 1st embodiment of this invention. It is a perspective view of the zone conveyor of FIG. It is a conceptual diagram showing the connection relation of the conveyance apparatus of FIG. FIG. 3 is a sectional perspective view of the zone conveyor of FIG. 2. FIG. 3 is a sectional view of the drive roller of FIG. 2. It is a conceptual diagram which shows the relationship of the zone controller of FIG. 2, a drive motor, and an approach sensor. It is a conceptual diagram which shows the weight detection apparatus of FIG. It is explanatory drawing which shows operation|movement of the rotation speed calculation program of the weight detection apparatus of FIG. It is explanatory drawing showing the positional relationship of each zone conveyor of FIG. It is explanatory drawing showing the weight estimation operation|movement of 1st Embodiment of this invention, (a)-(d) shows each elapsed time. It is explanatory drawing showing the weight estimation operation|movement of 1st Embodiment of this invention, (a), (b) shows each elapsed time. It is a flow chart showing a weight presumption operation of a 1st embodiment of the present invention. It is a flow chart showing weight presumption operation of a 2nd embodiment of the present invention. It is explanatory drawing which shows operation|movement of the rotation speed calculation program of other embodiment of this invention.

The transport device 1 according to the first embodiment of the present invention will be described below.

The carrying device 1 according to the first embodiment of the present invention is a carrying device for carrying a conveyed object 100 such as a corrugated board. As shown in FIG. 1, the transfer device 1 is configured to form a continuous transfer passage 4 in which transfer paths 3a, 3b, 3c of a plurality of zone conveyors 2a, 2b, 2c are connected.
Then, the transport device 1 of the present embodiment uses one of the plurality of zone conveyors 2a, 2b, 2c (hereinafter, also referred to as a measurement zone conveyor 2b) (conveyor device) to transport the transported object 100. It is possible to carry out a weight estimation operation for estimating the weight of, and this is one of the main features.
Therefore, prior to the description of the weight estimation operation, which is one of the features of the present invention, the basic configuration of the carrier device 1 will be described.

As shown in FIG. 1, the conveyor 1 has a plurality of zone conveyors 2a, 2b, 2c arranged in series, and each zone conveyor 2a, 2b, 2c forms one conveyor passage 4. Further, as shown in FIG. 3, a weight estimating device 5 is connected to the measuring zone conveyor 2b used for the weight estimating operation.

The structure of each zone conveyor 2a, 2b, 2c will be described below. First, the measurement zone conveyor 2b, which is a characteristic part of the present invention, will be described.

The measurement zone conveyor 2b constitutes a part of the transfer passage 4 of the transfer device 1, and is specifically a belt conveyor.
As can be read from FIGS. 2 to 4, the measurement zone conveyor 2b mainly includes a driving roller 6, a driven roller 7, roller members 8a to 8e, a stretch belt 10 (belt member), and approach sensors 11 and 12. And side frames 15 and 16, a tension adjusting mechanism 17, and a weight estimating device 5.

The drive roller 6 is a roller that rotates by the driving force of the drive motor 21, and specifically, is a roller with a built-in motor.
As shown in FIG. 5, the driving roller 6 has a driving motor 21 and a speed reducer 22 built in a roller body 20. When the driving motor 21 rotates, the roller body 20 rotates. To do.
The drive motor 21 of the present embodiment is a brushless motor, and as shown in FIG. 6, a rotor 25 having a permanent magnet and three stator coils (U, V, W) surrounding the rotor 25. have. The drive motor 21 has three Hall elements P, G, O (rotational speed measuring means) for detecting the position of the rotor 25.

The driven roller 7 is a roller that makes a pair with the drive roller 6, and is a free roller that rotates following the rotation of the drive roller 6.

The roller members 8 a to 8 e are members that support the conveyed object 100. The roller members 8a to 8e are composed of a shaft portion and a roller portion, and the roller portion is rotatable via the shaft portion.

The stretch belt 10 is a belt that constitutes the transport path 3b, is a belt that suspends between the rollers 6 and 7 and that causes the rotation of the drive roller 6 to interlock with the driven roller 7. The stretch belt 10 is a belt that is endlessly continuous and extends in a belt shape, and the transported object 100 is placed on the stretched belt 10 during transportation.

The approach sensors 11 and 12 are sensors that detect whether the conveyed object 100 has entered a predetermined position. Further, the entry sensors 11 and 12 are also on-board sensors that determine whether or not the conveyed object 100 is placed on the measurement zone conveyor 2b.

The approach sensors 11 and 12 are specifically photoelectric sensors, and include light emitting elements such as light emitting diodes and infrared diodes.
That is, when the conveyed object 100 is conveyed between the ingress sensors 11 and 11 which face each other across the conveyance path 3b, the light from the light emitting element is blocked and an ON (H level) signal is output. When the conveyed object 100 does not exist between 11, the off (L level) signal is output.
Similarly, when the conveyed object 100 is conveyed between the ingress sensors 12 and 12 that face each other across the conveyance path 3b, the light from the light emitting element is blocked, and an ON (H level) signal is output. , 12 there is no conveyed object 100, an off (L level) signal is output.
In this way, the approach sensors 11 and 12 can detect that the conveyed object 100 is conveyed to a predetermined position by turning on/off the photoelectric sensor.

