JP7398766B1 - sorter - Google Patents

Abstract

The object of the present invention is to make the position at which objects to be sorted fall further away than in the prior art. [Solution] The sorter includes a mounting table, a support, a rotating and tilting part that is attached to the support and rotates and tilts the mounting table, and a weight of an object to be sorted placed on the mounting table. a measuring section for measuring the weight of the object to be sorted; A control unit that controls the rotation and tilting portion so that the writing table rotates and tilts. [Selection diagram] Figure 3

Description

The technology of the present disclosure relates to a sorter.

Patent Document 1 discloses a fruit sorting device that tilts a weighing plate to drop vegetables on a side corresponding to the weight of the vegetables on the weighing plate measured by a load cell.

Japanese Patent Application Publication No. 9-10702

However, since the above-mentioned fruit sorting device causes the vegetables to fall by tilting the weighing plate, the position at which the vegetables fall is close to directly below the weighing plate. If a box containing vegetables is placed under the weighing pan, the vegetables may fall from the weighing pan to the top of the box and leak out of the box.

The technology of the present disclosure was made in view of the above facts, and aims to provide a sorter that allows objects to be sorted to fall further away than in the prior art.

In order to achieve the above object, a sorter according to a first aspect of the technology of the present disclosure includes a mounting table, a rotating and tilting part that rotates and tilts the mounting table, and objects to be sorted placed on the mounting table. a measuring section for measuring weight; and a measuring section configured to cause the object to be sorted placed on the mounting stand to fall at a predetermined position corresponding to the weight of the object to be sorted measured by the measuring section. , a control unit that controls the rotation and inclination portion so that the placement table rotates and inclines, the control unit controlling the weight of the object to be sorted as it becomes heavier; The rotation and tilting portions are controlled so that at least one of the rotational speed and the tilting speed of the mounting table is slow.

The sorter according to the second aspect includes a mounting table, a rotating and tilting section that rotates and tilts the mounting table, a measuring section that measures the weight of the object to be sorted placed on the mounting table, and the The mounting table rotates and tilts so that the object to be sorted placed on the mounting stand falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control section that controls the rotation and tilting section, wherein the predetermined position is farther than a position at which the objects to be sorted fall when the mounting table is only tilted. and the control unit controls the rotation and tilting units so that the mounting table rotates and tilts at the same time.

The sorter according to the third aspect includes a mounting table, a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table, and a measuring section that measures the weight of the object to be sorted placed on the mounting table. a lifting and lowering part for raising and lowering the placing table; and a lifting and lowering part for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering part for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table; A control unit that controls the raising and lowering section and the rotating and tilting section so that the placing table rotates and tilts and also goes up or down so that the sorted items fall. The control section controls the rotation and tilting section so that at least one of the rotational speed and the tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.

The sorter according to the fourth aspect includes a mounting table, a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table, and a measuring section that measures the weight of the object to be sorted placed on the mounting table. a lifting and lowering part for raising and lowering the placing table; and a lifting and lowering part for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering part for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table, and a lifting and lowering section for raising and lowering the placing table; A control unit that controls the raising and lowering section and the rotating and tilting section so that the placing table rotates and tilts and also goes up or down so that the sorted items fall. The predetermined position is a position farther from a position where the object to be sorted falls when the mounting table is only tilted, and the control unit is configured to rotate and tilt the mounting table at the same time. controlling the rotation and tilting portion;

A sorter according to a fifth aspect includes a mounting table, a rotating and tilting section that rotates and tilts the mounting table, an imaging section that takes an image of the object to be sorted placed on the mounting table, and the imaging section. a determination unit that determines whether or not the object to be sorted is within the standard based on image data obtained by imaging the object to be sorted; The placing table rotates and tilts so that the objects to be sorted that fall to a predetermined position and are not determined to be within the specifications fall to a predetermined position for non-standard objects. and a control section that controls the rotation and tilting section.

The technology of the present disclosure can make the position at which objects to be sorted fall farther than in the prior art.

It is a perspective view of the upper part of the sorter of 1st Embodiment. FIG. 2 is a side view of the sorter according to the first embodiment. FIG. 2 is an exploded perspective view of the sorting section of the sorter according to the first embodiment. FIG. 2 is a block diagram of a control system of the sorter according to the first embodiment. FIG. 3 is a functional block diagram of a CPU of the sorter according to the first embodiment. It is a flowchart of the sorting program executed by the CPU of the sorter of the first embodiment. FIG. 7 is a sectional view of a sorter according to a second embodiment. It is a top view of the sorter of 2nd Embodiment. FIG. 7 is a side view of the upper part of the sorter of Modification 1. FIG. 7 is a diagram illustrating a mode in which a load cell and a computer communicate with each other in a sorter according to modification 2; FIG. 7 is a side view of a sorter according to modification 3; FIG. 7 is a partially exploded perspective view of a sorter according to modification 4; FIG. 7 is a side view of a sorter according to modification 4; FIG. 7 is a diagram showing how an attachment rod is attached to a container of Modification 4. 12 is a diagram showing the position of one end of a mounting rod that is fixed to a substrate in Modification 5. FIG. FIG. 7 is a diagram showing how an attachment rod is attached to a container of Modification 5. FIG. 7 is a perspective view of a sorting machine in which attachment rods are attached to containers according to modification 5; FIG. 7 is a diagram showing how an attachment rod is attached to a container of Modification 6. FIG. 12 is a perspective view of a sorting machine that is attached to a container according to modification 7 with a clip. FIG. 7 is a perspective view of a sorter according to modification 8. FIG. 7 is a cross-sectional view of a sorter according to modification 8. FIG. 7 is a perspective view of a sorter according to modification 9. 23 is a perspective view of the sorter of Modification Example 9 taken from an angle different from the angle shown in FIG. 22. FIG. It is a side view of the sorter of 3rd Embodiment. It is a block diagram of the control system of the sorter of 3rd Embodiment. FIG. 3 is a functional block diagram of a CPU of a sorter according to a third embodiment. It is a flowchart of the sorting program executed by the CPU of the sorter according to the third embodiment.

Embodiments of the technology of the present disclosure will be described below with reference to the drawings.

(First embodiment)
First, a first embodiment will be described. FIG. 1 shows a perspective view of the upper part of a sorter 100 according to a first embodiment. As shown in FIG. 1, the sorter 100 is arranged between four containers 20A to 20D for accommodating objects to be sorted, such as taro. If the position of the sorter 100 is taken as the origin, and the vertical direction of the paper in FIG. 1 is taken as the Y axis, and the horizontal direction is taken as the That is, they are arranged at the upper left (rear), upper right (rear), lower right (front), and lower left (front) of the page of FIG. 1 with respect to the position of the sorter 100.

The container 20A is a container that accommodates objects to be sorted whose weight is greater than or equal to W1 and less than W2 (>W1). The container 20B is a container that accommodates objects to be sorted whose weight is in the range of W2 or more and less than W3 (>W2). The container 20C is a container that accommodates objects to be sorted whose weight is in the range of W3 or more and less than W4 (>W3). The container 20D is a container that accommodates objects to be sorted whose weight is greater than or equal to W4 and less than W5 (>W4). The centers of each of the containers 20A to 20D are determined as positions P1 to P4 where the sorted objects are dropped. The position P1 is (x1, y1), the position P2 is (x2, y2), the position P3 is (x3, y3), and the position P4 is (x4, y4). Note that the positions P1 to P4 are, for example, positions 45° in the upper left direction from the origin. Position P2 is a position 45° in the upper right direction from the origin. Position P3 is a position located 45 degrees in the lower right direction from the origin. Position P4 is a position located 45° in the lower left direction from the origin.

FIG. 2 shows a side view of the sorter 100 of this embodiment. Note that, in order to make it easier to understand the sorter 100, FIG. 2 shows containers 20C and 20D located at the lower right (front) and lower left (front) of the four containers 20A to 20D shown in FIG. is removed to show the sorter 100.

As shown in FIG. 2, the sorter 100 includes a fixing plate 14 made of a magnetic material (magnet) removably fixed to a metal flat plate 16, a column 12 attached to the fixing plate 14, and a column 12 supported by the column 12. The present invention includes a sorting section 10 that is separated from the screen, and a mounting section 3040 that is horizontally attached to the upper part of the sorting section 10.

The support column 12 is an example of a "support column" in the technology of the present disclosure. The flat plate 16 and the fixed plate 14 are examples of the "flat plate" and the "fixed plate" of the technology of the present disclosure.

The length of the support column 12 is adjustable in the longitudinal direction (that is, the vertical direction). The length of the support column 12 is adjusted so that the lower end of the sorting section 10 is located at a height higher than the height of the containers 20A to 20D.

The user places the flat plate 16 at a desired position and places the sorter 100 at the center of the flat plate 16. Further, the user places the containers 20A to 20D at the upper left (rear), upper right (rear), lower right (front), and lower left (front) of the page of FIG. 1 relative to the position of the sorter 100. Then, the user inserts an outlet plug (not shown) at the end of the power cord 15 into an outlet to turn on the power to the sorter 100. As described above, the sorter 100 is located at the origin of the X and Y axes. The longitudinal direction of the mounting section 3040 when the power is turned on is the Y-axis direction. The position of the mounting unit 3040 when the power is turned on is the initial position (that is, the original position described later).

