JP7437354B2 - Sorting equipment and article sorting systems - Google Patents

Description

The present invention relates to a sorting device and an article sorting system, and more particularly to a sorting device such as a pusher type or a flipper type, and an article sorting system that includes the sorting device and an article inspection device.

As a sorting device that can transport various articles along a predetermined route and sort and discharge the articles being conveyed outside the conveyance path in a sorting area during the conveyance, or sort them to one of a plurality of downstream conveyance paths, 2. Description of the Related Art Pusher-type and flipper-type sorting devices that push out articles being transported to the side of a transport path are known, and air-driven types that use compressed air as a working fluid are often used.

In addition, we carry out inspections on the weight, size, quality, and other aspects of the articles, and depending on the inspection results, we discharge the inspected articles out of the conveyance path using an air-driven sorting device, and we also conduct multiple downstream inspections in response to the inspection results. Article sorting systems that sort articles into one of the side transport paths are also frequently used.

In this type of sorting device and article sorting system, the working fluid is air (compressible fluid) and it pushes out the articles being conveyed on the conveyor. If the extrusion speed decreases due to insufficient thrust relative to the weight or frictional force acting as a resistance to the sorting operation, or if the conveyance speed is high, a problem may occur in which the discharged products flow downstream.

Therefore, conventionally, when operating a sorting device based on a sorting signal, the conveyor conveyance speed is controlled so as to enable acceleration of the conveyor conveyance speed before the start of extrusion and deceleration of the conveyance speed after the start of extrusion. There are some (for example, see Patent Document 1).

In addition, in a sorting device that performs an extrusion operation on heavy items such as a packaged product in which many small-sized products with relatively large mass are placed in a cardboard box, it is necessary to generate a large thrust force sufficient for the extrusion operation. There is also a system that notifies that the pushing member is moving forward or backward by lighting a warning lamp or outputting a warning sound to ensure work safety (see, for example, Patent Document 2).

Japanese Patent Application Publication No. 2007-69109 Japanese Patent Application Publication No. 2012-206816

However, in the conventional sorting apparatus and article sorting system as described above, when the air supply pressure is increased to perform a high-speed extrusion operation on heavy articles (for example, 10 kg to 30 kg), the pusher When switching the operating direction, especially when the directional control valve that switches the direction of air supply and discharge to the air cylinder for driving the pusher is switched from the pusher retract/standby position to the pusher completion position, the compressed air The configuration is such that the direction switching is started while compressed air remains in the pressure chamber on the drawing pressurizing side that switches from the supply side to the discharge side.

Therefore, even if the pressure in the pressure chamber on the extrusion pressurization side increases, the extrusion speed of the extrusion member will be limited until the pressure in the pressure chamber on the pull-in pressurization side, where high-pressure compressed air remains, decreases. Therefore, it was not possible to enhance the extrusion operation in order to restrict the flow of the article to be extruded to the downstream side.

The present invention was made in order to solve the conventional unresolved problems as described above, and an object thereof is to provide a sorting device and an article sorting system that can perform sorting operations such as extrusion operations at high speed. do.

(1) In order to achieve the above object, the sorting device according to the present invention includes a cylinder equipped with a rod that moves forward and backward by air drive, and a sorting member connected to the tip side of the rod, and the sorting device conveys articles. In a sorting device that sorts out articles to be sorted in a predetermined section of a route out of the article conveyance route by a sorting operation of the sorting member by the cylinder, the cylinder is arranged on one side of the forward and backward movement direction of the rod; Each cylinder has a pair of pressure chambers and a supply/discharge port corresponding to the other side, and the cylinder is supplied with compressed air from the air source side to any one of the supply/discharge ports of the pair. is connected to a supply/discharge control section for discharging air from one supply/discharge port, and the supply/discharge control section directs the forward and backward movement direction of the rod to a specific one side so as to start the distributing operation of the distributing member. When switching to the air source, the pressure chamber, into which the compressed air from the air source was introduced before the switching, is opened to the atmosphere for a predetermined time while temporarily blocking the compressed air from the air source. .

With this configuration, when switching the forward/backward movement direction of the rod to a specific side to start the distribution operation of the distribution member, the compressed air from the air source side is temporarily blocked and the compressed air is transferred to the air source side before switching. The pressure chamber into which compressed air was introduced is opened to the atmosphere for a predetermined period of time. Therefore, when the pressure in the pressure chamber into which compressed air is introduced increases due to switching to a specific side, the distribution operation resistance will not increase due to residual compressed air in the pressure chamber on the other side. This makes it possible to switch the operating direction. Therefore, the sorting device is capable of performing high-speed sorting operations.

(2) In a preferred embodiment of the present invention, the distribution member includes an extrusion member that moves in the forward and backward movement direction of the rod, and the extrusion member moves toward the specific one side in the forward and backward movement direction. The sorting operation is performed so as to move and push the article to be sorted out of the article conveyance route, and the supply/discharge control unit is configured such that the pushing member is retreated outside a predetermined section of the article conveyance route; In addition, when switching the forward and backward movement direction of the rod to the extrusion movement direction of the extrusion member, which is the specific one side, the pair of pressure chambers of the cylinder are opened to the atmosphere for the predetermined time, and then the air is High-speed extrusion is achieved by supplying compressed air from the source side to one specific supply/discharge port related to the extrusion operation of the extrusion member, and exhausting it from the other supply/discharge port related to the return operation of the extrusion member. The configuration can be such that the operation is executed.

In this case, the pair of pressure chambers in the cylinder are opened to the atmosphere for a predetermined period of time when switching to one particular direction of extrusion operation with the extrusion member retracted out of the article conveyance path. Therefore, when compressed air from the air source is supplied to one specific supply/discharge port related to the extrusion operation of the extrusion member, high-pressure compressed air remains in the other pressure chamber related to the return operation of the extrusion member. By quickly exhausting air from the other supply/discharge port, high-speed extrusion operation can be performed.

(3) In a preferred embodiment of the present invention, when the extrusion member is returned to a position outside the predetermined section of the article conveyance path following the high-speed extrusion operation, the supply/discharge control section is configured to control Switching the supply destination of compressed air from the air source side to the other one of the supply/discharge ports related to the return operation of the extrusion member without opening the pressure chamber to the atmosphere for a predetermined period of time, and at the same time switching the supply destination of compressed air from the air source side to the other one of the supply/exhaust ports related to the return operation of the extrusion member. It may also be configured to exhaust air from one of the supply/exhaust ports.

In this way, during the return operation to the retraction side following the extrusion operation, it is possible to appropriately suppress the starting speed of the return operation under a low load of the extrusion member while ensuring the necessary responsiveness to a request for switching the operation direction. can.

(4) In a preferred embodiment of the present invention, the supply/discharge control section includes article detection means for detecting when the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route. The supply/discharge control section controls the pressure chamber into which compressed air from the air source is introduced at the time when the article is detected by the article detecting means, from the time when the article is detected by the article detecting means. For a predetermined period of time immediately before the start of the extrusion operation, until the direction of forward and backward movement of the rod starts to be switched to the specific one side related to the extrusion operation, compressed air from the air source side is blocked and the atmosphere is It can be configured to be opened.

In this case, when the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route, it is detected by the article detection means, and compressed air from the air source side is This makes it possible to ensure that the pressure chamber into which the pressure chamber has been introduced is opened to the atmosphere for a predetermined period of time immediately before the start of the extrusion operation.

(5) In a preferred embodiment of the present invention, the sorting member has a sorting arm whose one end is an axis and whose other end is swingable in the width direction of the article conveyance path, The sorting is performed by swinging in the sorting operation direction so that the end side crosses the article conveyance path, and the supply/discharge control section is configured such that the other end side of the sorting arm moves to a predetermined position in a predetermined section of the article conveyance path. and when switching the forward and backward movement direction of the rod to the specific one side, the pair of pressure chambers of the cylinder are opened to the atmosphere for the predetermined time, and then compression from the air source side is By supplying air to one specific supply/discharge port of the sorting arm related to the sorting operation, a high-speed sorting operation can be performed.

In this case, when the other end of the sorting arm swings from a waiting state on one side of the widthwise direction of the article conveyance path to the other side, inside or outside, in one of the sorting operation directions, the pair of pressure chambers of the cylinder It is opened to the atmosphere for a predetermined period of time. Therefore, when compressed air from the air source side is supplied to one specific supply/discharge port related to the distribution operation on either side of the distribution member, the pressure chamber of the other side related to the return operation of the distribution member is supplied. There is no residual high-pressure compressed air in the air supply, and by quickly exhausting air from the other supply/exhaust port, high-speed distribution operation can be performed.

(6) In a preferred embodiment of the present invention, the supply/discharge control section includes a three-position switching valve, and the switching valve is configured to cause the extrusion member to perform the extrusion operation. a first operating position in which compressed air from the air source is supplied to a first supply/discharge port of the pair and exhausted from a second supply/discharge port of the pair; and a backward movement of the extrusion member. a second operating position in which compressed air from the air source side is supplied to the second supply/discharge port and exhausted from the first supply/discharge port; and compressed air from the air source side is blocked. and a third operating position in which the pair of pressure chambers are opened to the atmosphere via the first supply/discharge port and the second supply/discharge port.

With this configuration, it is possible to open the pair of pressure chambers of the cylinder to the atmosphere for a predetermined period of time when switching to the extrusion operation direction with a simple configuration using a three-position switching valve. In addition, when the said switching valve has a direct-acting type valve body, it can be set as the valve body structure in which the said 3rd operating position is located between the said 1st operating position and the 2nd operating position.

(7) In a preferred embodiment of the present invention, the supply/discharge control unit is configured to move the air supply/discharge control unit from the air source side when switching the forward/backward movement direction of the rod to a specific one side so as to start the extrusion operation of the extrusion member. The pair of pressure chambers of the cylinder are opened to the atmosphere while temporarily blocking the compressed air of A first operation mode in which compressed air is supplied from the air source side to a specific one of the supply and discharge modes related to the extrusion operation of the extrusion member without opening the pair of pressure chambers of the cylinder to the atmosphere for a predetermined period of time. It may be possible to switch to any operating mode among the second operating mode for supplying to the port.

In this way, the extrusion operation can be selectively switched to high-speed operation, and the operation mode can be selected in consideration of the operation speed suitable for the extrusion operation of the article and the impact during the extrusion operation.

(8) The article sorting system according to the present invention includes a sorting device having any of the above configurations, and is arranged upstream of the article conveyance route from the sorting device, and executes a predetermined method of article inspection. and an inspection device that transmits and outputs a screening signal according to the result to the screening device.

With this configuration, a sorting signal corresponding to the article inspection result in the inspection device, for example, a sorting signal instructing the sorting and discharge of target articles, is sent to the sorting device, and the sorting device that receives this signal operates the sorting member. When switching the forward and backward movement direction of the rod to a specific side to start the process, the air source is temporarily switched off until the articles to be discharged corresponding to the sorting signal reach a predetermined section of the article conveyance path that is the sorting area. While blocking compressed air from the side, the pressure chamber into which compressed air from the air source was introduced before switching is opened to the atmosphere for a predetermined period of time. Therefore, when the pressure in the pressure chamber into which compressed air is introduced increases due to switching to a specific side, the distribution operation resistance will not increase due to residual compressed air in the pressure chamber on the other side, and the distribution operation can be quickly performed. It becomes possible to switch the operating direction. Therefore, the article sorting system is capable of performing high-speed sorting operations.