The side frames 15 and 16 are a pair of frames, and are frames that rotatably support the drive roller 6, the driven roller 7, and the roller members 8a to 8e.
As shown in FIG. 2, a zone controller 26 is attached to one side frame 15 of the pair of side frames 15 and 16.

The zone controller 26 controls the drive of the drive motor 21 incorporated in the drive roller 6 shown in FIG.
The zone controller 26 has a function of smoothly rotating the drive motor 21, a function of keeping the rotation speed of the drive motor 21 constant, and a function of starting and stopping the drive motor 21.
Specifically, the zone controller 26 sequentially energizes the stator coils (U, V, W) in accordance with the position (rotational posture) of the rotor 25 shown in FIG. 6 to generate a rotating magnetic field for rotation. The child 25 can be smoothly rotated. That is, the zone controller 26 has a function of smoothly rotating the drive motor 21.

Further, the zone controller 26 has a function of feeding back the rotation speed of the drive motor 21 and a PWM control function, and can keep the rotation speed of the drive motor 21 constant. That is, the zone controller 26 monitors the rotation speed of the drive motor 21 by counting the signals output from the Hall elements P, G, O of the drive motor 21 shown in FIG. Therefore, in the zone controller 26, the rotation speed of the drive motor 21 is fed back by the hall elements P, G, and O. Then, in the zone controller 26, the voltage input to the stator coils (U, V, W) is changed according to the difference between the control target rotation speed and the actual rotation speed of the drive motor 21.

As shown in FIG. 6, the zone controller 26 has a motor drive circuit section 27 (current measuring means), a Hall element signal input section 28, a sensor signal input section 29, a signal input/output section 30, and a control section 31. ing.
The motor drive circuit unit 27 is a switching circuit for sequentially energizing the stator coils (U, V, W) of the drive motor 21. The motor drive circuit unit 27 is provided with a voltmeter or an ammeter not shown, and can measure the amount of current supplied to the drive motor 21.
The hall element signal input unit 28 is a portion to which signals from the hall elements P, G, O of the drive motor 21 are input.
The sensor signal input unit 29 is a portion to which signals from the entry sensors 11 and 12 are input.
The signal input/output unit 30 is a circuit for communicating with the zone controllers 26a and 26c (see FIG. 3) of the other adjacent zone conveyors 2a and 2c.
The control unit 31 mainly includes a CPU and a memory, and mainly performs PWM control of the drive motor 21 and rotation speed calculation.

Further, the zone controller 26 has a built-in program corresponding to various transport modes, and starts and stops the drive motor 21 according to the transport mode.
For example, when the conveyed product 100 exists on the upstream side zone conveyor 2c and the conveyed product 100 does not exist on the own zone conveyor 2b, the own drive motor 21 is started. In addition, for example, the own drive motor 21 is stopped on the condition that the conveyed object 100 is unloaded from the own zone conveyor 2b. Although there are various transfer modes, detailed description thereof will be omitted.

The tension adjusting mechanism 17 automatically keeps the tension of the stretch belt 10 constant, as can be seen from FIG. The tension adjusting mechanism 17 includes a known take-up mechanism.

As shown in FIG. 7, the weight estimation device 5 includes a Hall element signal input circuit 35, a pulse generation circuit 36, and a calculation device 37.
The hall element signal input circuit 35 is a circuit for receiving signals from the hall elements P, G, O of the drive motor 21.
The pulse generation circuit 36 is a circuit that generates a pulse signal from the detection signals from the Hall elements P, G, and O.
The calculation device 37 has a CPU, a memory, and a hard disk built therein, and stores a rotation speed calculation program 38, a current calculation program 39, and a weight calculation program 40.

The rotation speed calculation program 38 calculates the rotation speed of the drive motor 21 based on the signals of the hall elements P, G, O input from the hall element signal input circuit 35.
This rotation speed calculation program 38 is different from the rotation speed calculation method of the zone controller 26b described above, and the method is also different. That is, the rotation speed calculation program 38 detects the time interval of the position detection signal of each Hall element P, G, O, and calculates the rotation speed of the drive motor 21 based on the time interval.
Specifically, the time intervals of the position detection signals are the intervals of the detection signals generated by the same pole of the rotor 25. Further, in the present embodiment, since the rotor 25 has four poles, the time interval for four detection signals is measured according to the number of poles.

More specifically, in the drive motor 21 of the present embodiment, as described above, the rotor 25 is a permanent magnet and has two poles N and S, respectively. Therefore, when the rotor 25 makes one rotation, the N pole and the S pole pass twice near the Hall elements P, G, and O, respectively. Therefore, when the rotor 25 rotates once, electromotive force is generated twice from each of the Hall elements P, G, and O.
Then, the weight estimation device 5 inputs this electromotive force into the hall element signal input circuit 35, and converts it into a pulse signal in the pulse generation circuit 36.

The rotation speed calculation program 38 detects the number of pulses per predetermined time with reference to the rising and falling edges of the pulse signals derived from the signals of the Hall elements P, G, and O, and rotates the drive motor 21. Calculate the number and average rotation speed.
More specifically, as shown in FIG. 8, the rise time and the fall time of the pulse signals derived from the signals of the Hall elements P, G, O are used as a reference, and these are treated equally to create a composite signal. Then, the number of pulses per fixed time is counted, and the rotation speed and the average rotation speed of the drive motor 21 are calculated.