As described above, since the length of the support column 12 is adjusted so that the lower end of the sorting section 10 is located at a height higher than the height of the containers 20A to 20D, the user can move the containers 20A to 20D. It can be placed close to the sorter 100. Further, since the fixed plate 14 is removably fixed to the flat plate 16, the user can easily adjust the position of the sorter 100.

FIG. 3 shows an exploded perspective view of the sorting section 10 of the sorter 100 of the first embodiment. As shown in FIG. 3, the sorting section 10 includes a mounting section 3040. The mounting section 3040 includes a flat mounting table 40 and a shock absorbing member 30 affixed to the upper surface of the mounting table 40 with an adhesive or the like.

The mounting table 40 is an example of a "mounting table" in the technology of the present disclosure. The shock absorbing member 30 is an example of the "shock absorbing member" of the technology of the present disclosure.

The shock-absorbing member 30 includes four first shock-absorbing members 32A to 32D in the form of square prisms arranged along a direction perpendicular to the longitudinal direction of the shock-absorbing member 30, and four first shock-absorbing members 32A to 32D disposed along the longitudinal direction of the shock-absorbing member 30. It includes a pair of second shock absorbing members 34A, 34B that are square columns, and a pair of third shock absorbing members 36A, 36B that are square columns arranged along the longitudinal direction.

The first side surface of the second shock absorbing member 34A contacts the bottom surface of one of the first shock absorbing members 32A to 32D, and the first side surface of the second shock absorbing member 34B contacts the bottom surface of one of the first shock absorbing members 32A to 32D. It contacts the other bottom surface of members 32A to 32D. The first side surface of the third shock absorbing member 36A contacts the third side surface opposite to the first side surface of the second shock absorbing member 34A, and the first side surface of the third shock absorbing member 36B contacts the third side surface opposite to the first side surface of the second shock absorbing member 34A. , contacts the third side surface opposite to the first side surface of the second shock absorbing member 34B.

The first shock absorbing members 32A to 32D are square prism cushion members each having the same size and shape. The second shock absorbing members 34A and 34B are square prism cushion members having the same size and shape. The third shock absorbing members 36A and 36B are square prism cushion members each having the same size and shape.

The height of the second shock absorbing members 34A, 34 relative to the top surface of the mounting table 40 is higher than the height of the first shock absorbing members 32A to 32D relative to the top surface of the mounting table 40. The height of the third shock absorbing members 36A, 36B relative to the top surface of the mounting table 40 is higher than the height of the second shock absorbing members 34A, 34 relative to the top surface of the mounting table 40. That is, there is a step between the first shock absorbing members 32A to 32D and the second shock absorbing members 34A, 34, in which the second shock absorbing members 34A, 34 are higher. Further, there is a step between the second shock absorbing members 34A, 34 and the third shock absorbing members 36A, 36B, such that the third shock absorbing members 36A, 36B are higher. Each level difference exists along the longitudinal direction of the shock absorbing member 30. There is an outer step above the inner step. As will be described later, the sorter 100 rotates and tilts the placement section 3040 to drop each object to be sorted into one of predetermined positions P1 to P4 in the containers 20A to 20D. When the mounting portion 3040 is tilted, the objects to be sorted roll along the longitudinal direction due to the steps existing along the longitudinal direction of the shock absorbing member 30. Further, when the mounting section 3040 rotates, the objects to be sorted are moved in the rotational direction by each step. In this way, a guide groove is formed in the shock absorbing member 30 to guide the rolling of the objects to be sorted, and it is possible to prevent the falling position of the objects to be sorted from deviating from any of the positions P1 to P4.

The first shock absorbing members 32A and 32B among the four first shock absorbing members 32A to 32D are pasted so that the first shock absorbing member 32B is on the inside. 32C and 32D are attached to each other so that the first shock absorbing member 32D is on the inside. The first shock absorbing member 32B and the first shock absorbing member 32D are separated from each other. Therefore, in the shock absorbing member 30, a hole 30H of a predetermined size is formed between the first shock absorbing member 32B, the first shock absorbing member 32D, and the second shock absorbing members 34A, 34. There is.

A hole 40H having the same size as the predetermined size is formed in the mounting table 40 at a position corresponding to the hole 30H formed in the shock absorbing member 30.

In this way, holes 30H and 40H of a predetermined size are formed in the mounting portion 3040. Therefore, soil and the like adhering to the objects to be sorted placed on the placing section 3040 can be dropped downward and removed.

The sorting section 10 includes a load cell 42 that measures the weight of the objects to be sorted placed on the mounting section 3040, and a rotating and tilting section 4470 that rotates and tilts the mounting section 3040. The load cell 42 is fixed to the back surface (lower surface) of the mounting section 3040. The rotating and tilting section 4470 is mounted on a table 80 that is attached to the column 12. Table 80 has an upper surface 84 and a folded portion 82 .

The load cell 42 is an example of a "measuring unit" of the technology of the present disclosure. The rotating and tilting portion 4470 is an example of the “rotating and tilting portion” of the technology of the present disclosure.

The rotating and tilting section 4470 includes a tilting section 4450 that tilts the mounting table 40 and a rotating section 6070 that rotates the mounting table 40, which are separated. In this way, since the rotating and tilting section 4470 includes the tilting section 4450 and the rotating section 6070 separately, if either the tilting section 4450 or the rotating section 6070 does not operate, the part that does not operate will malfunction. I can understand that there is.

The inclined part 4450 and the rotating part 6070 are examples of the "inclined part" and the "rotating part" of the technology of the present disclosure.

The slope section 4450 includes a slope table 44 to which the load cell 42 is fixed, and a slope unit 50 to which the slope table 44 is fixed. The inclined table 44 includes an upper surface 44C to which the load cell 42 is fixed, and a pair of side surfaces 44A and 44B that are folded downward from the upper surface 44C and have holes 44D and 44E formed therein. The tilting unit 50 includes a rotating shaft 52 disposed along the horizontal direction and the Y-axis direction, a gear 54 fixed to the rotating shaft 52, a gear 56 that engages with the gear 54, and an output shaft fixed to the gear 56. and a tilt motor 58. The tilt motor 58 is, for example, a servo motor.

One end of the rotating shaft 52 is inserted into a hole 44D in a side surface 44A of the tilt table 44 and a hole 60D in a side surface 60A of a rotary table 60, which will be described later, and is attached to the side surface 44A and the side surface 60A by welding, adhesive, etc. Fixed. The other end of the rotating shaft 52 is inserted into a hole 44E in a side surface 44B of the tilt table 44 and a hole 60E in a side surface 60B of a rotary table 60, which will be described later, and is attached to the side surface 44B and the side surface 60B by welding, adhesive, etc. Fixed. In this way, the tilting table 44 is fixed to the rotating shaft 52, and as described above, the load cell 42 is fixed to the tilting table 44, and the mounting part 3040 is fixed to the load cell 42. Therefore, when power is supplied and the tilting motor 58 rotates to the right or left, the gears 56 and 54 rotate, the rotating shaft 52 rotates, and the mounting section 3040 rotates to the left or right about the rotating shaft 52. The mounting table 40 is rotated in the direction such that the left side in FIG. 2 is tilted downward or the right side is tilted downward. The tilting part 4450 is a tilting actuator that converts the supplied power into a tilting motion of the mounting table, and is a tilting mechanism that tilts the mounting table.

The rotating section 6070 includes a rotating table 60 to which the tilting unit 50 is fixed, and a rotating unit 70 to which the rotating table 60 is fixed. The rotary table 60 includes a top surface 60C to which the tilting unit 50 is fixed and a hole 60F formed therein, and a pair of side surfaces 60A and 60B that are folded upward from the top surface 60C and have holes 60D and 60E formed therein. . As described above, one end of the rotating shaft 52 is inserted into the hole 60D in the side surface 60A of the rotating table 60, and one end of the rotating shaft 52 is fixed to the side surface 60A of the rotating table 60. Further, the other end of the rotating shaft 52 is inserted into the hole 60E in the side surface 60B of the rotating table 60, and the other end of the rotating shaft 52 is fixed to the side surface 60B of the rotating table 60. The rotation unit 70 includes a rotation shaft 72 arranged along the vertical direction, a gear 74 fixed to the rotation shaft 72, a gear 76 that engages with the gear 74, and a rotation motor whose output shaft is fixed to the gear 76. It is equipped with 78. The rotary motor 78 is, for example, a servo motor.

One end of the rotating shaft 72 is inserted into a hole 60F formed in the upper surface 60C of the rotary table 60, and is fixed to the upper surface 60C by welding, adhesive, or the like. As described above, the tilting unit 50 is fixed to the rotary table 60, and the load cell 42 and the mounting section 3040 are fixed to the tilting unit 50. Therefore, when power is supplied and the rotary motor 78 rotates to the right or left, the gears 76 and 74 rotate, the rotary shaft 72 rotates, and the rotary table 60 and the mounting section 3040 rotate around the rotary shaft 72. The mounting table 40 rotates counterclockwise or clockwise in FIG. 1 . The rotating unit 6070 is a rotary actuator that converts the supplied power into rotational motion of the mounting table, and is a rotation mechanism that rotates the mounting table.

The rotation unit 70 and a computer 102, which will be described later, are fixed to an upper surface 84 of a table 80. A side surface of the rotation unit 70 is fixed to a folded portion 82 of a table 80.