(9) In the article sorting system of the present invention, the supply/discharge control section includes article detection means for detecting when the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route. , the supply/discharge control unit controls compressed air from the air source at the time when the article is detected by the article detection means, on the condition that a sorting signal according to the result of the article inspection is received from the inspection device. The introduced pressure chamber may be configured to be opened to the atmosphere while blocking compressed air from the air source side for a predetermined period of time immediately before the start of the distribution operation.

In this case, the article to be sorted is identified based on the sorting signal corresponding to the result of the article inspection, and when the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route, it is detected by the article detection means. By being detected, a predetermined period of time can be effectively and accurately set based on the detection point to open the pressure chamber into which compressed air from the air source was introduced at the point of detection to the atmosphere immediately before the start of the distribution operation. Can be set.

According to the present invention, it is possible to provide a sorting device and an article sorting system that can perform sorting operations such as sorting operations at high speed.

1 is a schematic configuration diagram of an article sorting system according to a first embodiment of the present invention. It is a main part circuit diagram of a pneumatic control circuit including an air cylinder for the sorting device in the article sorting system according to the first embodiment of the present invention, a direction switching valve for its expansion/contraction operation, and a speed control valve. This example shows a case where a push plate for a sorting device is attached. (a) is an explanatory diagram of extrusion operation conditions of the pusher-type sorting device in the article sorting system according to the first embodiment of the present invention, and (b) is an extrusion operation of a comparative example in which articles to be discharged flow downstream. It shows. (a) is an explanatory diagram of the extrusion operation of the pusher-type sorting device in the article sorting system according to the first embodiment of the present invention, and shows a series of operating states from the carrying of the article to be discharged into the sorting area to the completion of the extrusion operation. , and (b) shows a series of extrusion operations from the time when the article to be discharged is carried into the sorting area until the article to be discharged flows downstream in the comparative example. 3 is a time chart showing the operation timing of each part during a normal operation in which an extrusion operation at a normal speed is executed in the article sorting system according to the first embodiment of the present invention. 2 is a time chart showing the operation timing of each part during a high-speed operation in which the article sorting system according to the first embodiment of the present invention performs a high-speed extrusion operation and opens the cylinder interior to the atmosphere immediately before the extrusion operation. In the article sorting system according to the second embodiment of the present invention, the pusher-type sorting device detects that articles to be sorted and discharged are brought into the sorting area, and the cylinder chamber is opened to the atmosphere from the time of detection until just before the start of high-speed extrusion operation. 3 is a time chart showing the operation timing of each part during high-speed operation. FIG. 7 is a schematic configuration diagram of a pusher-type sorting device in an article sorting system according to a third embodiment of the present invention. FIG. 3 is an explanatory diagram of the operation of the flipper-type sorting device in the article sorting system according to the third embodiment of the present invention, in which (a) shows a state in which the flipper is in a position that allows normal conveyance of articles, and (b) shows a state in which the flipper is in a state in which it is not Each figure shows a state in which good products are selected and discharged. FIG. 7 is a perspective view showing a linkage connection state in which an operation lever and a link are interposed between a sorting arm and an air cylinder that drives the sorting arm in a flipper-type sorting device in an article sorting system according to a third embodiment of the present invention. The air cylinder of the flipper-type sorting device in the article sorting system according to the third embodiment of the present invention is operated in a specific direction, and the sorting arm, which normally stands by in the defective product sorting posture, is swung toward the passage-permitting posture. It is a time chart when operating at high speed by opening to the atmosphere immediately before. The air cylinder of the flipper-type sorting device in the article sorting system according to the third embodiment of the present invention is operated in a specific direction, and the sorting arm, which normally waits in the passing-permitting attitude, is moved from the defective product sorting attitude to the standby position. It is a time chart in the case of performing a high-speed return operation by opening the air to the atmosphere immediately before returning. This is an explanatory diagram of the operation of the flipper-type sorting device in the article sorting system according to the fourth embodiment of the present invention, where the arrangement of the sorting arm and the sorting mechanism is reversed in the conveying direction from the arrangement of the sorting arm and the sorting mechanism in the third embodiment. (a) shows a state in which the flipper is in a passing-permitting attitude, and (b) shows a state in which the flipper is in a defective product sorting attitude.

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

(First embodiment)
1 to 6 show the configuration and operation of an article sorting system according to a first embodiment of the present invention. First, its configuration will be explained.

(overall structure)
As shown in FIGS. 1 to 3, the article sorting system 1 according to the first embodiment of the present invention includes a plurality of conveyors 11, 12, 13 extending in a predetermined conveyance direction to carry a workpiece W, which is an object to be inspected. The quality of the workpieces W on the conveyance unit 10 and the preceding conveyor 11, which is an inspection conveyor, are inspected in an inspection zone Z1 on the same conveyor 11 according to the inspection conditions corresponding to the product type. When the inspection section 20 and the inspection by the inspection section 20 generate workpieces W that are required to be sorted and discharged, the workpieces W to be discharged are moved to the outside of the conveyor 12 within the sorting zone Z2 on the middle conveyor 12 which is the sorting conveyor. It is equipped with a sorting unit 30 for sorting and discharging by pushing operation toward (one side in the conveyance path width direction, the lower side in FIG. There is.

On the upstream side of the sorting zone Z2 on the plurality of conveyors 11 to 13 (which may also be the upstream side of the inspection zone Z1), there is a designated area on the upstream side of the sorting zone Z2 on which the work W is carried into the sorting zone Z2, which is a predetermined section of the article conveyance path. A conveyed article detection sensor 25 is provided for detecting at a predetermined position. This conveyed article detection sensor 25 has an optical axis that is substantially perpendicular to the conveying direction of the conveying section 10 (right direction in FIG. 1), for example, and is an optical element whose ON/OFF state is switched when light is blocked or reflected by the workpiece W. It is possible to detect the timing when the leading end and trailing end of each workpiece W pass a predetermined position in the transport direction. Note that it is also possible to use the transported article detection sensor 25 as a means for detecting articles from a camera image or an X-ray image.

Although the details of the conveyors 11 to 13 of the conveyor section 10 are not shown, for example, a loop-shaped conveyor belt is passed around a plurality of conveyor rollers, and the workpiece W is conveyed by the upper running section of the conveyor belt on these conveyor rollers as shown in FIG. It is a belt conveyor that sequentially conveys the images to the right, and is supported by a casing (not shown).

The inspection section 20 constitutes an inspection device that performs a predetermined type of article inspection on the work W being conveyed together with the conveyor 11 of the conveyance section 10 .

This inspection section 20 inspects the suitability of the quality and physical quantities required for the workpiece W conveyed by the conveyor 10 as a product, for example, the presence or absence of mixed foreign matter, the presence or absence of missing items, the shape, size, storage state of the contents, etc. It is designed to inspect either the pass/fail of the material, density, thickness, volume, or mass distribution.

The inspection unit 20 generates X-rays that can pass through the work W, for example, and can irradiate the work W on the conveyor 11 in a fan beam shape substantially orthogonal to the transport direction of the transport unit 10. It can be configured by a generator and an X-ray detector such as an X-ray line sensor camera placed directly below the up-running section of the conveyor 11.

(Sorting device configuration)
The sorting section 30 and the conveyor 12 of the conveying section 10 constitute a sorting device that selectively sorts and discharges the works W being conveyed according to the inspection results in the inspection section 20 .

This sorting section 30 sorts the workpieces W in the sorting zone Z2 (predetermined conveyance section) by pushing them out from above the conveyor 12 of the conveyance section 10 onto the discharge product tray conveyor 15 on the outside (lower side in FIG. 1). An extrusion member 31 capable of discharging sorting operation (hereinafter also referred to as sorting) and a drive mechanism 32 that drives the extrusion member 31 in the approach direction and the backward direction (hereinafter referred to as forward and backward movement direction) with respect to the sorting area Z2. have.

The extrusion member 31 moves the downstream conveyance path of the work W from the sorting area Z2 to either the X direction in FIG. It has a distribution function that switches to the Y direction in FIG. The extrusion member 31 is constituted by a plate-shaped body, for example, a stainless steel plate or other metal plate, which has a flat or curved plate surface extending in the transport direction of the workpiece W and the height direction above the conveyor 12, for example.

Further, the extrusion member 31 has a high friction material partially fixed on the tip surface 31a that contacts the workpiece W so that the friction coefficient with respect to the workpiece W is greater than or equal to the friction coefficient of the conveyance surface of the conveyor 12 with respect to the workpiece W. It may be a high-friction push plate that is mounted so that it can be displaced (for example, slid or rotated in the direction of the plate surface), or it may partially protrude from the plate surface and the height of the protrusion depends on the extrusion operation load on the workpiece W. It may have a variable elastic convex portion for grip (a low convex portion used together with a concave portion on the plate surface) or the like. The coefficient of friction of the tip surface 31a of the extrusion member 31 that contacts the workpiece W is at least higher than the friction coefficient when the tip surface 31a is made of the surface of a rolled stainless steel plate or other metal plate.

The drive mechanism 32 is capable of reciprocating the extrusion member 31 in a direction substantially orthogonal to the conveyance direction of the workpiece W, and includes, for example, an air cylinder 33 (cylinder) that is a fluid pressure actuator and a control signal. It is configured to include a solenoid valve unit 34 that controls the supply of air (compressed air) to the air cylinder 33 according to an input, and a guide mechanism 35 (details not shown) that takes charge of the lateral load (side pressure) of the air cylinder 33. ing. The drive mechanism 32 is configured to pneumatically drive the air cylinder 33 in the expansion/contraction direction by controlling the supply and discharge of air (fluid) from an air source 50 including an air compressor or the like.

As shown in FIG. 2, the air cylinder 33 is of a double-acting type, and a piston 42 is slidably housed in a cylinder 41, and the inside of the cylinder 41 is partitioned into a pair of pressure chambers 44A and 44B by the piston 42. At the same time, respective supply/discharge ports 45a and 45b are formed which communicate with the pair of pressure chambers 44A and 44B. Further, a piston rod 43 (rod) is integrally fixed to the piston 42, and the extrusion member 31 is attached (driveably connected) to the tip 43a of the piston rod 43 that protrudes outward from the cylinder 41. There is. That is, the air cylinder 33 has a pair of pressure chambers 44A, 44B and supply/discharge ports 45a, 45b, respectively, corresponding to one side and the other side in the forward and backward movement direction of the extrusion member 31 and the piston rod 43.