The current calculation program 39 is a program for monitoring the fluctuation of the current value to the drive motor 21 and calculating the integration of the current value in the driving time from the fluctuation of the current value.

The weight calculation program 40 is a program for performing weight calculation for calculating the estimated weight of the conveyed object 100 from the average rotation speed of the drive motor 21 and the integrated value of the current value to the drive motor 21.

A display device 34 is connected to the weight estimation device 5 as shown in FIG. 7.
The display device 34 is specifically a monitor, and can display the estimated weight of the conveyed object 100 estimated by the above program.

The zone conveyors 2a and 2c constitute a part of the transfer passage 4 of the transfer device 1 and are known roller conveyors. That is, in the zone conveyors 2a and 2c, as shown in FIG. 1, a plurality of conveying rollers 45 that convey the conveyed object 100 between a pair of left and right side frames 15 and 16 arranged in parallel are arranged at predetermined intervals in the conveying direction. It is supported by.
Similar to the zone conveyor 2b, the transport roller 45 is composed of a drive roller 46 having the drive motor 21 and a driven roller 47 that freely rotates.
In the zone conveyors 2a and 2c, the transport rollers 45 adjacent to each other in the transport direction are wound around the power transmission belt 48. Therefore, the rotational driving force of the driving roller 46 can be transmitted to all the driven rollers 47.
Further, as can be read from FIGS. 1 and 3, the zone conveyors 2a and 2c are provided with the entrance sensors 11 and 12 and the zone controller 26 (26a and 26c) as in the above-mentioned measurement zone conveyor 2b.

Next, the positional relationship of each member of the transport device 1 will be described.

As shown in FIG. 1, the carrier device 1 has a plurality of zone conveyors 2a, 2b, 2c in which carrier paths 3a, 3b, 3c are arranged in a straight line to form a carrier flow path 4.
In each of the zone conveyors 2a, 2b, 2c,..., A pair of side frames 15, 16 are arranged in parallel with a predetermined space therebetween with the transport path 3 in between. The side frames 15 and 16 support the drive roller 6, the driven roller 7, and the roller members 8a to 8e with a predetermined space in the transport direction.
Further, as shown in FIG. 4, a stretch belt 10 is endlessly surrounded by the drive roller 6 and the driven roller 7, and a part of the stretch belt 10 is connected to the tension adjusting mechanism 17. .. That is, the drive roller 6 and the driven roller 7 are connected by the stretch belt 10, and the driven roller 7 can also rotate in conjunction with the rotation of the drive roller 6.
The drive roller 6 is located downstream of the driven roller 7 in the flow direction of the conveyed object 100. In the present embodiment, the drive roller 6 is located on the most downstream side of the rollers 6, 7 and the roller members 8 a to 8 e in the flow direction of the conveyed object 100.

The approach sensors 11 and 12 are provided on the side frames 15 and 16 as shown in FIG. The approach sensors 11 and 12 are separated from each other in the conveyance direction of the conveyed object 100. Specifically, the position of one approach sensor 11 is provided in the vicinity of the upstream end of the side frames 15 and 16 in the carrying direction of the transported object 100, and the position of the other approach sensor 12 is at the side frame 15. , 16 are provided in the vicinity of the downstream end of the transported object 100 in the transport direction. More specifically, one approach sensor 11 is provided near the driven roller 7 in the carrying direction of the article 100, and the other approach sensor 12 is provided near the drive roller 6.

The transport surface 18a of the zone conveyor 2a located on the downstream side of the measurement zone conveyor 2b and the transport surface 18c of the zone conveyor 2c located on the upstream side are both horizontal as shown in FIG. A height difference is formed between the transport surface 18a of the downstream zone conveyor 2a and the transport surface 18c of the upstream zone conveyor 2c.
Specifically, the transport surface 18a of the downstream zone conveyor 2a is slightly higher than the transport surface 18c of the upstream zone conveyor 2c.
The “conveyance surface” here refers to a portion on which the conveyed object 100 is placed. For example, in the case of the measurement zone conveyor 2b, it is an upper part of the drive roller 6 and the driven roller 7 and a part where the drive roller 6 and the driven roller 7 of the stretch belt 10 are suspended. Further, for example, in the case of the zone conveyors 2a and 2c, it means a virtual surface that connects the vertices of the adjacent transport rollers 45.

The conveying surface 18b of the measuring zone conveyor 2b to which the weight estimating device 5 is connected is formed so as to connect between the conveying surfaces 18a and 18c of the zone conveyors 2a and 2c adjacent to the downstream side and the upstream side. It is inclined with respect to the transport surfaces 18a and 18c of 2a and 2c.
Specifically, the transport surface 18b of the zone conveyor 2b is inclined upward from the upstream side to the downstream side in the transport direction of the transported object 100. The inclination angle θ of the transport surface 18b with respect to the horizontal plane shown in FIG. 9 is preferably 0 or more and 8 degrees or less, more preferably more than 0 degrees and less than 5 degrees, and 0.5 degrees to 1.5 degrees. Is more preferable. Within such a range, it is possible to accurately perform weight estimation described later while suppressing the load on the drive roller 6. Moreover, the layout can be easily designed while preventing the transported object 100 from slipping.