As described above, the mounting section 3040 and the load cell 42 are arranged above the rotating and inclined section 4470 in a line in the longitudinal direction of the support column 12, and the rotating section 6070 and the inclined section 4450 are arranged in a line in the longitudinal direction of the support column 12. It is located in Therefore, it is possible to prevent the sorter 100 from expanding laterally.

FIG. 4 shows a block diagram of the control system of the sorter 100 according to the first embodiment. As shown in FIG. 4, the sorter 100 includes a computer 102. The computer 102 includes a CPU (Central Processing Unit) 104, a ROM (Read Only Memory) 106, a RAM (Random Access Memory) 108, and an input/output (I/O) port 110. CPU 104, ROM 106, RAM 108, and I/O port 110 are interconnected via bus 112.

The CPU 104 is an example of a "control unit" in the technology of the present disclosure.

The I/O port 110 is connected to a load cell 42, a tilt motor 58, a rotary motor 78, a power supply module 120, a transmitter 124, and a storage device 126.

When the power is turned on as described above, the power supply module 120 supplies the power supply voltage to the load cell 42, tilt motor 58, rotary motor 78, transmitter 124, and storage device 126 through power lines (not shown). This is a transformer that converts and supplies the required predetermined voltage.

The storage device 126 includes a selection program 126P, which will be described in detail later, and a data table 126T.

The data table 126T stores the position Pg at which the object to be sorted is dropped, the rotational speed vg of the placing section 3040, and the tilting speed ug of the placing section 3040, corresponding to the weight range hg of the object to be sorted. ing.

The weight range hg of the objects to be sorted includes a first range h1 to a sixth range h6. The first range h1 is a weight range of 0 to less than W1. The second range h2 is a range in which the weight is greater than or equal to W1 and less than W2. The third range h3 is a range in which the weight is greater than or equal to W2 and less than W3. The fourth range h4 is a range in which the weight is greater than or equal to W3 and less than W4. The fifth range h5 is a range in which the weight is greater than or equal to W4 and less than W5. The sixth range h6 is a range in which the weight is equal to or greater than W5.

As described above, the centers of the containers 20A to 20D are determined as positions P1 to P4 where the sorted objects are dropped. The position P1 corresponds to the second range h2, is set at the center of the container 20A, is (x1, y1), and is the falling position of the object to be sorted whose weight is within the second range h2. The position P2 corresponds to the third range h3, is set at the center of the container 20B, is (x2, y2), and is the falling position of the object to be sorted whose weight is within the third range h3. The position P3 corresponds to the fourth range h4, is set at the center of the container 20C, is (x3, y3), and is the falling position of the object to be sorted whose weight is within the fourth range h4. The position P4 corresponds to the fifth range h5, is set at the center of the container 20D, is (x4, y4), and is the falling position of the object to be sorted whose weight is within the fifth range h5.

The rotational speed vg of the mounting section 3040 has a first rotational speed v1 to a fourth rotational speed v4. The first rotational speed v1 corresponds to the second range h2. The second rotation speed v2 corresponds to the third range h3, and v1>v2. The third rotation speed v3 corresponds to the fourth range h4, and v2>v3. The fourth rotational speed v4 corresponds to the fifth range h5, and v3>v4. The first rotation speed v1 to the fourth rotation speed v4 decrease as the weight increases. In other words, as the weight of the objects to be sorted increases, the rotational speed of the mounting section 3040 is decreased to reduce the load on the rotary motor 78.

The tilt speed ug of the mounting section 3040 includes a first tilt speed u1 to a fourth tilt speed u4. The first rotational speed u1 corresponds to the second range h2. The second rotational speed u2 corresponds to the third range h3, and u1>u2. The third rotational speed u3 corresponds to the fourth range h4, and u2>u3. The fourth rotational speed u4 corresponds to the fifth range h5, and u3>u4. The first rotation speed u1 to the fourth rotation speed u4 decrease as the weight increases. In other words, as the weight of the object to be sorted becomes heavier, the rotational speed of the mounting section 3040 is decreased to reduce the load on the tilt motor 58.

FIG. 5 shows a functional block diagram of the CPU 104 of the sorter 100 of the first embodiment. The functions of the CPU 104 include an initialization function, a determination function, a setting function, an import function, a determination function, a supply control function, a read function, a motor control function, and a transmission processing function. As shown in FIG. 5, the CPU 104 executes any one of the above-mentioned screening programs, thereby controlling the initialization section 132, judgment section 134, setting section 136, import section 138, determination section 140, input control section 142, reading It functions as a section 144, a motor control section 146, and a transmission processing section 148.

Next, the operation of this embodiment will be explained.

FIG. 6 shows a flowchart of a sorting program executed by the CPU 104 of the sorter 100 of the first embodiment. The sorting program 126P starts when the power is turned on as described above. The sorting process is executed by the CPU 104 executing the sorting program 126P.

In step 152, the initialization unit 132 initializes to 0 each variable (HWg, M) used when executing the selection program 126P, the details of which will be described later. In step 154, the determination unit 134 determines whether the object to be sorted is placed on the placement unit 3040 based on the signal from the load cell 42. If it is not determined that the object to be sorted has been placed on the placing section 3040, it is determined whether or not the object to be sorted has been placed on the placing section 3040 until it is determined that the object to be sorted has been placed on the placing section 3040. to judge. If it is determined that the object to be sorted has been placed on the placing section 3040, the sorting process proceeds to step 156.

In step 156, the setting unit 136 sets the number of measurements n of the weight of the object to be sorted to 0, in step 158, the setting unit 136 increments the number of measurements n by 1, and in step 160, the capturing unit 138 , the weight m of the object to be sorted is taken in based on the signal from the load cell 42, and in step 162, the setting unit 136 sets the weight m of the object to be sorted to a variable Mn.

In step 164, the determining unit 134 determines whether the variable Mn has the same value as the value set in the variable Mn based on the value of the variable M (M1 to Mn-1) that has already been set. It is determined whether a weight with the same value as is detected. If it is not determined that a weight having the same value as the variable Mn has been detected, the screening process returns to step 158.

By the way, when the object to be sorted is placed on the placing part 3040, the value of the signal from the load cell 42 increases or decreases (specifically, vibrates) over time. Specifically, the moment the object to be sorted is placed on the placing section 3040, the object to be sorted has fallen onto the placing section 3040, and the value of the signal from the load cell 42 is equal to the original weight. greater than the value. Thereafter, the object to be sorted is bounced off the mounting portion 3040, and the value of the signal from the load cell 42 becomes smaller than the original weight value. After that, the objects to be sorted that have been bounced back fall onto the mounting section 3040, but they fall from a lower place than the initial fall, and the value of the signal from the load cell 42 is lower than the original weight value. It will be larger, but smaller than it was during the initial fall. In this way, the value of the signal from the load cell 42 oscillates, gradually approaches the original value, and becomes the original value. Therefore, it is determined that a weight having the same value as the variable Mn has been detected, and step 164 becomes an affirmative determination.

By the way, as described above, in the mounting section 3040, the shock absorbing member 30 is attached to the upper surface of the mounting table 40. Therefore, the moment the object to be sorted is placed on the placement section 3040, the object to be sorted falls onto the placement section 3040, but the impact of the fall of the object to be sorted is absorbed by the shock absorbing member 30. Therefore, compared to the case where the shock absorbing member 30 is not provided and the load cell 42 is placed directly on the mounting table 40, in this embodiment, the amplitude of vibration of the value of the signal from the load cell 42 is small, and the vibration width of the value of the signal from the load cell 42 is small, and the vibration width is small until the value reaches the original value. time can be shortened.

If the determination in step 164 is affirmative, the value of the variable Mn can be determined to be the original weight of the object to be sorted, and in step 166, the determining unit 140 determines the weight range hg to which Mn belongs.

In step 168, the setting unit 136 sets HWg to a value obtained by adding Mn to HWg. HWg is an integrated value for each weight range hg, and for example, each value of HW2 to HW5 is the total weight of the objects to be sorted contained in each of the containers 20A to 20D.

In step 170, the determining unit 134 determines whether hg=1 (the first range has been determined). If hg=1, the screening process proceeds to step 194. If hg=1, the screening process proceeds to step 172.

In step 172, the determining unit 134 determines whether hg=6 (the sixth range has been determined). If hg=6, the screening process proceeds to step 194. If hg=6, the screening process proceeds to step 174.

In step 174, the power-on control unit 142 controls the power supply module 120 to power on each motor (tilt motor 58 and rotary motor 78). As a result, the tilt motor 58 and rotary motor 78, which had been able to rotate freely until then, can no longer rotate freely.

In step 176, the reading unit 144 reads the falling position Pg, rotational speed vg, and tilting speed ug corresponding to hg from the data table 126T of the storage device 26.

At step 178, the motor control section 146 controls the rotation motor 78 to rotate the mounting table 40 (the mounting section 3040) at a rotational speed vg. At step 180, the motor control unit 146 controls the tilting motor 58 to tilt the mounting table 40 (the mounting unit 3040) at a tilting speed ug.