(Supply/discharge control section)
The solenoid valve unit 34 constitutes a supply/discharge control section connected to the air cylinder 33 so as to control the supply/discharge direction and flow rate of air in the air cylinder 33, and includes electromagnetic operation sections SOL1 and SOL2. This solenoid valve unit 34 operates at one of the corresponding supply/discharge ports in response to the input of a control signal RJ1 that excites (ON) one electromagnetic operating section SOL1 or the input of a control signal RJ5 that excites the other electromagnetic operating section SOL2. While compressed air from the air source 50 is supplied to the pressure chamber 44A or 44B through 45a or 45b, it can be exhausted from the pressure chamber 44B or 44A through the other supply/discharge port 45b or 45a (hereinafter referred to as In the explanation regarding supply and discharge of air, the explanation will mainly be given using the supply and discharge ports 45a and 45b). When compressed air is supplied to any one of the pair of supply/discharge ports 45a, 45b, for example, the supply/discharge port 45a, and exhausted from the other supply/discharge port 45b, the air cylinder 33 The piston rod 43 is moved to one side in the forward and backward movement direction (the lower side in FIG. 1, the lower side in FIG. to the right). On the contrary, when compressed air is supplied to the supply/discharge port 45b and exhausted from the supply/discharge port 45a, the air cylinder 33 moves the piston rod 43 so as to retract the extrusion member 31 out of the sorting area Z2 on the conveyor 12. It is moved to the other side (upper side in FIG. 1, left side in FIG. 2) in the forward and backward movement direction.

In addition, by controlling the supply and discharge of air to and from the air cylinder 33 and its direction by the solenoid valve unit 34, the drive mechanism 32 moves the extrusion member 31 from the extrusion start position P1 shown by a solid line in FIG. An extrusion operation that moves in the extrusion direction to the extrusion end position P2 shown by a virtual line in the figure (see FIG. 4(a)), and a retraction operation that returns the extrusion member 31 from the extrusion end position P2 to the extrusion start position P1. These operations can be performed in conjunction with the expansion and contraction operations of the air cylinder 33, which has a width that is approximately equal to or less than the width Lc of the conveyor 12.

More specifically, as shown in FIG. 2, the drive mechanism 32 is interposed between the air source 50 and the pair of supply and discharge ports 45a and 45b of the air cylinder 33, and is capable of switching the direction of supply and discharge of air. A directional switching valve 51, speed control valves 52 and 53 interposed between the directional switching valve 51 and a pair of supply/discharge ports 45a and 45b of the air cylinder 33, and an extrusion which is the operating position of the air cylinder 33. It includes a standby position sensor 54 and a sorting position sensor 55 that detect the pull-in side standby position and the push-out side sorting position of the member 31, for example, by displacement of the piston 42.

The directional switching valve 51 is configured to include, for example, an electromagnetic type or/and a fluid pressure type 5 port 3 position switching valve (3 position switching type switching valve), and is connected to the air source 50 side, that is, to the conditioning equipment (not shown). A supply pressure port 51p connected to the air pressure source device side connected via It has a pair of control pressure ports 51a, 51b connected to a pair of supply/discharge ports 45a, 45b of the cylinder 33.

The valve body 51v of the direction switching valve 51 supplies compressed air from the air source 50 side to the first supply/discharge port 45a of the pair so as to cause the extrusion member 31 to perform the extrusion operation. The first operation position [I] is to exhaust air from the supply/discharge port 45b, and the first operation position [I] is to supply compressed air from the air source 50 side to the second supply/discharge port 45b so as to cause the extrusion member 31 to move backward. A second operating position [II] where the air is exhausted from the supply/discharge port 45a, and a pair of pressures are discharged through the first supply/discharge port 45a and the second supply/discharge port 45b while blocking compressed air from the air source 50 side. It is possible to switch to a third operating position [III] in which the chambers 44A and 44B are opened to the atmosphere. The directional control valve 51 also has a third valve body 51v which is always biased to a neutral position by a pair of centering springs 51k, and a third position where the valve body 51v is at the neutral position when the control is stopped and no signal input or operating pressure is input. It is an exhaust center type that returns to the operating position [III].

The speed control valves 52 and 53 include check valves 52a and 53a that open in the air supply direction to the corresponding pressure chambers 44A and 44B and close in the opposite direction (exhaust direction), and the corresponding pressure chambers 44A and 53a, respectively. It has variable throttle elements 52b and 53b that can variably control the exhaust flow rate from 44B. Although the speed control valves 52 and 53 are shown in FIG. 2 as a meter-out type that variably controls the flow rate on the exhaust side of the air cylinder supply and exhaust ports, the speed control valves 52 and 53 are Of course, the arrangement may be a meter-in type in which the flow rate on the air supply side of the air cylinder supply/discharge port is variably controlled.

The drive mechanism 32 uses the direction switching valve 51 and the speed control valves 52 and 53 to control the direction of supply and discharge of air (fluid) from an air source 50 including an air compressor, and to drive the air cylinder 33 in the direction of expansion and contraction. It is possible to control the operating speed when

(Inspection control and sorting control)
As shown in FIG. 1, the article sorting system 1 further includes a first control section 61 that controls the inspection section 20 and a second control section 62 that controls the sorting section 30. In addition, the inspection section 20 is provided with a display operation section 63 that is capable of inputting a requested operation to the first control section 61, displaying the contents of the input, and displaying test results.

The first control section 61 and the second control section 62 are each configured to include, for example, a CPU, ROM, RAM, input/output interface circuit, etc., although the specific hardware configuration is not shown. Conveyance control of the conveyance section 10, article inspection control of the inspection section 20, sorting operation control of the sorting section 30, etc. are executed by a predetermined conveyance control program, inspection control program, sorting control program, etc. stored in the device. It has become. The first control section 61 and the second control section 62 are configured to be able to perform control functions of a plurality of means described below by executing the various control programs described above.

The first control unit 61 includes a conveyance control unit that controls the conveyance speed and conveyance interval of the workpiece W by the conveyor 11 of the conveyance unit 10, and controls the output of the aforementioned X-ray generator and responds to the conveyance speed of the workpiece W. While controlling the inspection in the inspection section 20 by controlling the X-ray line detection cycle and inspection period of the X-ray detector, the second and inspection control means for outputting to the control section 62 side. In addition, when the first control unit 61 determines, for example, whether or not there is foreign matter in the workpiece W being inspected, according to the inspection result (OK/NG) in the inspection unit 20, the first control unit 61, within a predetermined time from the time of the determination, The selection signal RJ and the inspection determination signal can be generated and output to the second control section 62.

The second control unit 62 performs transport control that controls the transport speed Vrj (see FIG. 3A) of the work W by the conveyor 12 of the transport unit 10, the sorting delay time td (see FIG. 1) corresponding to the transport interval D, etc. and a sorting control means for controlling the operation of the sorting section 30 based on the sorting signal RJ and the inspection determination signal from the first control section 61 and the article detection signal from the transported article detection sensor 25.

When this second control section 62 receives the sorting signal RJ and the NG judgment signal from the first control section 61, the workpiece W is The time when the workpiece W reaches a predetermined position in the sorting area Z2, for example, as shown in FIG. The time is set as a sorting delay time td, and during the sorting delay time td, the sorting section 30 does not perform the sorting and discharging operation for the work W to be discharged.

Further, the second control unit 62 controls the operation of the object to be sorted at an extrusion operation speed according to the type of workpiece W in the case of a normal sorting operation, based on the time when the operation can be started (for example, t5 in FIG. 5). During the discharge operation setting time Te1 [ms] which is the normal sorting operation time, the solenoid valve unit 34 is operated so that the work W is sorted and discharged by a pushing operation for a normal operation stroke close to the width Lc of the conveyor 12 in the width direction. The sorting operation signal RJ1 can be output to the directional switching valve 51 of the directional control valve 51.

Furthermore, in the case of normal sorting operation, the second control unit 62 stops outputting the sorting operation signal RJ1 when the discharge operation set time Te1 has elapsed from the time when the operation can be started (for example, t8 in FIG. 5). On the other hand, the solenoid valve unit 34 starts outputting the standby operation signal RJ5 during the high-speed return time Tre [ms] so as to cause the extrusion member 31 to retreat outside the sorting zone Z2 on the conveyor 12 at a predetermined retraction operation speed. A standby operation signal RJ5 for contracting the air cylinder 33 can be outputted to the directional switching valve 51.

The second control section 62 controls the expansion and contraction operation of the air cylinder 33 of the sorting section 30 using the sorting operation signal RJ1 and the standby operation signal RJ5, so that the extrusion member 31 can be moved from the extrusion start position P1 shown by the solid line in FIG. Sorting in which the reciprocating movement from moving to the extrusion end position P2 shown by the imaginary line in the figure to returning to the extrusion start position P1 again is completed within a predetermined operation time that is less than the transport time of the transport interval D of the workpiece W. It is a means of control.

Here, the normal discharge operation setting time Te1 is longer (longer) than the shortest operation time Ta [ms] when the work W of the maximum allowable weight is extended from the shortest contracted state to the longest extended state of the air cylinder 33. The time is set according to the throttling state of the discharge flow rate by the speed control valves 52 and 53, etc. so that the workpiece W has a stable discharge posture and discharge completion position under a test operation performed by the user in advance.

In addition, in order to stabilize the workpiece W, as shown in FIG. , it is necessary to complete the extrusion before the center of the workpiece W passes through the length region of the extrusion member 31 in the conveying direction. Therefore, the workpiece moving distance Lz during the extrusion operation needs to be kept below the push plate length Lg (Lg≧Lz).

This workpiece movement distance Lz can be calculated as conveyor speed Vrj x extrusion operation time Te1 (>Te2 or Tex) x extrusion deceleration rate β, and the extrusion deceleration rate β is the extrusion member made of stainless steel plate or resin plate. 31, it can be large, and it can be small in the case of a high-grip extruded member 31 using a high-friction material. The second control unit 62 controls the extrusion deceleration rate β according to the shape of the extrusion member 31, the size of the friction coefficient, etc., and the type of conveyed product of various works W (corrugated cardboard, resin case, tray, etc.). is stored in the memory in advance, and the extrusion deceleration rate β is specified according to the type set in the inspection section 20 and the usage type of the extrusion member 31 in the sorting section 30, and the workpiece moving distance Lz during the extrusion operation is determined. It is possible to determine whether or not the necessary ejection condition that the push plate length is equal to or less than Lg (Lg≧Lz) is satisfied. Further, when it is determined that the necessary ejection conditions are not satisfied, a warning display on the display/operation unit 63 or a display prompting a trial ejection operation request from the display/operation unit 63 can be executed.

The sorting section 30 is also configured to open the air cylinder to the atmosphere before and after the operation of the apparatus, as indicated by the star in FIG. 5. Furthermore, even when the device is in operation, by switching the operation mode to be described later, the sorting unit 30 can sort whether the preceding workpiece W passes through the sorting area Z2 or not, as shown by the asterisks in FIGS. 6 and 7, respectively. After being discharged outside the area Z2, the time when the current discharge target workpiece W is detected as a transport object (the time when the tip of the target workpiece W enters the sorting area Z2) or the time when the extrusion member 31 returns to the retracted/standby position The air cylinder can be opened to the atmosphere for a relatively short predetermined period of time between the time when the center of the workpiece W to be discharged enters the area of the width Lg of the extrusion member 31 in the conveying direction. ing.

Specifically, the atmospheric release response time Ton-off [msec], which includes the predetermined time for releasing to the atmosphere and the response time of the directional control valve 51, is calculated as shown in the following equation (1), for example, when the Stable discharge is possible by satisfying the extrusion operation waiting time condition of less than or equal to product half length (L/2) [m] in the transport direction/conveyor speed Vrj [m/s].