As shown in FIG. 3, the zone controllers 26a and 26b provided on the adjacent zone conveyors 2a and 2b are connected by a signal line. The zone controllers 26b and 26c provided on the adjacent zone conveyors 2b and 2c are also connected by signal lines. That is, the zone controller 26a of the zone conveyor 2a is connected to the zone controller 26c of the zone conveyor 2c via the zone controller 26b of the zone conveyor 2b and can communicate with each other.

Further, the zone controller 26b provided on the measuring zone conveyor 2b is connected to the weight estimating device 5 by a signal line, as shown in FIG.
Specifically, the weight estimation device 5 is connected to the drive roller 6 of the measurement zone conveyor 2b and the zone controller 26b (or an input signal line connected to the zone controller 26b), and each of the measurement zone conveyors 2b is connected to the weight estimation apparatus 5. It is possible to estimate the weight of the conveyed object 100 being conveyed from the member information.

Subsequently, a weight estimation operation (weight estimation method) in the transport device 1 of the present embodiment will be described.

First, the movement operation of the conveyed object 100 when performing the weight estimation operation will be described. Since the weight estimating operation is performed using the measuring zone conveyor 2b, the description will be given from the state in which the conveyed object 100 is placed on the conveying surface 18c of the upstream zone conveyor 2c.

When the conveyed object 100 reaches the entry sensor 12 of the zone conveyor 2c, the drive motor 21 of the zone conveyor 2b is driven to rotate the rollers 6 and 7, and the conveyance surface 18c of the zone conveyor 2c to the measurement zone conveyor 2b. The conveyed object 100 is drawn in on the conveying surface 18b of. Then, when the conveyed object 100 reaches the entry sensor 11 of the measurement zone conveyor 2b, the weight estimation operation is performed.

In the weight estimation operation of the present embodiment, the measurement operation of calculating the expected weight Mx of the conveyed object 100 is performed a plurality of times with the conveyed object 100 placed on the conveying surface 18b of the measurement zone conveyor 2b.
Specifically, in this measurement operation, when the conveyed object 100 reaches the entry sensor 11 of the measurement zone conveyor 2b as shown in FIG. 10A, the drive motor 21 is stopped and the measurement zone conveyor 2b is driven. The rotation of the roller 6 is stopped. That is, as shown in FIG. 10B, the rotation of the drive roller 6 is decelerated and the movement of the conveyed object 100 is stopped.
When the movement of the conveyed object 100 is stopped, the driving motor 21 is driven again to rotate the drive roller 6 so that the conveyed object 100 moves by a predetermined distance (area X1) as shown in FIG. 10C. Accelerate. More specifically, the drive motor 21 is rotated so as to rotate at a predetermined rotation speed by a predetermined rotation speed, and one measurement operation is completed.
The actual rotation speed at this time and the current value used for the drive motor 21 are monitored, and the average rotation speed and the integrated value of the current values when the conveyed object 100 moves a predetermined distance (area X1) are calculated. .. Then, the expected weight M1 is calculated from the calculated average rotational speed and the integrated value of the current values using the following mathematical expression (1).

Ｍｘは予想重量、Ｉは電流値、ｖは回転速度、ｃ１，ｃ２，ｃ３は係数を表す。

Mx is an estimated weight, I is a current value, v is a rotation speed, and c1, c2 and c3 are coefficients.

When the conveyed object 100 moves a predetermined distance (area X1) as shown in FIG. 10D and the measurement operation ends, the next measurement operation is performed. That is, the drive motor 21 is stopped again, and the rotation of the drive roller 6 of the measurement zone conveyor 2b is stopped. In other words, the rotation of the drive roller 6 is decelerated to stop the movement of the conveyed object 100.
Similarly to the above, when the movement of the conveyed object 100 is stopped, the drive motor 21 is driven again, and the driving roller is moved so that the conveyed object 100 moves by a predetermined distance (area X2) as shown in FIG. 11A. 6 is rotated, and the drive motor 21 is rotated so as to rotate at a predetermined rotation speed by a predetermined rotation speed. That is, the rotation of the drive roller 6 is accelerated to move the conveyed object 100.
The rotation speed at this time and the current value used for the rotation of the drive motor 21 are monitored, and the average rotation speed and the integrated value of the current values when the conveyed object 100 moves a predetermined distance (area X2) are calculated. .. Then, the expected weight M2 is calculated from the calculated average rotational speed and the integrated value of the current values by using the above mathematical expression (1).
When the conveyed object 100 moves a predetermined distance (area X2) as shown in FIG. 11B and the measurement operation ends, the next measurement operation is performed.

In this way, the above measurement operation is repeated, and when the predetermined number of times n is reached, the drive motor 21 is driven to rotate the drive roller 6, and the conveyed product 100 is sent to the zone conveyor 2a on the downstream side.
At this time, using the predicted weights M1, M2,..., Mn calculated by the measurement operation of each area X1, X2,..., Xn, the average value Mav of the predicted weights M1, M2,. Is calculated and used as the estimated weight.
In addition, it is preferable that n is 1-10.