In step 182, the determining unit 134 determines whether the mounting table 40 (the mounting unit 3040) has faced the drop position Pg. If it is not determined that the mounting table 40 is oriented toward the dropping position Pg, the processes of step 178 and step 180 are executed until it is determined that the mounting table 40 is oriented toward the dropping position Pg. If it is determined that the mounting table 40 is facing the falling position Pg, in step 183, the motor control unit 146 controls the rotation motor 78 and the tilting motor 58 to stop the rotation and tilting of the mounting table 40. Then, in step 184, the determining unit 134 determines whether or not a predetermined time has elapsed, and if it is not determined that the predetermined time has elapsed, it repeats this determination until it is determined that the predetermined time has elapsed. Note that for a predetermined period of time, from the time when the rotation and tilting of the mounting table 40 is stopped, the objects to be sorted roll on the mounting table 40 (placing section 3040) and the objects to be sorted leave the mounting table 40 (placing section 3040). This is a predetermined time. Note that it may be determined from the value of the signal from the load cell 42 whether or not the object to be sorted has left the mounting table 40 (mounting section 3040).

Specifically, the motor control section 146 moves the objects to be sorted placed on the mounting section 3040 to a predetermined position corresponding to the weight of the objects to be sorted measured by the load cell 42 as follows. The rotation motor 78 and the tilt motor 58 are controlled so that the mounting section 3040 simultaneously rotates and tilts so as to fall. The phrase "the mounting section 3040 rotates and tilts at the same time" means that the mounting section 3040 rotates and tilts at the same time. For the placing part 3040 to rotate and tilt at the same time, firstly, the placing part 3040 first starts to rotate, and the placing part 3040 starts to tilt while the placing part 3040 is rotating. If the placing part 3040 tilts while rotating, secondly, if the placing part 3040 starts rotating and inclining at the same time, the placing part 3040 tilts while rotating; thirdly, if the placing part 3040 tilts while rotating; This includes a case where the receiver 3040 first starts to tilt and the receiver 3040 starts to rotate while the receiver 3040 is tilted, so that the receiver 3040 tilts while rotating. Note that steps 178 to 182 are for the first case.

For example, when the second range h2 is determined, it is necessary to drop the objects to be sorted into P1 (x1, y1) of the container 20A. As described above, the mounting section 3040 is located along the X-axis direction at the initial position. Therefore, while rotating the mounting section 3040 by 45 degrees clockwise from the initial position, the mounting section 3040 is tilted so that the left side of the mounting section 3040 is downward.

When the third range h3 is determined, it is necessary to drop the objects to be sorted into P2 (x2, y2) of the container 20B. While rotating the mounting section 3040 counterclockwise by 45 degrees from the initial position, the mounting section 3040 is tilted so that the right side of the mounting section 3040 is facing down.

When the fourth range h4 is determined, it is necessary to drop the objects to be sorted into P3 (x3, y3) of the container 20C. While rotating the mounting section 3040 clockwise by 45 degrees from the initial position, the mounting section 3040 is tilted so that the right side of the mounting section 3040 is facing down.

When the fifth range h5 is determined, it is necessary to drop the objects to be sorted into P4 (x4, y4) of the container 20D. While rotating the mounting section 3040 counterclockwise by 45 degrees from the initial position, the mounting section 3040 is tilted so that the left side of the mounting section 3040 is downward.

As a result, the objects to be sorted fall to a predetermined position corresponding to the weight of the objects to be sorted measured by the load cell 42 during the predetermined time period.

As described above, in this embodiment, the placement section 3040 is simultaneously rotated so that the objects to be sorted placed on the placement section 3040 fall to predetermined positions corresponding to the weight of the objects to be sorted. and tilt it. On the other hand, if the placing section 3040 is simply tilted, the objects to be sorted may fall into the container at a position close to the sorter 100, and in some cases may come off the container and enter another container. be. However, as described above, in this embodiment, the mounting section 3040 is rotated and tilted at the same time, so the rotation generates centrifugal force on the objects to be sorted, causing them to fall to the drop position determined at the center of each container. be able to.

If it is determined in step 184 that the predetermined time has elapsed, in step 186 the motor control unit 146 controls the rotary motor 78 and the tilting motor 78 to return the mounting table to its original position (see FIG. 1 (initial position)). The motor 58 is controlled.

In step 188, the power-on control unit 142 stops powering on each motor (rotary motor 78 and tilt motor 58).

On the other hand, if it is determined in step 170 that hg = 1 (the first range has been determined), or if it is determined that hg = 6 (the sixth range has been determined) in step 172, the sorting process The process proceeds to step 194. In step 194, the determining unit 134 determines whether the object to be sorted has been removed from the placing unit 3040. In other words, the rotation motor 78 and the tilt motor 58 are not driven, and the mounting section 3040 remains stationary. When the user sees that the placing section 3040 remains stationary, the user determines that the size of the object to be sorted placed on the placing section 3040 is relatively small (range of weight of the object to be sorted hg = 1). In some cases, the object to be sorted is manually removed from the mounting section 3040 and placed in a container for hg=1. In addition, the user who saw the state in which the placing section 3040 remained stationary noticed that the size of the object to be sorted placed on the placing section 3040 was relatively large (range of weight of the object to be sorted hg = 6). In some cases, it may be determined that the object to be sorted is manually removed from the mounting section 3040 and placed in a container for hg=6.

Therefore, as a result, the objects to be sorted can be sorted into six weight ranges.

At step 190, the determining unit 134 determines whether or not the sorting has been completed. For example, it is determined that the sorting has ended when an end button (not shown) is turned on, or it is determined that the sorting has ended when no objects are placed on the placing section 3040 for a certain period of time. or may be done.

In step 192, the transmission processing unit 148 transmits each HWg (the total weight of the objects to be sorted contained in each container) to a predetermined destination (for example, a management device (for example, a smartphone)).

As explained above, in this embodiment, the placing section is simultaneously moved so that the objects to be sorted placed on the placing section fall to predetermined positions corresponding to the weight of the objects to be sorted. Rotate and tilt. Therefore, in this embodiment, centrifugal force is generated on the objects to be sorted, and the objects can be caused to fall to the center of each container, which is a position far from the end near the sorter.

Furthermore, in this embodiment, the power is turned on to the rotary motor 78 and the tilt motor 58 only when the rotary motor 78 and the tilt motor 58 are controlled, so the rotary motor 78 and the tilt motor 58 are not controlled. In this case, the power supply to the rotary motor 78 and the tilting motor 58 is stopped so that the rotary motor 78 and the tilting motor 58 can rotate freely. Therefore, even if the mounting section 3040 receives a shock when the control of the rotary motor 78 and the tilt motor 58 is finished, the rotary motor 78 and the tilt motor 58 can freely rotate, so the shock can be released. It is possible to prevent the rotary motor 78 and the tilt motor 58 from breaking down.

By the way, in the technology of the present disclosure, no matter which of the second range h2 to the fifth range h5 is determined, the mounting section 3040 is rotated in a certain direction (for example, clockwise) and rotated on one side (for example, , right side) may be tilted downward. In this case, for example, once the third range h3 is determined, the placing section 3040 must be rotated 315 degrees clockwise from the initial position, and the time required from when the object to be sorted is placed until it falls is takes a long time. However, in the present embodiment, when each of the second range h2 to the fifth range h5 is determined, the placing section 3040 is rotated clockwise, counterclockwise, clockwise, and counterclockwise from the initial position. and tilt the left side down, the right side down, the right side down, and the left side down. Therefore, in this embodiment, the time from when the object to be sorted is placed until it falls can be shortened.

(Second embodiment)
Next, a sorter 200 according to a second embodiment will be explained. FIG. 7 shows a cross-sectional view of the sorter 200, and FIG. 8 shows a top view of the sorter 200. Note that the configuration of the sorter 200 of the second embodiment has the same parts as the configuration of the sorter 100 of the first embodiment, so the same parts are denoted by the same reference numerals and the details thereof will be explained. Further explanations will be omitted. As shown in FIGS. 7 and 8, a plurality of, for example, four, containers 20E to 20H are arranged around the containers 20A to 20D.

As shown in FIG. 7, the sorter 200 includes a raising and lowering part 202 between the sorting part 10 and the support column 12, which raises and lowers the sorting part 10. Although not shown in FIG. 7, a mounting section 3040 is fixed on the sorting section 10, and the fixing plate 14 under the support column 12 is fixed on the flat plate 16.

The ascending and descending section 202 includes a plurality of (at least three) columns 204A, 202B whose upper ends are in contact with the sorting section 10 (table 80 (see FIG. 3)) and have thread grooves formed around them, and columns 204A, 202B. The gears 206A, 206B mesh with the thread grooves of the gears 206A, 206B, and the motors 208A, 208B have output shafts fixed to the gears 206A, 206B. When the motors 208A, 208B rotate in the first direction or a second direction opposite the first direction, the gears 206A, 206B rotate and the struts 204A, 202B rise or fall. As a result, the sorting section 10 moves up or down.

The position of the sorting unit 10 indicated by a solid line in FIG. Sort into one of containers 20A to 20D.

In FIG. 7, the position of the sorting unit 10 indicated by the dashed line is in the raised position, and the objects to be sorted whose weights are in the first range h1 and the sixth range h6 are sorted into one of the containers 20E to 20H.

The first embodiment includes a container for manually sorting objects whose weights are equal to or greater than the first range h1 and the sixth range h6.