Ton-off ≦ (L/2)/conveyor speed Vrj (1)
Immediately after the atmospheric release response time Ton-off [msec], the directional switching valve 51 is switched to the first operation position [I] related to the extrusion operation, and the air cylinder 33 discharges the workpiece W according to the type. The extrusion member 31 is advanced at an operation time Te2 (see FIG. 6) and extrusion operation speed, and the workpieces W to be sorted are sorted and discharged by an extrusion operation for a stroke close to the width Lc in the width direction of the conveyor 12. .

Incidentally, as in the comparative examples shown in FIGS. 3(b) and 4(b), even if the end side of the target workpiece W that is away from the center is pushed out by the extrusion member 31, the defective workpieces W are not sorted out and discharged. There is a possibility that it will flow to the conveyor 13 side of the latter stage. This comparative example applies when the conveyor speed Vrj does not satisfy the above calculation formula (1), or when the push plate length Lg, which is the length of the extrusion member 31 in the conveyance direction, is smaller than the workpiece movement distance Lz during extrusion operation. This example shows that there is a possibility that the NG product passes through before the extrusion member 31 pushes out the NG product, and the NG product may go straight or fall outward from the conveyor 13 at the later stage.

Further, the second control unit 62 controls the sorting unit 30 according to the sorting command signal RJ, so that the extrusion member 31 moves from the extrusion start position P1 indicated by the solid line in FIG. The reciprocating movement from moving to the end position P2 to returning to the extrusion start position P1 is completed during a predetermined reciprocating operation time corresponding to the transport interval of the workpiece W.

The article sorting system 1 of this embodiment is thus equipped with a pusher type sorting section 30 having an air cylinder 33 driven by air and an extrusion member 31 fixed to the distal end side of the piston rod 43. Workpieces W to be sorted can be sorted and discharged from the conveyors 11 to 13 by the pushing operation of the pushing member 31 by the sorting section 30.

(operation mode switching)
By the way, the electromagnetic valve unit 34 of the sorting section 30 uses the directional switching valve 51 to control the air flow from the air source 50 side when switching the forward/backward movement direction of the piston rod 43 to a specific side so as to start the extrusion operation of the extrusion member 31. While temporarily blocking the compressed air, the pair of pressure chambers 44A and 44B of the air cylinder 33 are opened to the atmosphere for a predetermined period of time, and then the compressed air from the air source 50 is used for a specific extrusion operation of the extrusion member 31. In the first operation mode, when switching the forward and backward movement direction of the piston rod 43 to one specific side, the pair of pressure chambers 44A and 44B of the air cylinder 33 are opened to the atmosphere for a predetermined time. Any operation mode can be selected from among the second operation mode in which compressed air from the air source 50 side is supplied to one specific supply/discharge port 45a related to the extrusion operation of the extrusion member 31 without In other words, it is possible to switch.

(First operation mode)
When the solenoid valve unit 34, which is a supply/discharge control unit, is selected and set to the first operation mode, the extrusion member 31 is placed outside the sorting area Z2 on the conveyors 11 to 13 (for example, in Z2 and Lc in FIG. 1). outside the range), and the direction of the forward and backward movement of the piston rod 43 is switched to the direction of the extrusion operation of the extrusion member 31 (see FIG. 3(a)), which is one specific side. Sometimes, the pair of pressure chambers 44A and 44B of the air cylinder 33 are opened to the atmosphere for a predetermined period of time, and then compressed air from the air source 50 is supplied to one specific supply/discharge port 45a related to the extrusion operation of the extrusion member 31. On the other hand, by exhausting air from the other supply/discharge port 45b related to the return operation of the extrusion member 31, a high-speed extrusion operation is executed.

Furthermore, when the extrusion member 31 is returned to the outside of the sorting zone Z2 on the conveyor 12 following the high-speed extrusion operation, the solenoid valve unit 34 opens the pair of pressure chambers 44A and 44B of the air cylinder 33 to the atmosphere for a predetermined period of time. Instead, the supply destination of compressed air from the air source 50 side is switched to the other supply/discharge port 45b related to the retracting/standby operation (returning operation) of the extrusion member 31, and the supply destination of the compressed air from the air source 50 side is switched to the other one of the supply/discharge ports 45b related to the extrusion operation of the extrusion member 31. The air is exhausted from the supply/exhaust port 45a.

Specifically, when a request for extrusion operation of the extrusion member 31 is generated based on the inspection result of the inspection unit 20, the direction switching is such that the supply of compressed air from the air source 50 to the air cylinder 33 side is temporarily turned off. It is blocked by valve 51. In addition, the pressure chamber 44B on the drawing pressurizing side, into which compressed air from the air source 50 was introduced before the direction change, is opened to the atmosphere for a predetermined period of time (see the black star in FIG. 6). , the differential pressure between both pressure chambers 44A, 44B decreases. Therefore, the directional control valve 51 is switched to the first operation position [I] by the sorting operation signal RJ1, compressed air is supplied to the pressure chamber 44A on the extrusion pressurization side, and the pressure in the pressure chamber 44A on the extrusion pressurization side is At the stage where the pressure becomes high, the pressure in the pressure chamber 44B on the drawing pressure side can be sufficiently lowered, and the extrusion operation speed of the extrusion member 31 is not limited, so high-speed extrusion becomes possible.

In this embodiment, where the workpiece W is a heavy item that is transported at a low speed, even if the telescopic operation is performed after the workpiece W is sufficiently exposed to the atmosphere after receiving the sorting signal, it will still be possible to sort and discharge the target workpiece W, but it is not possible to release the workpiece W to the atmosphere. The predetermined time for execution is, for example, approximately several tens of milliseconds to several hundred milliseconds (depending on the configuration of pneumatic components such as the air cylinder size).

With the extrusion member 31 in the retracted/standby position, the direction switching valve 51 is configured to start releasing the atmosphere to the atmosphere from the time when the transported article detection sensor 25 detects the workpiece W that has reached a predetermined position on the upstream side of the sorting zone Z2. Then, the push plate can be controlled to be pushed out at a timing when half or more of the workpiece W is on the push plate after being exposed to the atmosphere, but this point will be described later.

(Second operating mode)
In response to a mode selection request operation input to the display operation section 63, a request for setting the second operation mode is made from the first control section 61 to the second control section 62, and the solenoid valve unit 34, which is the supply/discharge control section, switches to the second operation mode. When the operation mode is selected and set, the forward and backward movement direction of the piston rod 43 is switched from the standby operation to the extrusion operation side so that the extrusion operation of the extrusion member 31 is started according to the inspection result of the defective product determination by the inspection unit 20. Sometimes, the second control section 62 sends a control signal RJ1 to the solenoid valve unit 34 so that the directional control valve 51 does not stop in the middle of being switched from the second operating position [II] to the first operating position [I]. , RJ5 are turned on and off almost simultaneously.

As a result, when a request for extrusion operation of the extrusion member 31 is generated based on the inspection result of defective product determination by the inspection unit 20, the supply of compressed air from the air source 50 to the air cylinder 33 side is not temporarily blocked. When the directional control valve 51 is switched to the first operating position [I] and compressed air starts to be supplied to the pressure chamber 44A on the extrusion pressure side, the pressure in the pressure chamber 44B on the pull pressure side is high. The start of the extrusion operation of the extrusion member 31 is delayed and the initial speed of extrusion is limited. Therefore, it is possible to achieve an operation speed suitable for the extrusion operation of the workpiece W and to suppress the impact during the extrusion operation.

On the other hand, regardless of which of the first and second operation modes is set, the forward and backward movement direction of the piston rod 43 is changed to the extrusion operation side so that the extrusion operation of the extrusion member 31 is completed and the retraction operation of the extrusion member 31 is started. to the standby operation side, the second control unit 62 controls the solenoid valve so that the directional control valve 51 does not stop during switching from the first operation position [I] to the second operation position [II]. The sorting operation signal RJ1 to the unit 34 is turned OFF and the pull-in/standby operation signal RJ5 is turned ON almost simultaneously.

The solenoid valve unit 34 includes a three-position directional switching valve 51, in which the third operating position [III] is the first operating position [I] and the second operating position [II]. However, the third operating position [III] may not be located between the first operating position [I] and the second operating position [II], The directional switching valve 51 is not limited to having a direct-acting valve body, but may have a rotary valve body whose rotation angle position can be changed, for example. Therefore, the directional switching valve 51 is not limited to the exhaust center type. However, when the directional switching valve 51 is of a closed center type or a pressure center type, a solenoid valve for forced exhaust and its control are required.

Next, the operation will be explained.

In the article sorting system 1 of the present embodiment configured as described above, the direction switching valve 51 of the solenoid valve unit 34 is switched according to the article inspection result of each workpiece W in the inspection section 20, and the inspection result is The defective workpieces W are discharged by the sorting section 30 onto the discharged product pedestal conveyor 15 and stocked in a predetermined pedestal area.

Further, as the operation mode of the sorting unit 30, in the case of a workpiece type that is desired to be discharged at high speed after the center G of the target workpiece W reaches the push plate length Lg of the extrusion member 31, the first operation mode is selected and set; In the case of a workpiece type that is not desired to be discharged at high speed, the second operation mode is selected and set.

In the second operation mode, which is the normal sorting operation mode, compressed air is contained in the pressure chamber 44B on the pull-in pressure side when the extrusion member 31 starts the extrusion operation, and in that state, the pressure chamber 44B on the extrusion pressure side Since the supply of air to 44A is started, the exhaust operation is started in a state where the pressure resistance on the exhaust side is large. The operation timing of each part related to the sorting operation at this time is as shown in FIG.

In FIG. 5, following the time t0 when the system power is turned on, the operation of the transport section 10, the inspection section 20, and the sorting section 30 is started, and after a waiting time including the time for returning the extrusion member 31 to the standby position, etc., for example, an inspection is performed. When the NG determination signal is output from the unit 20, the sorting operation signal RJ1 is supplied to the directional control valve 51 of the solenoid valve unit 34 for the ejection operation set time Te1 [ms] based on the time t4 (as shown in the figure). t5-t8, t12-t15). Then, when the discharge operation setting time Te1 has elapsed (t8, t15 in the figure), the sorting operation signal RJ1 is turned off and at the same time, the standby operation signal RJ5 starts to be supplied to the directional control valve 51, and the return operation (return operation) is started. ) The standby operation signal RJ5 is supplied for a set time Tre [ms] (for example, from t8 to t11 and from t15 to t18 in the figure). During this time, the standby position sensor 54 detects that the extrusion member 31 is in the retracted/standby position (for example, from t3 to t6, t10 to t13 in the figure), and the sorting position sensor 55 detects that the extrusion member 31 has completed extrusion. It is detected that the position has been reached (for example, from t7 to t9 and from t14 to t16 in the figure).

Furthermore, at the start of the retraction operation of the extrusion member 31, the supply of air to the pressure chamber 44B on the pull-in pressurization side is started with compressed air entering the pressure chamber 44A on the extrusion pressurization side, so that the pressure on the extrusion side is The retracting operation will start in a state where the resistance is large.

On the other hand, in the first operation mode, which is a high-speed extrusion operation, the operation timing of each part related to the sorting operation is as shown in FIG. 6, for example.