Next, the above-described series of flows will be described more specifically with reference to the flowchart of FIG.

In the weight estimation operation of the present embodiment, as described above, the conveyed object 100 is conveyed from the upstream measurement zone conveyor 2c, and when the upstream entrance sensor 11 detects the passage of the conveyed object 100 (YES in STEP.01). ), the drive of the drive motor 21 is stopped (STEP 02), and the counter is reset (STEP 03). Then, the drive motor 21 is driven again (STEP 04), and the measurement of the current value and the rotation speed of the drive motor 21 is started (STEP 05).
Then, it is confirmed whether the approach sensor 12 on the downstream side has passed (STEP 06). If the approach sensor 12 has not passed (NO at STEP 06), the pulse of the drive motor 21 reaches the set value. Confirm whether it has arrived (STEP 07).
When the pulse of the drive motor 21 reaches a set value (for example, 50 to 200 pulses) (YES in STEP.07), the conveyed object 100 has moved a predetermined distance, and thus the drive motor 21 is stopped. (STEP 08), the measurement of the current value and the rotation speed of the drive motor 21 is also completed (STEP 09).
When the pulse of the drive motor 21 has not reached the set value (No in STEP.07), STEP. Return to 06.

After driving the driving motor 21, the integrated value of the current value of the driving motor 21 and the average value of the rotation speed from the time when the pulse of the driving motor 21 reaches the set value are calculated (STEP 10). .. The expected weight Mx of the conveyed object 100 is calculated and stored from the calculated integrated value of the electric current value of the drive motor 21 and the average value of the rotation speed using the above-mentioned mathematical expression (1) (STEP. 11, STEP. 12). , Add 1 more counter (STEP.13). Then, it is confirmed whether or not the counter has reached the predetermined number n (STEP.14), and if the counter number has not reached the predetermined number n (No in STEP.14), STEP. 04, the drive motor 21 is driven again (STEP 04).

On the other hand, STEP. When the number of counters has reached the predetermined number n in 14 (Yes in STEP. 14), the average value Mav of the predicted weights Mx stored in the above operation is calculated to calculate the estimated weight (STEP. 19), Reset the number of counters (STEP 20).

In addition, STEP. In 06, when the approach sensor 12 detects the conveyed object 100 (YES in STEP.06), the conveyed object 100 is flowing to the vicinity of the downstream end of the measurement zone conveyor 2b, and therefore the driving motor 21 The measurement of the current value and the rotation speed is completed (STEP.15), and the latest STEP. At 05, the integrated value of the current value of the drive motor 21 and the average value of the rotation speed from the start to the end of the measurement of the current value and the rotation speed of the drive motor 21 are calculated (STEP 16). The expected weight Mx of the conveyed object 100 is calculated from the calculated integrated value of the electric current value of the driving motor 21 and the average value of the rotational speed by using the above-described mathematical expression (1) (STEP.17), and the estimated weight Mx of the conveyed object 100 is calculated. The expected weight Mx is stored (STEP.18), and STEP. Move to 19.

As described above, according to the transport device 1 of the present embodiment, the weight of the transported object 100 can be automatically estimated in accordance with the transportation of the transported object 100.

According to the transport apparatus 1 of the present embodiment, the weight of the transported article 100 is estimated by the calculation process, so that the approximate weight of the transported article 100 can be estimated without using an expensive sensor for measuring the weight. ..

According to the transport device 1 of the present embodiment, the weight of the transported object 100 can be estimated by the measurement zone conveyor 2b in one section. Therefore, the weight of the conveyed product 100 can be estimated in a space-saving manner.

According to the transport apparatus 1 of the present embodiment, the weight of the transported object 100 can be estimated by the average rotation speed of the driving motor 21 when transporting the transported object 100 and the integrated current amount to the driving motor 21. Therefore, a complicated calculation formula such as Fourier transform is unnecessary, and the introduction cost of the program itself can be suppressed.

According to the transport device 1 of the present embodiment, since the measurement zone conveyor 2b includes the tension adjusting mechanism 17 that automatically adjusts the tension of the stretch belt 10, the stretch belt 10 is always transported with a constant tension. 100 can be transported. Therefore, the estimated weight of the conveyed object 100 can be brought closer to the actual measurement value.

According to the carrier device 1 of the present embodiment, since the measurement zone conveyor 2b is a belt conveyor, slippage is less likely to occur between the carrier surface 18b and the object 100 than in the case of a roller conveyor. Therefore, it is possible to more accurately estimate the weight of the conveyed object 100 as compared with the case where the roller conveyor is used.

In order to bring the estimated weight closer to the weight of the conveyed object 100, the conveyor 1 of the present embodiment can also correct the estimated weight calculated in the weight estimation operation.
For example, before the weight estimation operation is performed, the driving motor 21 of the measuring zone conveyor 2b is driven for a predetermined time in a state where the conveyed object 100 is not placed in advance, and the rotation speed and the current value of the driving motor 21 in the meantime. Can be measured and the measured value can be used to correct the estimated weight. That is, it is possible to rotate the drive roller 6 in an unloaded state, measure the rotation speed and the current value of the drive motor 21 during that time, and use the measured values to correct the estimated weight.
Further, for example, the estimated weight can be corrected according to the size of the conveyed object 100 by conveying the conveyed object 100 having a known size in advance or by installing the dimension measuring means on the upstream side of the measurement zone conveyor 2b. Specifically, the bottom area and the deposition can be calculated from the size of the conveyed product 100, and the estimated weight can be corrected according to the size of the conveyed product 100.