On the other hand, in the second embodiment, a container 20E containing objects to be sorted whose weight is in the first range h1 and a container 20E containing objects to be sorted whose weight is in the first range h1 and objects in a range where the sixth range h6 is divided into a plurality of parts, for example, three parts, are used. Containers 20F to 20H are provided to accommodate the sorted materials. Specifically, the sixth range h6 is defined as a 6-1 range h6-1 where the weight is W5 or more and less than W6 (>W5), and a 6-1 range h6-1 where the weight is W6 or more and W7 (>W6). The weight is divided into a 6-2 range h6-2 where the weight is less than W7, and a 6-3 range h6-3 where the weight is W7 or more. A container 20F that accommodates objects to be sorted whose weight is in the 6-1st range h6-1, a container 20G that accommodates objects to be sorted whose weight is in the 6-2nd range h6-2, and a container 20G that accommodates objects whose weight is in the 6-2nd range h6-2. 6-3 and a container 20H for accommodating objects to be sorted in the range h6-3.

When the sorting unit 10 is located in the raised position, a passageway (duct, gutter) 200E has one end located near the inclined lower end of the placing part 3040 and the other end located near the center of the containers 20E to 20H. ~200H is provided.

The center of the containers 20E to 20H is sorted with weights in the first range h1, the 6-1 range h6-1, the 6-2 range h6-2, and the 6-3 range h6-3. It is predetermined as the position at which the object will fall.

In the selection program of the second embodiment, when step 170 or step 172 in FIG. 6 is affirmed, the following process is executed instead of step 194. When the following processing is completed, the sorting processing proceeds to step 186.

First, the motor control section 146 controls each motor 208, 208B so as to position the sorting section 10 at the raised position.

When the first range h1 is determined, the motor control unit 146 controls the rotary motor 78 and the tilt motor so that the placement unit 3040 faces the passage 200E and tilts so that the objects to be sorted roll onto the passage 200E. 58.

When the 6-1 range h6-1 is determined, the motor control unit 146 controls the rotary motor so that the placement unit 3040 faces the passage 200E and tilts so that the objects to be sorted roll onto the passage 200E. 78 and tilt motor 58.

When the 6-2 range h6-2 is determined, the motor control unit 146 controls the rotary motor so that the placement unit 3040 faces the passage 200E and tilts so that the objects to be sorted roll onto the passage 200E. 78 and tilt motor 58.

When the 6-3 range h6-3 is determined, the motor control unit 146 controls the rotary motor so that the placement unit 3040 faces the passage 200E and tilts so that the objects to be sorted roll onto the passage 200E. 78 and tilt motor 58.

As explained above, in the second embodiment, objects to be sorted can be further sorted into containers 20E to 20H in addition to containers 20A to 20D.

In the second embodiment, the weight range is divided into eight ranges, and the objects to be sorted are sorted into containers 20A to 20D and containers 20E to 20H, but even more containers are prepared. However, the objects to be sorted may be sorted. In this case, instead of one raised position, a plurality of raised positions with different heights may be defined, and passages may be provided accordingly.
The raising and lowering part 202 of the second embodiment includes a plurality of columns 204A, 202B, gears 206A, 206B that mesh with the thread grooves of the columns 204A, 202B, and a motor 208A whose output shaft is fixed to the gears 206A, 206B. , 208B. The technology of the present disclosure is not limited to this. The ascending and descending section 202 includes a plurality of solenoids (three or more) and a plurality of plungers that are pulled upward when the plurality of solenoids operate. The CPU 104 operates the plurality of solenoids and pulls the plurality of plungers upward in order to position the sorting section 10 in the raised position.

(Modification 1)
In the sorting section 10 of each example described above, the load cell 42 is fixed to the back surface (lower surface) of the mounting section 3040, but the technology of the present disclosure is not limited to this, and the load cell 42 cannot be rotated or tilted. Specifically, as shown in FIG. Good too. The import unit 138 detects the weight of the object to be sorted by subtracting the total weight of each part (30, 40, and 4470) above the load cell 42 from the value based on the signal from the load cell 42 (step 160). In this way, the load cell 42 is located in a position that neither rotates nor tilts, so the durability of the load cell 42 is improved, and specifically, the power supply line (not shown) from the power supply module 120 is prevented from coming off the load cell 42. It can be prevented.

(Modification 2)
In the sorting unit 10 of each example described above, the load cell 42 and the computer 102 are connected by a signal line, but the technology of the present disclosure is not limited to this. As shown in FIG. 10, the sorting unit 10 includes a transmitter 45 corresponding to the load cell 42, and a receiver 125 connected to the I/O port 110 corresponding to the computer 102. Note that other devices (for example, the tilt motor 58, etc.) are omitted in FIG. 10. A transmitter 45 transmits a signal of the value detected by the load cell 42, and a receiver 125 receives this signal. As a result, the signal line can be omitted, and the durability of the load cell 42 can be improved compared to each of the examples described above.

(Modification 3)
In the sorting device 100 of each example described above, as shown in FIG. 2, the support 12 is attached to a fixed plate 14 made of a magnetic material (magnet) that is removably fixed to a flat metal plate 16. The technology of the present disclosure is not limited to this. As shown in FIG. 11, in the sorter 100 of Modification 3, the lower end of the support column 12 is attached to a base 140K. The base 140K may be a cross support. Note that the number is not limited to a cross (four), and may be three or five. The base 140K may be a disk or a rectangular disk.

(Modification 4)
In the sorting device 100 of each example described above, the sorting section 10 is supported by a support 12, as shown in FIG. The technology of the present disclosure is not limited to this. As shown in FIGS. 12 to 14, the sorter 100 of Modified Example 4 includes attachment portions (500 to 502C) that are attached to the attached portion in place of the pillars 12. The attachment parts (500 to 502C) are attached to the edges 20AE to 20DE, which are the attached parts of the containers 20A to 20D. The mounting portions (500 to 502C) include a substrate 500 on which a rotating and tilting portion 4470 is disposed on the upper surface, and a plurality of (for example, four) mounting rods having one end disposed at each corner of the lower surface of the substrate 500. 502A to 502D. Each of the attachment rods 502A to 502D is, for example, an L-shaped rod. Note that a rod having a cylindrical shape may be used.

As shown in FIG. 14, each of the attachment rods 502A-502D is located at each of the bent portions of the edges 20CE-20BE of the containers 20C-20B, and the other end of each of the attachment rods 502A-502D located inside.

Edges 20CE, 20DE of the two containers 20C, 20D are located between the two attachment rods 502A, 502B. The edges 20DE, 20AE of the two containers 20D, 20A are located between the two attachment rods 502B, 502C. Edges 20AE, 20BE of the two containers 20A, 20B are located between the two attachment rods 502C, 502D. The edges 20BE, 20CE of the two containers 20B, 20C are located between the two attachment rods 502D, 502A.

The bent portions of the edges 20CE and 20AE of the containers 20C and 20A are located between a pair of attachment rods 502A and 502C located diagonally on the lower surface of the substrate 500 among the four attachment rods 502A to 502D. . The bent portions of the edges 20DE, 20BE of the containers 20D, 20B are located between a pair of mounting rods 502B, 502D located diagonally on the lower surface of the substrate 500.

The lower surface of the substrate 500 is placed on the edges 20AE-20DE of the containers 20A-20D.

In this way, the lower surface of the substrate 500 is placed on the edges 20AE-20DE of the containers 20A-20D. Each of the four attachment rods 502A to 502D arranged at each corner of the lower surface of the substrate 500 is located at each of the bent portions of the edges 20CE to 20BE of the containers 20C to 20B. The other end of each of the attachment rods 502A-502D is located inside the container 20C-20B. Therefore, in the fourth modification, the sorter 100 can be fixed to the containers 20A to 20D.

(Modification 5)
In modification 4, the attachment parts (500 to 502C) are attached to each edge 20AE to 20DE of the containers 20A to 20D, and the four attachment rods 502A to 502D are arranged at each corner of the lower surface of the substrate 500. . The technology of the present disclosure is not limited to this. As shown in FIGS. 15 to 17, the attachment portions (600 to 602C) are attached to any one of containers 20A to 20D, and in the example shown in FIGS. 15 to 17, to container 20A.

The mounting portions (600 to 602C) include a substrate 600 on which the rotating and tilting portion 4470 is arranged on the upper surface, and a plurality of (for example, four) mounting rods 602A to 602A on which one end is arranged on the lower surface 600DS of the substrate 600. 602D. Each of the attachment rods 602A to 602D is, for example, an L-shaped rod. Note that a rod having a cylindrical shape may be used.

One ends of the attachment rods 602A, 602C are arranged at a pair of opposite corners 600DS1, 600DS3 of the lower surface 600DS of the substrate 600. One ends of the attachment rods 602B and 602D are arranged on the sides of a pair of opposing corners 600DS2 and 600DS4 of the lower surface 600DS of the substrate 600.

As shown in FIGS. 16 and 17, the attachment rod 602A is located outside the connecting portion between the first edge 20AE1 and the second edge 20AE2 (the bent portion of the edge 20AE). Attachment rod 602B is adjacent to second edge 20AE2, and the other end of attachment rod 602B is located inside container 20A. Attachment rod 602D is adjacent to first edge 20AE1, and the other end of attachment rod 602D is located inside container 20A. Attachment rod 602C is not adjacent to first edge 20AE1 or second edge 20AE2, and the other end of attachment rod 602C is located inside container 20A.