In this case, while the extrusion member 31 is in the retracted/standby position (for example, from t3 to t4 and from t11 to t12 in FIG. 6), the tip of the target workpiece W enters the sorting area Z2, and then the center of the target workpiece W is During a predetermined period of time until G reaches the push plate length Lg of the extrusion member 31, the selection operation signal RJ1 and the standby operation signal RJ5, which are operation signals, are not input to the directional switching valve 51 (for example, from t4 to t6 in FIG. 6). , t12 to t14), the supply/discharge ports 45a and 54b of the air cylinder 33 are opened to the atmosphere. Therefore, during the extrusion operation, when compressed air is supplied to the pressure chamber 44A on the extrusion pressurization side of the air cylinder 33, the pressure rise in the pressure chamber 44B on the pull-in pressurization side, which is the exhaust side, is suppressed, and the resistance of the extrusion operation is made effective. It is possible to achieve a high-speed extrusion operation.

Note that "electromagnetic valve OFF" in the figure indicates that the signal RJ is temporarily turned OFF so as to return the directional control valve 51 of the electromagnetic valve unit 34 to the third operating position.

In this embodiment, the ejection operation is started after the center G of the length in the transport direction of the work W to be ejected enters the area of the width Lg in the transport direction (push plate length) of the extrusion member 31, and From the time when the tip of the workpiece W to be discharged this time enters the sorting area Z2 after passing or being discharged to the time when the center G of the workpiece W to be discharged enters the area of the width Lg of the extrusion member 31 in the conveyance direction. In the meantime, the directional control valve 51 is held at the third operating position [III] which is the neutral position for the above-mentioned atmospheric release response time Ton-off, and both pressurizing chambers 44A and 44B of the air cylinder 33 are opened to the atmosphere. Let it open. Therefore, the pusher-type sorting unit 30 can perform a stable discharge operation.

Further, when the pushing member 31 is retracted, the inside of the air cylinder 33 is not opened to the atmosphere, so no time loss occurs and the required responsiveness can be obtained.

Furthermore, although the friction coefficient μcb (see FIG. 1) between the conveyor 12 and the workpiece W is relatively large in accordance with the required conveyance capacity, in this embodiment, the tip surface 31a of the extrusion portion seat 31 is The friction coefficient μpsh is made larger than the friction coefficient μcb between the conveyor 12 and the workpiece W by attaching silicone rubber, urethane rubber, or the like to the conveyor 12 to increase the gripping force. Therefore, it is possible to more effectively suppress the possibility that the center G of the work W to be sorted and discharged will deviate downstream from the range of the push plate length Lg of the extrusion member 31. As a result, the workpiece W to be discharged can be reliably and stably discharged by the extrusion member 31 before the workpiece W to be discharged passes.

As described above, in the article sorting system 1 of the present embodiment, when the first operation mode is selected and set, the direction switching valve 51 is set to the pushing operation so that the solenoid valve unit 34 starts the pushing operation of the pushing member 31. When switching to the side, the directional control valve 51 is held at the third operating position [III] for a predetermined time while being switched from the second operating position [II] to the first operating position [I], and the supply/discharge port is 45a and 45b are opened to the atmosphere.

Therefore, when switching the forward and backward movement direction of the air cylinder 33 by the direction switching valve 51 to start the extrusion operation of the extrusion member 31, compressed air from the air source 50 side is temporarily blocked, and before switching, the compressed air from the air source 50 side is The pressure chamber 44Bb on the drawing pressurizing side, into which the compressed air was introduced, is effectively opened to the atmosphere for a predetermined period of time. As a result, when the pressure in the pressure chamber 44A on the extrusion pressurization side into which compressed air is introduced increases due to switching, the extrusion operation resistance does not become large due to the residual compressed air in the pressure chamber 44B on the retraction pressurization side, and the extrusion operation can be quickly performed. It becomes possible to switch the operating direction.

Further, in this embodiment, in a state in which the extrusion member 31 is retreated outside the sorting area Z2 on the conveyors 11 to 13, the forward and backward movement direction of the piston rod 43 of the air cylinder 33 is switched to the extrusion movement direction of the extrusion member 31. At times, the supply/discharge ports 45a, 45b of the pair of pressure chambers 44A, 44B are opened to the atmosphere for a predetermined period of time. Therefore, when compressed air from the air source 50 side is supplied to one specific supply/discharge port 45a related to the extrusion operation of the extrusion member 31, high pressure is supplied to the other one pressure chamber 44B related to the return operation of the extrusion member 31. There is no residual compressed air, and by quickly exhausting air from the other supply/discharge port 45b, a high-speed extrusion operation can be performed.

Furthermore, in the present embodiment, when the extrusion member 31 is returned to its original state following a high-speed extrusion operation, the solenoid valve unit 34 allows air to be released without opening the pair of supply/discharge ports 45a and 45b of the air cylinder 33 to the atmosphere for a predetermined period of time. The supply destination of compressed air from the source 50 side is switched to the other supply/discharge port 45b related to the return operation of the extrusion member 31, and the air is exhausted from one supply/discharge port 45a related to the extrusion operation of the extrusion member 31. Therefore, during the return operation to the retraction side following the push-out operation, the starting speed of the return operation under low load of the push-out member 31 can be moderately suppressed while ensuring the necessary responsiveness to a request for switching the operating direction.

In addition, in this embodiment, the electromagnetic valve unit 34 is configured to include a three-position switching type directional switching valve 51, so that it has a simple configuration, and when switching to the extrusion operation direction, the pair of air cylinders 33 The pressure chambers 44A and 44B can be effectively opened to the atmosphere for a predetermined period of time.

Further, in this embodiment, since it is possible to switch between the first operation mode and the second operation mode, it is possible to selectively switch the extrusion operation of the extrusion member 31 to a high-speed operation, and the extrusion of the workpiece W can be performed. The operation mode can be selected and set in consideration of the operation speed suitable for the operation and the impact during the extrusion operation.

As described above, according to the present embodiment, it is possible to provide a sorting device and an article sorting system that can perform high-speed extrusion operations.

(Second embodiment)
FIG. 7 shows the operation timing of each part related to the sorting operation in the first operation mode, which is a high-speed extrusion operation, in the article sorting system 1 according to the second embodiment of the present invention.

The article sorting system 1 of this embodiment includes an inspection section 20 that executes article inspection of a predetermined method on the upstream side of the sorting section 30 and transmits and outputs a sorting signal RJ according to the inspection result to the sorting section 30, The solenoid valve unit 34, which is a control unit for supplying and discharging air to the air cylinder 33 that moves the extrusion member 31 of the sorting unit 30 forward and backward, allows the work W to be sorted to reach a predetermined position on the upstream side of the sorting area Z2 on the conveyor 12. A transported article detection sensor 25 is provided as article detection means for detecting this.

Furthermore, on the condition that the solenoid valve unit 34 serving as the supply/discharge control section receives the sorting signal RJ according to the result of the article inspection from the inspection section 20, the time point at which the conveyed article detection sensor 25 detects the workpiece W to be discharged ( The directional control valve 51 is switched based on t5 and t13 in FIG. The compressed air from the air source side is blocked while being released to the atmosphere (from t5 to t6 and from t13 to t14 in FIG. 7).

In this case, the work W to be sorted is specified based on the sorting signal RJ according to the result of the article inspection in the inspection section 20, and the work W to be sorted is located at a predetermined position on the upstream side of the sorting area Z2 on the conveyor 12. When it arrives, it is detected by the transported article detection sensor 25, and compressed air from the air source 50 is introduced at the time of detection (t5, t13 in FIG. 7) as a reference. It becomes possible to effectively and accurately set the predetermined time (t5 to t6, t13 to t14 in the figure) for opening the pressure chamber 44B on the drawing pressure side to the atmosphere immediately before the start of the extrusion operation.

Note that the pressure chambers 44A and 44B of the air cylinder 33 are set to a predetermined position only when an inspection judgment NG, which is a sorting and discharging command from the inspection unit 20, occurs and the workpiece W to be discharged is detected by the conveyed article detection sensor 25. The system will be open to the atmosphere for only a certain period of time, and the signal operation of the directional control valve 51 will not be performed every time a conveyed item is detected because the operation will be frequent.

In this embodiment, when the workpiece W to be sorted reaches a predetermined position on the upstream side of the sorting zone Z2 on the conveyor 12, it is detected by the conveyed article detection sensor 25, which is an article detection means, and the detected time is used as a reference point. , the pressure chamber 44B on the drawing and pressurizing side, into which compressed air from the air source was introduced at the time of detection, is operated for a predetermined time (in the figure) immediately before the start time of the extrusion operation time Tex (t6, t14 in the figure). It becomes possible to secure the time for opening to the atmosphere by t5 to t6 and t13 to t14).

Therefore, in this embodiment as well, similarly to the first embodiment, it is possible to provide a sorting device and an article sorting system that can perform a high-speed extrusion operation.

(Third embodiment)
8 to 12 show an article sorting system 2 according to a third embodiment of the present invention.
In each of the embodiments described below, for configurations that are the same as or similar to the embodiments described previously, the reference numerals of the corresponding components in the first embodiment or the previous embodiment are used to indicate the points that are particularly different. I will explain about it.

Although the article sorting system 2 of the present embodiment includes a transport section 10 and an inspection section 20 that are substantially the same as those of the first and second embodiments, the sorting device is different from that of the first and second embodiments. It is provided with a type different from the pusher type sorting unit 30, for example, a flipper type sorting unit 80.

As shown in FIGS. 9(a) and 9(b), the sorting unit 80 includes a sorting arm 81 (distributing member) that distributes the transport route of the work W to be sorted to one of a plurality of routes; It has a sorting mechanism 82 that swings this sorting arm 81 in one and the other sorting operation directions (R1 and R2 directions in the figure). Here, the sorting arm 81 has a base end 81b (one end) located on the downstream side in the transport direction of the conveyor 21 as an axis, and a tip 81a (other end) located on the upstream side in the transport direction with a width Lc of the middle conveyor 12. It can be swung in the direction of Then, when a workpiece W that is required to be sorted and discharged is generated by the inspection by the inspection section 20, the sorting arm 81 has its tip 81a side inward of the conveyor 12 and in the conveying direction, as shown in FIG. 9(b). It swings in the R1 direction toward the downstream side, and assumes a sorting and sorting attitude [A2] in which the main portion from the tip 81a to the base end 81b diagonally crosses the middle conveyor 12. During the sorting posture, the work W to be discharged is moved in the conveyance direction in cooperation with the middle conveyor 12, and is sorted and discharged from within the sorting area Z2 to the outside of the conveyor 12 (upper side in FIG. 9(b)). The first distribution function can be achieved.

Further, when a normal workpiece W that does not need to be sorted and discharged is detected by the inspection section 20, the main part of the sorting arm 81 from the tip 81a side to the base end 81b is in the middle stage, as shown in FIG. 9(a). The conveyor 12 takes a passing-permitting posture [A1] parallel to the X direction, which is the article conveyance direction, and in this passing-permitting posture, normal workpieces W are removed from the sorting area Z2 on the middle conveyor 12. A second sorting function that allows the articles to be carried out to the downstream side (right side in FIG. 9(a)) in the article conveyance direction by the conveyor 12 can be achieved.