Then, the conveyance apparatus of 2nd Embodiment of this invention is demonstrated. In addition, about the structure similar to the conveyance apparatus 1 of 1st Embodiment, the same code|symbol is attached|subjected and description is abbreviate|omitted.

The carrier device according to the second embodiment of the present invention differs from the carrier device 1 according to the first embodiment in weight estimation operation.

In the weight estimation operation of the second embodiment, the rotation speed of the drive motor 21 is alternately accelerated and decelerated a plurality of times to estimate the weight of the conveyed object 100.
Specifically, as shown in FIG. 13, when the conveyed article 100 is conveyed from the upstream zone conveyor 2c and the upstream entrance sensor 11 detects the passage of the conveyed article 100 (Yes in STEP.51), The driving of the drive motor 21 is stopped (STEP 52) and the counter is reset (STEP 53). Then, the drive motor 21 is driven again (STEP 54), and the measurement of the current value and the rotation speed of the drive motor 21 is started (STEP 55).
Then, it is confirmed whether or not it has passed the approach sensor 12 on the downstream side (STEP.56), and if it has not passed the approach sensor 12 (NO in STEP.56), the pulse of the drive motor 21 becomes the set value. Check if it has arrived (STEP 57).
When the pulse of the drive motor 21 reaches the set value (YES in STEP.57), the conveyed object 100 has moved a predetermined distance, so the drive motor 21 is decelerated (STEP.58) and the drive motor 21 is driven. The measurement of the current value and the rotation speed of the motor 21 is also completed (STEP 59).
If the pulse of the drive motor 21 has not reached the set value (No in STEP.57), STEP. Return to 56.

After driving or accelerating the drive motor 21, the integrated value of the current value of the drive motor 21 and the average value of the rotation speed from the time when the pulse of the drive motor 21 reaches the set value are calculated (STEP. 60). The expected weight Mx of the conveyed object 100 is calculated and stored from the calculated integrated value of the current value of the drive motor 21 and the average value of the rotation speed by using the above-mentioned mathematical expression (1) (STEP.61, STEP.62). , Add 1 more counter (STEP 63). Then, it is confirmed whether or not the counter has reached the predetermined number n (STEP.64). When the counter number has not reached the predetermined number n (No in STEP.64), the drive motor 21 is accelerated and STEP. Returning to 55, measurement of the current value and the rotation speed of the drive motor 21 is started.

On the other hand, STEP. If the number of counters reaches the predetermined number n in 64 (Yes in STEP.64), the estimated weight is calculated by calculating the average value Mav of the predicted weights Mx stored in the above operation (STEP.70), Reset the number of counters (STEP 71).

In addition, STEP. 56, when the approach sensor 12 detects the conveyed object 100 (Yes in STEP.56), the conveyed object 100 is flowing to the vicinity of the downstream end of the measurement zone conveyor 2b, and therefore the drive motor 21 The measurement of the current value and the rotation speed is completed (STEP 66), and the latest STEP. At 55, the integrated value of the current value of the drive motor 21 and the average value of the rotation speed from the start to the end of the measurement of the current value and the rotation speed of the drive motor 21 are calculated (STEP 67). The estimated weight Mx of the conveyed object 100 is calculated from the calculated integrated value of the current values of the drive motor 21 and the average value of the rotation speed by using the above mathematical expression (1) (STEP 68), and the estimated weight Mx is stored. (STEP 69), STEP. Move to 70.

According to the transporting apparatus of the second embodiment, the weight of the transported article 100 can be estimated without stopping the transported article 100 completely after first stopping the transported article 100 near the approach sensor 11. Therefore, smoother transport is possible.

In the above-described embodiment, the period from when the driving motor 21 is driven or accelerated to when the pulse of the driving motor 21 reaches the set value and is stopped or decelerated is one cycle, and the driving motor in the cycle is set. The integrated value of the current value of 21 and the average value of the rotation speed are calculated, and the expected weight of the transported object 100 is calculated based on the integrated value of the current value of the drive motor 21 and the average value of the rotation speed, respectively. Although the estimated weight was calculated using the average value of the estimated weights, the present invention is not limited to this.
The period from stopping or decelerating the driving motor 21 to driving or accelerating is set as one cycle, and the integrated value of the current value of the driving motor 21 and the average value of the rotation speed in the cycle are calculated, and the driving is performed. The estimated weight of the conveyed object 100 may be calculated based on the integrated value of the current values of the motor 21 and the average value of the rotation speed, and the estimated weight may be calculated using the calculated average value of the estimated weight.
A period from driving or accelerating the drive motor 21 to re-driving or accelerating is defined as one cycle, and an integrated value of current values of the drive motor 21 and an average value of rotation speeds in the cycle are calculated. The estimated weight of the conveyed product 100 may be calculated based on the integrated value of the current values of the drive motor 21 and the average value of the rotation speeds, and the estimated weight may be calculated using the calculated average value of the estimated weights.
A period from stopping or decelerating the driving motor 21 to stopping or decelerating again is defined as one cycle, and an integrated value of current values of the driving motor 21 and an average value of rotation speeds in the cycle are calculated, The estimated weight of the conveyed product 100 may be calculated based on the integrated value of the current values of the drive motor 21 and the average value of the rotation speeds, and the estimated weight may be calculated using the calculated average value of the estimated weights.
The integrated value of the current value of the drive motor 21 and the average value of the rotation speed in a plurality of cycles are calculated, and the expected weight of the conveyed object 100 is calculated based on the integrated value of the current value of the drive motor 21 and the average value of the rotation speed. Alternatively, the estimated weight may be calculated using the average value of the calculated expected weights.