As shown in FIGS. 16 and 17, the first edge 20AE1 of the container 20A is located between the attachment rod 602A and the attachment rod 602D, and the first edge 20AE1 of the container 20A is located between the attachment rod 602A and the attachment rod 602B. 2 edge 20AE2 is located.

In modification 5, the sorter 100 can be fixed to the container 20A. The sorter 100 may be fixed to any of the containers 20B to 20D other than the container 20A.

(Modification 6)
The mounting portion of the sorter 100 of each of Modifications 4 and 5 includes four mounting rods on the bottom surface of the substrate 500 on which the rotating and tilting portion 4470 is disposed on the top surface. The technology of the present disclosure is not limited to this. As shown in FIG. 18, the mounting portion of the sorter 100 of Modification 6 includes a substrate 650 on which a rotating and inclined portion 4470 is arranged on the upper surface, and three mounting rods 652A to 652C on the lower surface of the substrate 650. , is provided. The attachment rod 652A is an L-shaped rod. The attachment rods 652B and 652C are flat plates.

The lower surface of the substrate 600 is divided into four regions by connecting the center of each pair of two opposing sides of the lower surface, and the four regions are defined as regions 650R1 to 650R4. Three attachment rods 652A-652C are attached within one of the four regions 650R1-650R4, for example region 650R1.

One end of the attachment rod 652A is located on the center C side of the lower surface of the substrate 600 within the region 650R1. The attachment rod 652A is located outside the connecting portion between the first edge 20AE1 and the second edge 20AE2 (the bent portion of the edge 20AE). One ends of the attachment rods 652B and 652C are located on two sides of the lower surface within the region 650R. A first edge 20AE1 of the container 20A is located between the attachment rod 652A and the attachment rod 652C, and a second edge 20AE2 of the container 20A is located between the attachment rod 652A and the attachment rod 652B. The other ends of the attachment rods 652B, 652C are located inside the container 20A.

In modification 6, the sorter 100 can be fixed to the container 20A. The sorter 100 may be fixed to any of the containers 20B to 20D other than the container 20A.

(Modification 7)
The mounting portion of the sorter 100 of each of Modifications 4 to 6 includes a mounting rod on the bottom surface of the substrate on which the rotating and tilting portion 4470 is disposed on the top surface. The technology of the present disclosure is not limited to this. As shown in FIG. 19, the attachment portion of the sorter 100 of Modification Example 7 includes a substrate 660 on which a rotating and inclined portion 4470 is disposed on the upper side, and a clip 702 attached to the lower side of the substrate 660. The clip 702 is a clipping tool that clips an object using the clipping force of a spring. The clip 702 includes a pair of members 702AB1 and 702AB2 rotatably attached to the shaft 702C. The member 702AB1 includes a widened extension part 702A1 on one end side and a flat plate-shaped knob part 702B1 on the other end side. The member 702AB2 includes a widened extension 702A2 at one end and a tab-shaped knob 702B2 at the other end. The expanded portion 702A1 and the expanded portion 702A2 are closed by the coil spring 702D into which the shaft 702C is inserted. Either the knob 702B1 or the knob 702B2, for example the knob 702B1, is attached to the lower surface of the substrate 660, but the other, for example the knob 702B2, is not attached to the lower surface of the substrate 660. do not have.

The user moves the extended portions 702A1 and 702A2 away from each other by applying force to the grip portions 702B1 and 702B2 with their fingers so that the grip portions 702B1 and 702B2 are in contact with each other. The user positions the sorter 100 so that the edge 20AE of the container 20A is located between the expanded portion 702A1 and the expanded portion 702A2. The user releases his/her fingers from the knob 702B1 and the knob 702B2. As a result, the expanded portion 702A1 and the expanded portion 702A2 are closed, and the sorter 100 is attached to the edge 20AE of the container 20A.

In modification 7, the sorter 100 can be fixed to the container 20A. The sorter 100 may be fixed to any of the containers 20B to 20D other than the container 20A.

(Modification 8)
As shown in FIG. 2, the rotating and tilting portion 4470 of the sorter 100 of the first embodiment is attached to a support 12 attached to a fixed plate 14 provided on the ground or floor, for example. The technology of the present disclosure is not limited to this. As shown in FIGS. 20 and 21, the rotating and tilting portion 4470 of the sorter 100 of Modification 8 is fixed to a support member 802 supported above the containers 20A to 20B. One end of support member 802 is attached to wall 801. The rotating and tilting portion 4470 is attached to the other end side of the support member 802.

The technology of the present disclosure is not limited to one end of the support member 802 being attached to the wall 801 and the rotating and tilting portion 4470 being attached to the other end side of the support member 802. For example, one end of the support member 802 is attached to the first wall 801, the other end of the support member 802 is attached to a second wall (not shown) opposite to the first wall 801, and the rotating and tilting portion 4470 is , is attached between one end and the other end of support member 802.

In modification 7, the sorter 100 can be fixed to the support member 802 above the containers 20A to 20B.

(Modification 9)
In the first embodiment, containers 20A to 20D are arranged around and adjacent to sorter 100. The technology of the present disclosure is not limited to this. As shown in FIGS. 22 and 23, in Modification 9, containers 20A and 20D among the plurality of containers 20A to 20D are arranged adjacent to sorter 100. However, container 20B is located adjacent to container 20A and away from sorter 100. Container 20C is located adjacent to container 20D and away from sorter 100. In this way, the containers 20B and 20C are placed at a position away from the sorter 100, so that when the loading section 3040 rotates and tilts, the objects to be sorted fall from the loading section 3040 (at a predetermined position). The containers 20B and 20C are not located at this position. Therefore, in modification example 9, as shown in FIGS. 22 and 23, the sorter 100 of modification example 9 connects predetermined positions and containers 20B and 20C, and also connects the containers 20B and 20C to a predetermined position and prevents the sorter 100 from falling from the inclined mounting section 3040. Sloping troughs 302, 304 are provided so that the objects to be sorted roll into the containers 20B, 20C.

(Modification 10)
In each of the examples described above, the user manually places the objects to be sorted on the placing section 3040. The technology of the present disclosure is not limited to this. For example, the placement unit may automatically place the objects to be sorted on the placement unit 3040. The mounting section is, for example, a belt conveyor, a robot arm, or the like.

(Third embodiment)
Next, a sorter 300 according to a third embodiment will be explained. FIG. 24 shows a side view of the sorter 300. Note that the configuration of the sorter 300 of the third embodiment has the same parts as the configuration of the sorter 100 of the first embodiment, so the same parts are denoted by the same reference numerals, and the details will be explained. Further explanations will be omitted. Compared to the sorter 100 of the first embodiment, the sorter 300 of the third embodiment is different in that it further includes a camera 400 that takes an image of the object to be sorted placed on the mounting section 3040. do. Camera 400 is an example of an "imaging unit" of the technology of the present disclosure.

FIG. 25 is a block diagram of the control system of the sorter 300. Compared to the control system of the sorter 100 of the first embodiment, the control system of the sorter 300 of the third embodiment is different in that it further includes a camera 400.

The storage device 126H of the sorter 300 includes a sorting program 126PH, which will be described in detail later, and data tables 126T1 and 126T2.

As shown in FIG. 4, the data table 126T of the storage device 126 of the first embodiment includes a position Pg at which the object to be sorted is dropped, a position Pg at which the object to be sorted is dropped, a placement portion 3040 The rotational speed vg of the mounting section 3040 and the tilting speed ug of the mounting section 3040 are stored.

On the other hand, the data table 126T1 stores the rotational speed vg of the mounting section 3040 and the tilting speed ug of the mounting section 3040, corresponding to the range hg of the weight of the objects to be sorted.

The data table 126T2 includes the falling position P1 of the object to be sorted whose size is not a predetermined size, the falling position P2 of the object to be sorted whose shape is not the predetermined shape, the falling position P3 of the object to be sorted which has scratches, and the falling position P3 of the object to be sorted which has scratches, , the falling position P4 of the object to be sorted within the standard is stored. The objects to be sorted that meet the standards are, for example, objects to be sorted that have a predetermined size, a predetermined shape, and no scratches. Note that, as in the first embodiment, the centers of the containers 20A to 20D are determined as positions P1 to P4 into which the sorted objects are dropped.

FIG. 26 is a functional block diagram of the CPU of the sorter according to the third embodiment. The functions of the CPU 104 include an initialization function, a determination function, a capture function, a capture function, a specific function, a suitability processing function, a supply control function, a read function, and a motor control function. As shown in FIG. 26, by executing the selection program 126PH, the CPU 404 controls the initialization section 432, judgment section 434, import section 436, identification section 438, suitability processing section 440, input control section 442, and reading section 444. , and functions as a motor control section 446.

Next, the operation of the third embodiment will be explained.

FIG. 6 shows a flowchart of the sorting program 126PH executed by the CPU 104 of the sorter 100 according to the third embodiment. The sorting program 126PH starts when the power is turned on as described above. The sorting process is executed by the CPU 404 executing the sorting program 126PH. Note that the sorting process of the third embodiment has the same processing contents as the sorting process of the first embodiment, so similar processing contents are given the same reference numerals and detailed explanations are omitted. do.