The distribution mechanism 82 includes a rotation support shaft 83, bearings 84a and 84b, a rotation lever 85, and a link 86, and controls the extension and contraction operations (linear movement) of the rod 43 of the air cylinder 33. The function of converting the swinging motion (rotational motion) of the sorting arm 81 in the R1 direction as shown in FIG. 9(b) and the swinging motion of the sorting arm 81 in the R2 direction as shown in FIG. 9(a). have.

Specifically, the sorting arm 81 is integrally supported by a rotation support shaft 83 at its base end 81b side, and is swingably supported by the housing 90 via the rotation support shaft 83. There is. When the rotary support shaft 83 rotates, the sorting arm 81 swings (angularly displaces) its tip 81a side within a predetermined angular range along the conveyance path surface 12a on the middle stage conveyor 12, and It is possible to take the sorting and sorting attitude [A2] within Z2 and the passage-permitting attitude [A1] outside the sorting area Z2. Note that the work W to be sorted and discharged engages with the sorting arm 81 in the sorting and sorting attitude [A2] while being conveyed by the middle conveyor 12, and is guided or shaken by the sorting arm 81 in the sorting and sorting attitude [A2]. It is repelled by the moving sorting arm 81 and is discharged from the sorting area Z2 to the outside of the middle conveyor 12.

As shown in FIG. 10, the rotation support shaft 83 has two mounting plates 92a, 92b and a bearing 84a, which are spaced apart in the vertical direction in the axial direction, with respect to a side plate part 91 that is a part of the housing 90 of the sorting part 80. The sorting arm 81 is rotatably supported in a vertical position via the support 84b, and supports the sorting arm 81 in a position parallel to the upper surface of the conveyance path 12a. Further, a rotary lever 85 extending in the radial direction is coupled to the rotary support shaft 83 at its proximal boss portion so as not to rotate. The piston rod 43 of the air cylinder 33 is linkage-connected to the rotary support shaft 83 of the sorting arm 81 via a link 86 which is pin-coupled to each of the two. Note that the air pressure control circuit of the air cylinder 33 when connected in this way by linkage is the air pressure control circuit for the air cylinder with a push plate shown in FIG. (circuit configuration for supplying and controlling).

Further, the air cylinder 33 is mounted substantially horizontally on a mounting frame 93 that is a part of the housing 90, and is paired with a solenoid valve unit 34, which is a supply/discharge control section, as in the first and second embodiments. The supply/discharge direction and the amount of air supplied/discharged to the supply/discharge ports 45a, 45b are controlled. That is, the solenoid valve unit 34 supplies air to the pressure chamber 44A or 44B through the corresponding supply/discharge port 45a or 45b on the side of the air source 50 in response to the input of the sorting signal RJ1 or return command signal RJ5, which is a control signal. While supplying compressed air from the pressure chamber 44B or 44A, it is possible to exhaust the air from the pressure chamber 44B or 44A through the other supply/discharge port 45b or 45a.

When compressed air is supplied to any one of the pair of supply/discharge ports 45a, 45b, for example, the supply/discharge port 45a, and exhausted from the other supply/discharge port 45b, the air cylinder 33 selects The arm 81 is moved into the sorting area Z2 on the conveyor 12 and the piston rod 43 is moved to one side in the forward and backward movement direction (in FIG. 9(b) right side). On the contrary, when compressed air is supplied to the supply/discharge port 45b and exhausted from the supply/discharge port 45a, the air cylinder 33 moves the piston rod 43 so as to retract the sorting arm 81 outside the sorting zone Z2 on the conveyor 12. It is configured to move to the other side (to the left in FIG. 9(a)) in the forward and backward movement direction.

The electromagnetic valve unit 34 is arranged so that the distal end 81a side of the sorting arm 81 is located at a predetermined position in the sorting zone Z2, which is a predetermined section of the article conveyance path, and when switching the forward and backward movement direction of the rod 43 to one specific side, After the pair of pressure chambers 44A and 44B of the cylinder 33 are opened to the atmosphere for a predetermined time, compressed air from the air source 50 side is supplied to one specific supply/discharge port 45b or 45a related to the distribution operation of the sorting arm 81. By doing so, a high-speed distribution operation or a high-speed return is executed.

More specifically, in the article sorting system 2 of the present embodiment, the first control unit 61 controls the X-ray inspection in the inspection unit 20 in substantially the same way as the first embodiment, while starting the operation shown in FIG. According to the article detection information from the X-ray image after the possible time t2 and the inspection result (OK/NG) of the inspection unit 20, a sorting signal RJ and an inspection judgment signal are generated within a predetermined time from the judgment point and a second It can be output to the control section 62.

Further, when the second control unit 62 receives the sorting signal RJ and the NG judgment signal from the first control unit 61, the workpiece W is sorted from the time when the signals are input, for example, from the rising time t3 of the OK judgment signal in FIG. The time until a predetermined position in area Z2 is reached, at time t4 in the same figure, when the sorting operation can be started, is set as the sorting delay time td.

Furthermore, the second control unit 62 performs a first operation in which the sorting arm 81 is normally kept on standby in the sorting and sorting attitude [A2] as shown in the timing chart in FIG. mode and a second operation mode in which the sorting arm 81 is normally placed on standby in the passage-permitting attitude [A1] as shown in the timing chart in FIG.

(First driving mode)
In the first operation mode shown in FIG. 11, first, after the device power is turned on at time t0 and at operation start time t1, a sorting signal RJ1 that excites the electromagnetic operation section SOL1 in the direction switching valve 51 of the electromagnetic valve unit 34 is generated. The second control unit 62 outputs a signal so that the return command signal RJ5 that excites the electromagnetic operation unit SOL2 is turned OFF.

Then, at time t2 when the normal sorting operation time Ts has elapsed, when the sorting position sensor 55 is turned ON, the distribution sorting signal RJ1 is turned OFF, so that both the one and the other electromagnetic operation parts SOL1 and SOL2 are de-energized. state, and the directional control valve 51 is centered at the third operating position [III], which is the neutral position. Therefore, both the supply and exhaust ports 45a and 45b of the air cylinder 33 are opened to the atmosphere.

In this state, when the inspection judgment signal from the inspection section 20 is generated as an OK signal at the inspection signal generation time t3, from the time t4 after a predetermined sorting delay time td, the OK sorting output corresponding to the OK signal starts to pass through the predetermined sorting. It is continuously output for the command time T4d, and the return command signal RJ5 is turned ON.

At this time, since both pressure chambers 44A and 44B of the air cylinder 33 are already open to the atmosphere, the electromagnetic operation unit SOL2 is energized and the directional control valve 51 is switched to the second operating position [II]. In some cases, the exhaust resistance on the pressurized chamber 44A side, which is the exhaust side, is suppressed, and the sorting arm 81 can be returned to the passage-permitting attitude at high speed within a short high-speed return operation time Th.

Further, at time t5 when this high-speed return operation time Th has elapsed, the piston rod 43 of the air cylinder 33 reaches the return position and the return position sensor 54 is turned ON.

Then, when the above-mentioned sorting time T4d, which is determined by considering the passage of the predetermined workpiece passing time Tw, has elapsed from the time t5 at which the high-speed return operation time Th has elapsed, the OK sorting output is turned OFF at the time t6, and the sorting arm The sorting and sorting command signal RJ1 is turned ON in order to make the robot 81 stand by in the sorting and sorting attitude.

Next, when the sorting position sensor 55 is turned on, the sorting signal RJ1 is turned off, and both supply and exhaust ports 45a and 45b are opened to the atmosphere.

In this state, at time t8 when a predetermined workpiece passage time has elapsed, the next inspection judgment signal from the inspection section 20 is not generated, and at a later time t9, when the next inspection judgment signal is generated as an OK signal, the predetermined From time point t10 after a sorting delay time td, the OK sorting output is continuously output for a predetermined sorting command time T4d, and the return command signal RJ5 is turned ON.

At this time, since both pressure chambers 44A and 44B of the air cylinder 33 are already open to the atmosphere, the electromagnetic operation unit SOL2 is energized and the directional control valve 51 is switched to the second operating position [II]. During the return operation, the exhaust resistance on the pressurized chamber 44A side is suppressed, and the sorting arm 81 can be returned to the passage-permitting attitude at high speed within a short high-speed return operation time Th.

Further, at time t11 when this high-speed return operation time Th has elapsed, the piston rod 43 of the air cylinder 33 reaches the return position and is detected by the return position sensor 54.

Then, when a predetermined sorting command time T4d in which the OK sorting output is continued has elapsed, at time t12, the OK sorting output is turned off, the distribution sorting signal RJ1 is turned on, and the return position sensor 54 is turned off.

Next, at time t13 when the sorting position sensor 55 is turned ON, the distribution sorting signal RJ1 is turned OFF, both supply and exhaust ports 45a and 45b are opened to the atmosphere, and in this state, the sorting arm 81 is placed in a standby state. .

Next, when the inspection determination signal from the inspection unit 20 is generated as an NG signal, at time t15 after a predetermined selection delay time td from time t14, the OFF state of the OK selection output is continued in response to the NG signal. At the same time, the sorting signal RJ1 is turned ON, and the state in which the sorting arm 81 is biased to the sorting attitude is maintained for a normal sorting operation time Ts.

When the next inspection determination signal is generated as an OK signal at time t16 when the sorting operation time Ts elapses, an OK sorting output is output for a predetermined sorting command time T4d from time t17 after a predetermined sorting delay time td. , the return command signal RJ5 that excites the electromagnetic operation unit SOL2 is turned ON.

Then, when a short high-speed return time Th has elapsed from the ON time point t17 of the electromagnetic operation unit SOL2, the return position sensor 54 is turned ON at the elapsed time point t18. Here, if the next inspection judgment signal from the inspection section 20 is generated as an OK signal at, for example, inspection signal generation time t18, before the predetermined sorting command time T4d has elapsed with respect to the OK sorting output from time t17, The OK sorting output is extended and the ON state of the return command signal RJ5 is extended until the sum of the predetermined sorting delay time td and the predetermined sorting command time T4d has elapsed from the time point t18 of occurrence.

Next, while the OK sorting output continues for a predetermined sorting command time T4d corresponding to the OK sorting output from time t17, a short high-speed return time Th elapses from the time when the electromagnetic operation unit SOL2 is turned ON (here, t19). Then, at a time t21 when a predetermined workpiece passage time Tw has elapsed from the elapsed time t20, the OK sorting output is stopped and the return command signal RJ5 is turned OFF, while the sorting arm 81 is kept on standby in the sorting and sorting posture. The sorting signal RJ1 that excites the electromagnetic operation unit SOL1 is turned ON.

When the inspection determination signal from the inspection unit 20 is generated as an NG signal at time t22 immediately after that, from time t23 after a predetermined selection delay time td from that time t22, an OK selection output and a return command signal are issued according to the NG signal. The OFF state of RJ5 is continued, and the ON state of the sorting signal RJ1, which sets the sorting arm 81 in the sorting and sorting posture, is maintained for a normal sorting operation time Ts.

During this time, the sorting position sensor 55 is turned ON, and at time t25, when the normal sorting operation time Ts has elapsed from time t23, the sorting signal RJ1 that excites the electromagnetic operation unit SOL1 is turned OFF, and both supply and discharge ports 45a , 45b are both open to the atmosphere.