In the above-described embodiment, when the conveyed object 100 arrives in the vicinity of the approach sensor 11, the rotation of the driving roller 6 of the measurement zone conveyor 2b is first stopped once, and then the measurement operation is performed. It is not limited to. The measurement operation may be performed without stopping the rotation of the drive roller 6 of the measurement zone conveyor 2b.

In the above-described embodiment, the measurement operation is performed a plurality of times, and the average value Mav of the expected weight Mx calculated from each measurement operation is set as the estimated weight, but the present invention is not limited to this. The measurement operation may be performed once and the estimated weight M1 calculated from the measurement operation may be used as the estimated weight.

In the above-described embodiment, the weight of the conveyed object 100 is estimated based on the average rotation speed of the drive motor 21 of the drive roller 6 and the integrated value of the electric current values, but the present invention is not limited to this, and the drive is performed. The weight of the conveyed object 100 may be estimated based on the information corresponding to the average rotation speed of the driving motor 21 of the roller 6.
For example, the rotation speed of the roller body 20 of the drive roller 6 may be used to estimate the weight of the conveyed object 100, or the rotation speed of the driven roller 7 may be used to estimate the weight of the conveyed object 100.

In the above-described embodiment, the transfer surface 18b of the measurement zone conveyor 2b is inclined upward from the upstream side to the downstream side in the transfer direction of the transferred object 100, but the present invention is not limited to this. The conveying surface 18b of the measurement zone conveyor 2b may be inclined downward from the upstream side to the downstream side of the conveyed object 100 in the conveying direction.
In this case, the estimated weight can be corrected by using the counter electromotive voltage generated during the transportation of the transported object 100.

In the above-described embodiment, the belt conveyor is used as the measurement zone conveyor 2b, but the present invention is not limited to this. It may be a roller conveyor in which the rollers directly convey the conveyed objects. In this case, it is preferable to use the slip amount between the roller and the conveyed product to correct the estimated weight of the conveyed product.

Further, in the above-described embodiment, the roller conveyors are used as the zone conveyors 2a and 2c, but the present invention is not limited to this. The zone conveyors 2a and 2c may be belt conveyors like the zone conveyor 2b.

In the above-described embodiment, the number of pulses per predetermined time is detected with the rising and falling edges of the pulse signals derived from the signals of the Hall elements P, G, and O as reference points, and the rotation speed of the drive motor 21 is detected. And the average rotation speed are calculated, but the present invention is not limited to this.
For example, the number of pulses per predetermined time is detected by using the rising or falling of the pulse signals derived from the signals of the Hall elements P, G, and O as reference points, and the rotation speed and average rotation speed of the drive motor 21 are detected. May be calculated.
Further, for example, when the rising and/or falling of the pulse signals derived from the signals of the Hall elements P, G, O are used as reference points, the time interval of two pulses of the signals of the Hall elements P, G, O is set. The rotation number and the average rotation speed of the drive motor 21 may be calculated and detected.
More specifically, as shown in FIG. 14, the difference g between the rising time of the first pulse and the rising time of the third pulse is obtained. Similarly, the difference h between the rising time of the second pulse and the rising time of the fourth pulse is obtained.
Here, since the rotor 25 is a four-pole rotor of N pole, S pole, N pole, and S pole as described above, the first pulse and the third pulse or the second pulse and the fourth pulse are , From the same pole of the rotor 25. Therefore, the error due to the mounting position of the Hall elements P, G, O and the error due to the position of the pole of the rotor 25 are offset.
In this way, the time interval for two pulses is measured for each Hall element P, G, O according to the polarity of the rotor 25, and from this average value, the rotation speed and average rotation speed of the drive motor 21 are measured. May be calculated.