In step 152, the initialization unit 432 initializes each variable (M) used when executing the selection program 126P to 0.

In step 154, the determining unit 434 determines whether the object to be sorted is placed on the placing unit 3040 based on the signal from the load cell 42. If it is not determined that the object to be sorted has been placed on the placing section 3040, it is determined whether or not the object to be sorted has been placed on the placing section 3040 until it is determined that the object to be sorted has been placed on the placing section 3040. to judge. If it is determined that the object to be sorted has been placed on the placing section 3040, the sorting process proceeds to step 155.

In step 155, the capture unit 436 captures image data obtained by photographing the object to be sorted placed on the mounting unit 3040 from the camera 400.
The technology of the present disclosure is not limited to determining whether or not the object to be sorted is placed on the placement section 3040 based on the signal from the load cell 42. For example, image data of the receiver 3040 on which nothing is placed is stored in advance, image data obtained by imaging the receiver 3040, and image data of the receiver 3040 on which nothing is placed. Based on this, it may be determined whether or not the object to be sorted is placed on the placing section 3040 (step 155 is executed before step 154).

In step 157, the specifying unit 438 specifies the size of the object to be sorted placed on the placing unit 3040 based on the image data. The size of the object to be sorted can be determined from the distance between the camera 400 and the mounting section 3040, the magnification of the camera 400, and the number of pixels in the object to be sorted in the image.

In step 159, the specifying unit 438 specifies the shape of the object to be sorted based on the image data.

For example, the specifying unit 438 calculates the distance between the center of gravity of the part of the object to be sorted in the image and each position of the edge of the object, and calculates the distance between the maximum value and the minimum value of the distance. It is determined whether the shape of the object to be sorted is rounded or not. When the shape (two-dimensional shape) of the object to be sorted viewed from above is rounded, the difference between the maximum value and the minimum value is less than a predetermined value. When the two-dimensional shape of the object to be sorted is not rounded and close to a rectangle, the difference between the maximum value and the minimum value is greater than or equal to a predetermined value. Therefore, the identifying unit 438 can determine whether or not the shape of the object to be sorted is rounded based on the difference between the maximum value and the minimum value.

Further, the specifying unit 438 prepares in advance a two-dimensional text image of the object to be sorted with a rounded shape, and performs image matching between the two-dimensional text image and the two-dimensional image of the object to be sorted. It can be determined whether the shape is rounded or not.

Furthermore, a learned model that has been trained in advance based on two-dimensional images of the plurality of objects to be sorted and information on whether the shape is rounded or not is prepared, and the specifying unit 438 combines the learned model and the image data. From this, it can be determined whether the shape of the object to be sorted is rounded or not.

As described above, the specifying unit 438 determines whether the shape of the object to be sorted is rounded or not, and if it is determined that the shape of the object to be sorted is rounded, the identifying section 438 If the shape of the object is determined to be spherical and the shape of the object to be sorted is not determined to be rounded, it is determined that the shape of the object to be sorted is not spherical.

In step 161, the specifying unit 438 specifies whether or not the object to be sorted has scratches based on the image data.

For example, the identification unit 438 prepares in advance a two-dimensional text image of the object to be sorted that has scratches, and performs image matching between the two-dimensional text image and the two-dimensional image of the object to be sorted to identify the flaws in the object to be sorted. Determine the presence or absence.

Further, a learned model that has been trained in advance based on two-dimensional images of a plurality of objects to be sorted and information on the presence or absence of scratches is prepared, and the identification unit 438 uses the learned model and the image data to The presence or absence of scratches may also be determined.

In step 163, the specifying unit 438 specifies the falling position of the object to be sorted. If it is determined in step 157 that the size is not the predetermined size, the falling position of the object to be sorted is specified as falling position P1. If it is determined in step 157 that the size is the predetermined size, but it is determined in step 159 that the shape is not the predetermined shape (rounded shape), the falling position of the object to be sorted is changed to the falling position. It is identified as P2. In step 157, it was determined that the size was a predetermined size, and in step 159, it was determined that the shape was a predetermined shape (rounded shape), but in step 162, it was determined that there was a flaw. In this case, the falling position of the object to be sorted is specified as falling position P3. In step 157, it is determined that the size is a predetermined size, in step 159, it is determined that the shape is a predetermined shape (rounded shape), and in step 162, it is determined that there is no flaw. Since the object to be sorted is a regular product (an object to be sorted that is within the specifications), the falling position of the object to be sorted is specified as the falling position P4.

In step 165, the import unit 436 imports the weight of the object to be sorted based on the signal from the load cell 42. Note that the process of step 165 is similar to steps 156 to 166 of the sorting process of the first embodiment (see FIG. 6), so a description thereof will be omitted.

In step 167, the suitability processing section 440 executes suitability processing for the drop position.

Here, the suitability process will be explained. As described above, in the sorting process, the identification unit 438 identifies the size, shape, and presence or absence of scratches on the object to be sorted based on image data, and determines whether the object to be sorted is a genuine product. However, for example, if there is a dent on the back side of the object to be sorted (on the mounting section 3040 side) that is not imaged by the camera 400, the dent may cause the actual weight of the object to be separated from the expected weight range of the genuine product. There may be cases where it is not available. Therefore, if the actual weight of the item to be sorted is not within the expected weight range of a genuine item, even if the item to be sorted is determined to be a genuine item based on the image data, there may be a dent on the back side of the item. Therefore, it can be estimated that the shape of the object to be sorted is not rounded. In this case, it is necessary to set the falling position of the objects to be sorted to the falling position P2.

As described above, in step 167, the suitability processing unit 440 determines whether the weight of the object to be sorted taken in in step 165 is within the expected weight range of a genuine product. If it is determined that the weight of the item to be sorted is within the expected weight range of genuine products, the sorting process proceeds to step 167. If it is not determined that the weight of the object to be sorted is within the expected weight range of genuine products, the suitability processing unit 440 sets the falling position of the object to be sorted to fall position P2. The screening process proceeds to step 167. In this way, the suitability processing unit 440 further takes into consideration the weight of the object to be sorted and determines whether the object to be sorted is within the specifications.

The processing from step 174 to step 190 is the same as the selection processing of the first embodiment (see FIG. 6), so the explanation thereof will be omitted. Note that in step 176 of the sorting process in the third embodiment, the rotation speed vg and the tilt speed ug are read.

The selection process according to the third embodiment ends if the determination in step 190 is affirmative. Note that steps 168 and 192 may be executed as in the sorting process of the first embodiment.

As explained above, in the third embodiment, objects to be sorted whose size is not a predetermined size are dropped into the container 20A, objects to be sorted whose shape is not a predetermined shape are dropped into the container 20B, and objects with scratches are dropped into the container 20B. The items to be sorted can be dropped into the container 20C, and the genuine items to be sorted can be dropped into the container 20D.

Further, in the third embodiment, even if the object to be sorted is determined to be a genuine product, if there is a dent on the back side of the object to be sorted that is not imaged by the camera 400, the object to be sorted is dropped into the container 20B. I can do it.

In the third embodiment, as in the first embodiment, a centrifugal force is generated on the objects to be sorted, and the objects can be caused to fall to the center of each container at a position far from the near end of the sorter. Even if the loading section 3040 receives an impact, the impact can be released, the rotary motor 78 and the tilt motor 58 can be prevented from malfunctioning, and the object to be sorted can be fixed from the time it is placed until it falls. time can be shortened.

In the third embodiment, a taro is used as an example of an object to be sorted, and whether or not the object to be sorted is a genuine product is determined based on the size, shape, and presence or absence of scratches. The technology of the present disclosure is not limited to this. For example, the item to be sorted may be apples or strawberries. In this case, based on image data, size, shape, presence of scratches, color, gloss, degree of ripeness, and sweetness are further taken into account to determine whether the item is genuine or not. may be judged. Images of apples or strawberries are stored in advance for each degree of gloss, ripeness, and sweetness, and a plurality of pixels of the apple or strawberry part are generated from the placed apple or strawberry image and the stored image. The degree of similarity of each color is calculated, and the gloss, ripeness, and sweetness are determined based on the degree of similarity. The degree of similarity is calculated, for example, from the difference in the average color values of a plurality of pixels of the linden or strawberry portion of each image. The smaller the difference, the higher the degree of similarity.

In the third embodiment, the second embodiment and Modifications 1 to 10 may also be applied.

(Other variations)
In each of the examples described above, the sorter has been explained using taro as an example of the material to be sorted, but the technology of the present disclosure is not limited to this, and the material to be sorted may be, for example, root vegetables such as potatoes or onions, apples or It may also be fruits such as pears, or other items of different weights (eg, machine parts, machine elements, etc.).

Furthermore, the material to be sorted may be marine products such as live fish or shellfish, and the container may be an aquarium. In this case, the computer 102 may be placed in a position outside the area where splashes of water that bounce back when seafood falls into an aquarium (container) reach. The position outside the area where the splash of water that bounces off when seafood falls into an aquarium (container) reaches is determined in advance through experiments or the like. The computer 102 and each of the tilt motor 58 and rotation motor 78 are connected by communication lines.

In each of the examples described above, the case where the sorting process is realized by a software configuration using a computer has been illustrated, but the technology of the present disclosure is not limited to this. For example, instead of a software configuration using a computer, the selection process may be performed only by a hardware configuration such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). Part of the information output processing may be executed by a software configuration, and the remaining processes may be executed by a hardware configuration.