At this time, if the next inspection determination signal is generated as an NG signal, at time t26 after a predetermined sorting delay time td, the sorting signal RJ1 is turned ON again and the sorting arm 81 is placed in the sorting attitude again. Forced. When the normal sorting operation time Ts elapses in this state, the sorting signal RJ1 that excites the electromagnetic operation unit SOL1 turns OFF at time t27, and both supply and exhaust ports 45a and 45b are opened to the atmosphere. Become.

(Second driving mode)
In the second operation mode shown in FIG. 12, first, after the device power is turned on at time t0 and at operation start time t1, the electromagnetic operation unit SOL2 of the directional control valve 51 of the solenoid valve unit 34 is excited. A signal is output from the second control section 62 so that the return command signal RJ5 is turned ON, while the sorting signal RJ1 that excites the electromagnetic operation section SOL1 is turned OFF.

At this time, since both pressure chambers 44A and 44B of the air cylinder 33 are open to the atmosphere, the electromagnetic operation unit SOL2 is energized and the directional control valve 51 is switched to the second operating position [II]. In some cases, the exhaust resistance on the pressurized chamber 44A side, which is the exhaust side, is suppressed, and even if the sorting arm 81 is in the sorting and sorting posture, the air passes through the sorting arm 81 within a short high-speed return operation time Th. It is possible to return to the permissible posture at high speed.

Next, at a time point t2 when the high-speed return operation time Th has elapsed, the return position sensor 54 is turned on, and the sorting arm 81 enters a standby state in a passing-permitting posture.

In this state, when the inspection determination signal from the inspection unit 20 is generated as an NG signal at the inspection signal generation time t3, the NG selection output corresponding to the NG signal is turned ON from the time t4 after a predetermined selection delay time td. The sorting signal RJ1 that excites the electromagnetic operation unit SOL1 is turned ON.

Then, when the ON state of the sorting signal RJ1 passes the normal sorting operation time Ts, the sorting position sensor 55 turns ON at time t5, the sorting signal RJ1 turns OFF, and the supply/discharge port 45a of the air cylinder 33 , 45b are both open to the atmosphere.

Next, when the duration time T4d of the NG sorting output has elapsed, at time t6, the NG sorting output is turned off, while the return command signal RJ5 that excites the electromagnetic operation unit SOL2 is turned on, and the sorting position sensor 55 is turned off. Become.

At this time, since both pressure chambers 44A and 44B of the air cylinder 33 are open to the atmosphere, the electromagnetic operation unit SOL2 is energized and the directional control valve 51 is switched to the second operating position [II]. Sometimes, like when establishing the initial standby posture, the exhaust resistance of the pressurized chamber 44A on the exhaust side is suppressed, allowing the sorting arm 81 in the sorting and sorting posture to be passed within a short high-speed return operation time Th. It is possible to quickly return to the posture.

When the high-speed return operation time Th has elapsed, the return position sensor 54 is turned ON at time t8. Furthermore, when the inspection determination signal from the inspection section 20 is generated as an OK signal at the inspection signal generation time t7 during this period, at the time t8 after a predetermined selection delay time td, the return command signal RJ5 is further increased by the high-speed return operation time Th. It becomes ON. Therefore, the recovery operation time in this case is longer than the NG selection output holding time T4d.

When a predetermined workpiece passing time Tw has elapsed from the time t9 at which the further high-speed return operation time Th has elapsed, the return command signal RJ5 that excites the electromagnetic operation unit SOL2 is further turned ON in order to enter the standby state again at the time t10. Retained.

Next, when the test determination signal from the test section 20 is generated as an NG signal at the test signal generation time t11, the NG selection output corresponding to this NG signal is turned ON at the time t12 after a predetermined selection delay time td. , the sorting signal RJ1 that excites the electromagnetic operating section SOL1 is turned ON, while the return command signal RJ5 that excites the electromagnetic operating section SOL2 is turned OFF, and the return position sensor 54 is turned OFF.

Then, at time t13 when the ON state of the sorting signal RJ1 passes the normal sorting operation time Ts, the sorting position sensor 55 is turned ON, the sorting signal RJ1 is turned OFF, and the sorting arm 81 is in the sorting and discharging posture. While the workpiece W is passing below, the supply and discharge ports 45a and 45b of the air cylinder 33 are both opened to the atmosphere.

Here, if the next inspection judgment signal from the inspection section 20 is generated as an NG signal at the inspection signal generation time point 13 before the duration time T4d of the NG selection output from time t12 has elapsed, then from the generation time point 13 At time t14 when the predetermined sorting delay time td has elapsed, the NG sorting output is turned ON again, and the sorting signal RJ1 is turned ON, while the return command signal RJ5 continues to be OFF, and the sorting arm 81 starts sorting. held in position. Further, the NG selection output is extended from the time point 14 until the selection command time T4d has elapsed.

Further, when the normal sorting operation time Ts has elapsed since the time t14 when the distribution and sorting signal RJ1 is turned ON again, the distribution and sorting signal RJ1 is turned OFF at that time t15, and at the time t16 when the predetermined workpiece passage time Tw has elapsed, The NG selection output corresponding to the NG signal is turned OFF, the return command signal RJ5 is turned ON, and the selection position sensor 55 is turned OFF.

At this time, since both pressure chambers 44A and 44B of the air cylinder 33 are open to the atmosphere, the electromagnetic operation unit SOL2 is energized and the directional control valve 51 is switched to the second operating position [II]. In some cases, by suppressing the exhaust resistance on the pressurized chamber 44A side, which is the exhaust side, it is possible to quickly return the sorting arm 81, which was in the sorting and sorting posture, to the pass-permitting posture within a short high-speed return operation time Th. . Then, at time t17 when the high-speed return operation time Th has elapsed, the return position sensor 55 is turned on.

Next, when the inspection determination signal from the inspection section 20 is generated as an NG signal at the inspection signal generation time t18, the NG selection output corresponding to the NG signal is turned ON from the time t19 after a predetermined selection delay time td, and the vibration is turned on. While the sorting signal RJ1 is turned ON, the return command signal RJ5 is turned OFF.

Then, at time t20 when the ON state of the sorting signal RJ1 exceeds the normal sorting operation time Ts, the sorting position sensor 55 is turned ON, and the sorting signal RJ1 that excites the electromagnetic operation unit SOL1 is turned OFF. Both the supply and exhaust ports 45a and 45b of the air cylinder 33 are opened to the atmosphere.

Further, at time t21 when a predetermined workpiece passage time Tw has elapsed, the NG sorting output is turned OFF, the return command signal RJ5 that excites the electromagnetic operation unit SOL2 is turned ON, and the sorting position sensor 55 is turned OFF.

Then, at time t23 when the high-speed return operation time Th corresponding to the return command signal RJ5 has elapsed, the return position sensor 54 is turned ON.

During this period, when the inspection judgment signal from the inspection section 20 is generated as an OK signal at the inspection signal generation time t22, the return position sensor 54 is turned ON at the time t23 after a predetermined selection delay time td, and the return command signal RJ5 is sent even faster. The ON state is maintained for the return operation time Th, and the sorting arm 81 maintains the standby state in the passage-permitting attitude.

(effect)
The article inspection system 2 of this embodiment configured as described above includes the sorting arm 81 as a sorting member that swings in accordance with the forward and backward movement of the rod 43 of the air cylinder 33. When switching the forward/backward movement direction of the rod 43 to a specific side, for example, the contraction side, for the minute operation, the compressed air from the air source 50 side is temporarily blocked by the direction switching valve 51, and the switching is performed. One pressure chamber 44A into which compressed air from the air source 50 was previously introduced is opened to the atmosphere for a predetermined time together with the other pressure chamber 44B. Therefore, for example, when the pressure in the pressure chamber 44B into which compressed air is introduced increases due to switching to the contraction side, the residual compressed air in the pressure chamber 44A on the expansion and pressure side increases the exhaust resistance and exhaust time at the time of return. This makes it possible to quickly switch the operating direction. Further, since not only the pressure chamber 44A or 44B on one side of the air cylinder 33 is opened to the atmosphere, but both pressure chambers 44A and 44B are opened to the atmosphere, unnecessary displacement of the rod 43 at the time of direction switching can be suppressed. Therefore, the selection unit 80 can perform a high-speed return operation.

Here, one specific side of the forward and backward movement direction of the rod 43 for the sorting operation of the sorting arm 81 is set as the contraction side of the air cylinder 33. For example, the air cylinder 33 shown in FIG. 9(a) If the arrangement of the sorting mechanism 82 is reversed in the vertical direction in the drawing, which is the width direction of the conveyance path surface 12a of the conveyor 12, with respect to the sorting arm 81 in the same figure, it is possible to The side becomes the extension side of the air cylinder 33. Therefore, the specific one side can be arbitrarily set to either the contraction side or the expansion side of the air cylinder 33.

In addition, by configuring the sorting mechanism so that the attitude of the sorting arm 81 can be maintained while the workpiece W is being transported and exposed to the atmosphere, it is possible to return the sorting arm 81 from the sorting and sorting attitude to the passing/exiting permission attitude only. Even when the sorting arm 81 is to be operated in a sorting operation from the pass-permitting posture to the sorting and sorting posture, the resistance on the exhaust side can be suppressed by opening to the atmosphere prior to the switching, making it possible to perform a high-speed sorting operation. .

That is, in this embodiment, the other end side of the sorting arm 81 swings in one of the sorting operation directions (sorting operation) from a waiting state on one side of the inner and outer sides in the width direction of the conveyor 12 to the other side of the inner and outer sides. At this time, the pair of pressure chambers 44A and 44B of the air cylinder 33 are both opened to the atmosphere for a predetermined period of time, so that the compressed air from the air source 50 side is transferred to either one side of the sorting arm 81 related to the distribution operation. When supplying air to the supply/discharge port 45a or 45b, no high-pressure compressed air remains in the other pressure chamber 44B or 44A related to the return operation of the sorting arm 81, and the other supply/discharge port By quickly exhausting air from 45b or 45a, a high-speed distribution operation can be performed.

In addition, the article sorting system 2 of the present embodiment includes a sorting section 80 having the above-mentioned configuration, and a sorting section 80 that is disposed upstream of the conveyor 12 from the sorting section 80, and that executes a predetermined method of article inspection and performs sorting according to the inspection results. The inspection unit 20 transmits and outputs the signal RJ to the selection unit 80. Therefore, a sorting signal corresponding to the article inspection result in the inspection section 20, for example, a sorting signal instructing the sorting and ejection of the target workpiece W, is sent to the sorting section 80, and the sorting section 80 receiving this signal shakes the sorting arm 81. When switching the forward and backward movement direction of the rod 43 to a specific side to start the minute operation, the air source 50 is temporarily moved until the work W to be discharged corresponding to the sorting signal reaches the sorting area Z2. The pressure chamber 44A or 44B, into which compressed air from the air source 50 was introduced before the switching, can be opened to the atmosphere for a predetermined time while blocking compressed air. Therefore, when the pressure in the pressure chamber 44B or 44A into which compressed air is introduced increases by switching to one specific side, the distribution operation resistance increases due to the residual compressed air in the pressure chamber 44A or 44B on the other side. This eliminates this problem, and enables quick switching of the operating direction. Therefore, the article sorting system is capable of performing high-speed sorting operations.