1 Transport device 2b Measurement zone conveyor (conveyor device)
3a to 3c Transport path 4 Transport flow path 5 Weight estimation device 6 Drive roller (one roller)
7 Driven roller 10 Stretch belt (belt member)
18 Transport Surface 21 Drive Motor (Motor)
27 Motor drive circuit section (current measuring means)
100 Transported objects P, G, O Hall element (rotational speed measuring means)

Claims (12)

A conveyor device comprising a conveying path for conveying a conveyed object, which conveys the conveyed object by a driving force of a motor,
Rotation speed measuring means for measuring the rotation speed of the motor or information corresponding to the rotation speed on a one-to-one basis ;
A current measuring means for measuring the current of the motor,
The transport path is inclined upward or downward in the transport direction of the transported object,
Wherein when the conveyance object passes through the conveyance path, and the corresponding information in the rotational speed or the rotational speed and one-to-one of said motor, based on the current value of the motor, and estimates the estimated weight of the conveyed object A conveyor device characterized by performing a weight estimation operation. The conveyor device according to claim 1, wherein an inclination angle of the transport surface of the transport path with respect to a horizontal plane is greater than 0 degree and 8 degrees or less . The conveyor device according to claim 1 or 2, wherein the weight estimation operation is performed by driving the motor while the rotation of the motor is stopped. In the weight estimating operation, the conveyed object is moved by a predetermined distance, and the rotation speed of the motor when moving the predetermined distance or an average value of information corresponding to the rotation speed on a one-to-one basis, and the motor. 4. The conveyor apparatus according to claim 1, wherein the estimated weight of the conveyed product is estimated based on the integrated value of the current amount of. A pair of rollers, and a belt member that suspends between the pair of rollers,
One roller of the pair of rollers is driven by the motor,
5. The conveyed object is placed on the belt member, and the one roller is rotated by the rotation of the motor, so that the conveyed object moves together with the belt member. Conveyor device according to. The motor is carried out by alternately decelerating and accelerating a plurality of times to convey the conveyed object,
The conveyor device according to any one of claims 1 to 5, wherein an average value of expected weights calculated by any of the following (A) to (D) is estimated as an estimated weight of the conveyed product.
(A) The rotation speed of the motor or information corresponding to the rotation speed in a one-to-one correspondence and the current value of the motor are measured for each movement of the conveyed object from the acceleration to the deceleration of the motor, and the motor is measured. Each of the movements of the conveyed object from the rotation speed or the information corresponding to the rotation speed in a one-to-one correspondence and the current value of the motor to calculate the expected weight of the conveyed object, and further from the acceleration to the deceleration of the motor. Calculate the average value of the expected weight of.
(B) The motor rotation speed or information corresponding to the rotation speed on a one-to-one basis and the current value of the motor are measured for each movement of the conveyed object from deceleration to acceleration of the motor. Each rotation speed or the information corresponding to the rotation speed on a one-to-one basis and the current value of the motor are used to calculate the expected weight of the conveyed object, and the movement of the conveyed object from deceleration to acceleration of the motor Calculate the average value of the expected weight of.
(C) The current value of the motor and the information corresponding to the rotation speed or the rotation speed of the motor in a one-to-one correspondence are measured for each movement of the conveyed object from the acceleration of the motor to the acceleration again. The expected weight of the conveyed object is calculated from the rotation speed of the motor or information corresponding to the rotation speed on a one-to-one basis and the current value of the motor, and further the acceleration of the motor to the acceleration of the conveyed object again. Calculate the average expected weight for each move.
(D) The rotation speed of the motor or information corresponding to the rotation speed in a one-to-one correspondence and the current value of the motor are measured for each movement of the conveyed object from the speed reduction of the motor to the speed reduction again. The expected weight of the conveyed product is calculated from the motor rotation speed or information corresponding to the rotation speed on a one-to-one basis and the current value of the motor, and the conveyed product is decelerated and then decelerated again. Calculate the average expected weight for each move. The motor is stopped and driven a plurality of times to convey the conveyed object,
Information corresponding to the rotation speed or rotation speed of the motor and the current value of the motor are measured for each movement of the conveyed object after the motor is driven until it is stopped, and the rotation speed or rotation speed of the motor is measured. The expected weight of the conveyed object is calculated from the corresponding information and the current value of the motor, and the average value of the expected weight for each movement of the conveyed object from the time the motor is driven to the time it is stopped is calculated. The conveyor device according to any one of claims 1 to 5, wherein the estimated weight of the transported object is estimated. 8. The conveyor apparatus according to claim 1, wherein the weight estimation operation calculates the estimated weight of the conveyed product by using the following mathematical expression (1).

Mx is an estimated weight, I is a current value, v is a rotation speed, and c1, c2 and c3 are coefficients. The motor is driven in a state where the transported object does not pass through the transport path, and the rotation speed of the motor or information corresponding to the rotation speed on a one-to-one basis and the current value of the motor are acquired, and the acquired information is acquired. 9. The conveyor apparatus according to claim 1, wherein the estimated weight is corrected by using the rotation speed of the motor or information corresponding to the rotation speed in a one-to-one correspondence and the current value of the motor. The conveyor device according to claim 1, wherein the estimated weight is corrected by using the size of the conveyed product. A transport path for transporting the transport object is formed by connecting the transport path of the conveyor device according to claim 1 and a transport path of another conveyor device in series. .. A weight estimation method for estimating the weight of a conveyed object placed on a conveyor device,
By driving the motor of the conveyor device, the conveyed object is passed through a conveyed path that is inclined upward or downward in the conveying direction of the conveyed object,
Wherein when the conveyance object passes through the conveyance path, and the corresponding information in the rotational speed or the rotational speed and one-to-one of said motor, the weight estimation for estimating the estimated weight of the conveyed object on the basis of the current value of the motor A weight estimation method characterized by performing a motion.

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