It should be noted that the above-described screening program can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media includes various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory) CD-Rs, CDs. - R/W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be provided to the computer on various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

The information output processing described above is just an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within the scope of the main idea.

All documents, patent applications, and technical standards mentioned herein are incorporated by reference, as if each individual document, patent application, and technical standard was specifically and individually indicated to be incorporated by reference. Incorporated herein by reference.

(Additional note)
Based on the above disclosure content, the following additional notes are proposed.

(Additional note 1)
A mounting table and
a rotating and tilting section that rotates and tilts the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control section that controls the rotation and tilting section so as to
A sorter comprising:
The control unit controls the rotation and tilting unit so that at least one of a rotational speed and a tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.
sorter.

(Additional note 2)
The rotating and tilting part is
a rotating part that rotates the mounting table;
an inclined part that inclines the mounting table;
The sorter according to Supplementary Note 1, comprising:

(Additional note 3)
The sorter according to appendix 1 or 2, wherein a shock absorbing member is disposed on the upper surface of the mounting table.

(Additional note 4)
The sorter according to appendix 3, wherein holes of a predetermined size are formed in the mounting table and the shock absorbing member.

(Appendix 5)
The sorter according to appendix 3 or 4, wherein the shock absorbing member is formed with a guide groove that guides rolling of the objects to be sorted when the mounting table is tilted.

(Appendix 6)
The rotating and tilting part is an electrically rotating and tilting part that can freely move in the direction of the impact when it receives an impact when the power is not turned on;
The sorter further includes a power control unit for turning on and stopping the turning on of power to the rotating and tilting part,
When controlling the rotating and tilting section, the control section turns on power to the rotating and tilting section, and when the control of the rotating and tilting section is finished, turning on the power to the rotating and tilting section. controlling the power supply control unit to stop;
The sorter described in any one of Supplementary Notes 1 to 5.

(Appendix 7)
A mounting table and
a rotating and tilting section that rotates and tilts the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control section that controls the rotation and tilting section so as to
A sorter comprising:
The predetermined position is a position farther from a position where the object to be sorted falls when the mounting table is only tilted;
The control unit controls the rotation and tilting units so that the mounting table rotates and tilts at the same time.
sorter.

(Appendix 8)
A mounting table and
a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
a lifting and lowering section for lifting and lowering the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control unit that controls the raising and lowering part and the rotating and tilting part so that they rise or fall at the same time;
A sorter comprising:
The control unit controls the rotation and tilting unit so that at least one of a rotational speed and a tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.
sorter.

(Appendix 9)
The sorter according to any one of appendices 1 to 8, wherein the measuring section is located at a position that does not rotate or tilt.

(Appendix 10)
A mounting table and
a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
a lifting and lowering section for lifting and lowering the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control unit that controls the raising and lowering part and the rotating and tilting part so that they rise or fall at the same time;
A sorter comprising:
The predetermined position is a position farther from a position where the object to be sorted falls when the mounting table is only tilted;
The control unit controls the rotation and tilting units so that the mounting table rotates and tilts at the same time.
sorter.

(Appendix 11)
A mounting table and
a rotating and tilting section that rotates and tilts the mounting table;
an imaging unit that captures an image of the object to be sorted placed on the mounting table;
a determination unit that determines whether or not the object to be sorted is within a standard based on image data obtained by imaging the object to be sorted by the imaging unit;
The objects to be sorted that were determined to be within the specifications fall to a position predetermined for standard objects, and the objects to be sorted that were not determined to be within the standards fall to a position predetermined for non-standard objects. a control unit that controls the rotation and tilting part so that the mounting table rotates and tilts so that it falls on the
A sorter equipped with

(Appendix 12)
The sorting unit according to appendix 11, wherein the determining unit determines whether or not the object to be sorted is within specifications based on at least one of the size, shape, weight, and presence or absence of scratches on the object to be sorted. vessel.

(Appendix 13)
further comprising a measuring unit that measures the weight of the object to be sorted placed on the mounting table,
The determining unit further takes into account the weight of the object to be sorted measured by the measuring unit and determines whether the object to be sorted is within the standard.
The sorter according to appendix 12.

(Appendix 14)
The sorting according to appendix 13, wherein the control section controls the rotation and tilting section so that at least one of the rotational speed and the tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier. vessel.

(Appendix 15)
further comprising a measuring unit that measures the weight of the object to be sorted placed on the mounting table,
According to supplementary note 11 or supplementary note 12, the control unit controls the rotation and tilting portions so that at least one of the rotational speed and the tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier. Sorter as described.

(Appendix 16)
The sorter according to any one of attachments 11 to 15, wherein the predetermined position is a position farther from a position at which the objects to be sorted fall when the mounting table is tilted.

(Appendix 17)
Further comprising a mounting part that is attached to the support or the attached part,
The rotating and tilting part is attached to the support column or the mounting part,
The sorter according to any one of Supplementary notes 1 to 16.

(Appendix 18)
18. The sorter according to attachment 17, when the support is provided, the placement table is arranged above the rotating and inclined part.

(Appendix 19)
The length of the strut is adjustable in the longitudinal direction of the strut,
The length of the support is adjusted such that the lower end of the rotating and inclined portion is located at a height greater than or equal to the height of the container containing the fallen object to be sorted.
The sorter according to appendix 17 or appendix 18.

(Additional note 20)
When the column is provided, the lower end of the column is fixed to a magnetic fixing plate fixed to a metal flat plate, the sorter according to any one of attachments 17 to 19.

(Additional note 21)
The sorter according to any one of attachments 17 to 20, wherein when the column is provided, a lower end of the column is attached to a base.

(Additional note 22)
A plurality of containers containing the objects to be sorted are arranged around the sorter,
When the attachment part is provided, the attachment part is attached to the edge of the container, which is the attached part.
The sorter according to any one of Supplementary notes 17 to 21.

(Additional note 23)
The mounting portion includes a plurality of mounting rods,
23. The sorter of claim 22, wherein two of the container edges are located between two of the plurality of attachment rods.

(Additional note 24)
The rotating and tilting part is arranged on the upper side of the substrate,
One end of the plurality of attachment rods is arranged at a corner side of the lower surface of the substrate,
A bent portion of the edge of the container is located between the other end sides of a pair of attachment rods among the plurality of attachment rods.
The sorter according to appendix 23.

(Additional note 25)
The attachment portion includes a plurality of attachment rods including a first attachment rod, a second attachment rod, and a third attachment rod,
a first edge of the container is located between the first attachment rod and the second attachment rod;
a second edge of the container is located between the first attachment rod and the third attachment rod;
The sorter according to appendix 22.

(Additional note 26)
The sorter according to appendix 19, when the attachment portion is provided, the attachment portion is attached by sandwiching the edge of any one of the plurality of containers, which is the attached portion.

(Additional note 27)
A plurality of containers containing the objects to be sorted are arranged around the sorter,
the rotating and tilting part is fixed to a support member supported above the container;
The sorter according to any one of Supplementary notes 1 to 16.

(Additional note 28)
one end of the support member is attached to a wall;
The rotating and tilting part is attached to the other end side of the supporting member,
The sorter according to appendix 27.

(Additional note 29) 29
one end of the support member is attached to a first wall;
the other end of the support member is attached to a second wall;
The rotating and tilting part is attached between the one end and the other end of the support member,
The sorter according to appendix 27.

(Additional note 30)
The sorter according to any one of Supplementary Notes 1 to 29, further comprising a placing part for placing the object to be sorted on the placing table.

(Appendix 31)
Supplementary Notes 1 to 30, wherein a gutter is provided which connects the predetermined position and the container containing the objects to be sorted and is inclined so that the objects to be sorted that have fallen from the inclined placing table roll into the container. A sorter as described in any one of the above.

10 Sorting section 12 Support column 14 Fixed plate 16 Flat plate 20A Container 20B Container 20C Container 20D Container 20E Container 20F Container 20G Container 20H Container 26 Storage device 30 Shock absorbing member 40 Mounting table 42 Load cell 44 Inclined table 45 Transmitter 50 Inclined unit 100 Sorter 102 Computer 126 Storage device 126H Storage device 140K Base 200 Sorter 300 Sorter 400 Camera 801 First wall 801 Wall 802 Support member 3040 Placing section 4450 Inclined section 4470 Rotating and inclined section 6070 Rotating section

Claims (4)

A mounting table and
a rotating and tilting section that rotates and tilts the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control section that controls the rotation and tilting section so as to
A sorter comprising:
The control unit controls the rotation and tilting unit so that at least one of a rotational speed and a tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.
sorter. A mounting table and
a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
a lifting and lowering section for lifting and lowering the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control unit that controls the raising and lowering part and the rotating and tilting part so that they rise or fall at the same time;
A sorter comprising:
The control unit controls the rotation and tilting unit so that at least one of a rotational speed and a tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.
sorter. Further comprising a mounting part that is attached to the support or the attached part,
The rotating and tilting part is attached to the support column or the mounting part,
The sorter according to claim 1 or claim 2. A plurality of containers containing the objects to be sorted are arranged around the sorter,
the rotating and tilting part is fixed to a support member supported above the container;
The sorter according to claim 1 or claim 2.

Images