Furthermore, in the article sorting system 2 of this embodiment, the solenoid valve unit 34 that is the supply/discharge control section includes an article detection sensor 25 that detects when the work W to be sorted reaches a predetermined position on the upstream side of the conveyor 12. On the condition that the selection signal RJ (RJ1 or RJ5) from the inspection unit 20 is received, the pressure chamber 44A into which compressed air from the air source 50 is introduced at the time when the workpiece W is detected by the article detection sensor 25 Alternatively, 44B can be opened to the atmosphere while blocking compressed air from the air source 50 side for a predetermined period of time immediately before the start of the distribution operation. Therefore, the workpiece W to be sorted is identified based on the sorting signal RJ corresponding to the article inspection result, and when the workpiece W to be sorted reaches a predetermined position on the upstream side of the conveyor 12, which is a predetermined section of the article conveyance route, the workpiece W to be sorted is identified as an article. By being detected by the detection sensor 25, it becomes possible to effectively and accurately set a predetermined time period for opening the pressure chambers 44A and 44B of the air cylinder 33 to the atmosphere immediately before the start of the distribution operation, based on the detection time point. .

In this way, in this embodiment, it is possible to provide a sorting device and an article sorting system that can perform the sorting operation of the sorting arm 81 at high speed.

(Fourth embodiment)
FIG. 13 shows a fourth embodiment in which the arrangement of the sorting arm 81, sorting mechanism 82, etc. is different from the configuration of the flipper-type sorting section 80 in the article sorting system 2 according to the third embodiment of the present invention. It shows the configuration.

As shown in FIGS. 13(a) and 13(b), the sorting unit 80 of the article sorting system 2 in this embodiment distributes the transport route of the work W to be sorted to one of a plurality of routes. It has a sorting arm 81 as a member, and this sorting arm 81 has a base end 81b located on the lower side and upstream side in the conveying direction as an axis, and a distal end 81a located on the downstream side in the conveying direction. It can be swung in the direction of the width Lc of the middle conveyor 12. When a workpiece W that is required to be sorted and discharged is generated by the inspection by the inspection section 20, the sorting arm 81 is moved so that the tip 81a side is on the inside and upstream side of the conveyor 12, as shown in FIG. 13(b). A sorting operation is performed to swing in the R1 direction toward , so that the main part from the tip 81a to the base end 81b takes a sorting attitude [A2] in which the main portion diagonally crosses the middle conveyor 12. During this sorting and sorting posture, the work W to be discharged is moved in the conveyance direction in cooperation with the middle conveyor 12, and is moved from inside the sorting zone Z2 to the outside of the conveyor 12 (upward side in FIG. 13(b)). ) can perform sorting and sorting functions.

Further, when the inspection section 20 detects a normal workpiece W that does not require sorting and ejection, the sorting arm 81 has a main part from the tip 81a side to the base end 81b in the middle stage, as shown in FIG. 13(a). The conveyor 12 takes a passing-permitting posture [A1] parallel to the X direction, which is the article conveyance direction, and in this passing-permitting posture, normal workpieces W are removed from the sorting area Z2 on the middle conveyor 12. It is possible to exhibit a passage permitting function that allows the article to pass downstream (to the right in FIG. 13(a)) in the conveyance direction of the article by the conveyor 12.

Also in this embodiment, when switching the forward/backward movement direction of the rod 43 to one specific side for the sorting operation of the sorting arm 81, prior to that, the one side to which the compressed air from the air source 50 side has been introduced is changed. By opening the pressure chamber 44A or 44B to the atmosphere for a predetermined time together with the other pressure chamber 44B or 44A, the exhaust resistance will not increase due to residual compressed air in the pressure chamber 44A or 44B on the exhaust side. It becomes possible to quickly switch the direction of operation, and it is possible to obtain the same effects as in the third embodiment.

In the first embodiment described above, the inspection section 20 performs an X-ray inspection, but it goes without saying that the method of inspecting the article is not particularly limited. Further, in each of the above-described embodiments, the switching between the first and second operation modes was described as being performed manually, but it goes without saying that an automatic mode switching method in which the mode switching is performed automatically may also be used. Nor. For example, in the second embodiment, by monitoring the workpiece interval with the conveyed article detection sensor 25, while normally performing sorting and discharging in the second operation mode, the conveyance conditions and discharge conditions of the workpieces including the monitoring information are used. It is possible to switch modes such as determining whether or not it is possible to sort and discharge in the second operation mode for each workpiece, and automatically switch to the first operation mode if it is not possible to sort and discharge in the second operation mode. be.

As explained above, the present invention can provide a sorting device and an article sorting system that can perform high-speed sorting operations, and can provide a sorting device such as a pusher type or flipper type, and the device and an article inspection device. It is useful for general article sorting systems that also have the following functions.

1, 2 Article sorting system 10 Conveyance section 11 Conveyor (inspection conveyor, previous stage conveyor, article conveyance route)
12 Conveyor (sorting conveyor, middle conveyor, article conveyance route)
12a Conveyance road surface 13 Conveyor (later conveyor, article conveyance route)
15 Discharged product pedestal conveyor 20 Inspection section (inspection device)
25 Conveyed article detection sensor (article detection means)
30 Sorting section (sorting device)
31 Extruded member (high grip extruded member, push plate)
31a Tip surface 32 Drive mechanism 33 Air cylinder (air drive actuator)
34 Solenoid valve unit (supply/discharge control section)
41 cylinder 42 piston 43 piston rod (rod)
43a Tip part 44A Pressure chamber (one specific pressure chamber, pressure chamber on the extrusion pressure side)
44B Pressure chamber (other pressure chamber, pressure chamber on the pull-in pressure side)
45a Supply/discharge port (specific one-way supply/discharge port related to extrusion operation, first supply/discharge port)
45b Supply/discharge port (other one-way supply/discharge port related to return operation, second supply/discharge port)
50 Air source 51 Directional switching valve (3-position switching valve)
51a, 51b Control pressure port 51k Centering spring 51p Supply pressure port 51q, 51r Return port 51v Valve body 52, 53 Speed control valve 52a, 53a Check valve 52b, 53b Variable throttle element 54 Standby position sensor (return position sensor)
55 Sorting position sensor 56, 57 Silencer (silencer)
61 First control section (inspection control section)
62 Second control section (sorting control section)
63 Display operation section 80 Sorting section (sorting device)
81 Sorting arm (sorting member)
81a Tip (other end)
81b Base end (one end)
82 Sorting mechanism 83 Rotation support shaft 84a, 84b Bearing 85 Rotation lever 86 Link 90 Housing 91 Side plate portion 92a, 92b Mounting plate 93 Mounting frame L Length of workpiece in the transport direction Lc Width (in the width direction of the article transport path, (direction across the article transport route)
Lg Length of extruded member in conveying direction (pushing plate length)
P1 Extrusion start position P2 Extrusion end position RJ1 Sorting operation signal (control signal, discharge command signal, sorting signal)
RJ5 Standby operation signal (control signal, pull-in/standby operation command signal, return command signal)
SOL1, SOL2 Electromagnetic operation unit T4d Continuation time of sorting output (NG sorting output command time, OK sorting output command time)
Ta Extrusion operation time (minimum extension operation time)
Te1 Extrusion operation time (discharge operation time, discharge operation setting time)
Te2 Extrusion operation time (high speed discharge operation time)
Tex extrusion operation time (high-speed discharge operation time)
Th High-speed return operation time Ton-off Atmospheric release response time Tre Return time (return operation time)
Ts Sorting operation time Tw Workpiece passing time W Workpiece (article)
Z1 Inspection area Z2 Sorting area (designated section of article transport route)
μcb Friction coefficient of the conveyor against the workpiece μpsh Friction coefficient of the extrusion member against the workpiece [A1] Passing permissible posture [A2] Sorting and sorting posture

Claims (9)

A cylinder equipped with a rod that moves forward and backward by air drive, and a sorting member connected to the tip side of the rod, the sorting member using the cylinder to sort articles in a predetermined section of the article conveyance path. In a sorting device that sorts the articles out of the conveyance route by a sorting operation,
The cylinder has a pair of pressure chambers and a supply/discharge port respectively corresponding to one side and the other side in the direction of forward and backward movement of the rod,
The sorting member has an extrusion member that moves in the forward and backward movement direction of the rod, and the extrusion member moves to a specific side in the forward and backward movement direction to transfer the articles to be sorted to the article conveyance path. Execute the distribution operation to push it outward,
A supply/discharge control unit is connected to the cylinder, which supplies compressed air from the air source to any one of the supply/discharge ports of the pair, and exhausts the air from the other supply/discharge port;
The feed/discharge control unit is configured to change the forward/backward movement direction of the rod to the specific one when the extrusion member has retreated outside a predetermined section of the article conveyance path, and to start the distribution operation of the extrusion member. When switching to the extruding operation direction of the extrusion member, which is the side, while temporarily blocking the compressed air from the air source side, the pressure chamber into which the compressed air from the air source side was introduced before the switching is set in a predetermined position. After opening to the atmosphere for a certain amount of time, compressed air from the air source side is supplied to one specific supply/exhaust port related to the extrusion operation of the extrusion member, while the other supply/exhaust port is related to the return operation of the extrusion member. When a high-speed extrusion operation is performed by exhausting air from the exhaust port, and when the extrusion member is returned to a position outside the predetermined section of the article conveyance path following the high-speed extrusion operation, the pair of pressure chambers of the cylinder is Switching the supply destination of compressed air from the air source side to the other one of the supply/discharge ports related to the return operation of the extrusion member without exposing it to the atmosphere for a time, and one supply/discharge port related to the extrusion operation of the extrusion member. A sorting device characterized by exhausting air from a port . A cylinder equipped with a rod that moves forward and backward by air drive, and a sorting member connected to the tip side of the rod, the sorting member using the cylinder to sort articles in a predetermined section of the article conveyance path. In a sorting device that sorts the articles out of the conveyance route by a sorting operation,
The cylinder has a pair of pressure chambers and a supply/discharge port corresponding to one side and the other side of the rod in the forward and backward movement direction,
The sorting member has an extrusion member that moves in the forward and backward movement direction of the rod, and the extrusion member moves to a specific side in the forward and backward movement direction to transport the articles to be sorted. performing the sorting operation to push it out of the route;
A supply/discharge control unit is connected to the cylinder, which supplies compressed air from the air source side to any one of the supply/discharge ports of the pair, and exhausts the air from the other supply/discharge port;
The supply/discharge control unit includes an article detection means for detecting that the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route,
The feed/discharge control unit is configured to control the advance/retreat direction of the rod so that the extrusion member has retreated outside a predetermined section of the article conveyance path and to start the distribution operation of the extrusion member. When the article is detected by the article detecting means, the pressure chamber into which compressed air from the air source was introduced at the time when the article was detected by the article detecting means before the switching is changed to Blocking the compressed air from the air source side for a predetermined period of time immediately before the start of the extrusion operation and until the rod starts to change the forward and backward movement direction to the specific one side related to the extrusion operation of the extrusion member. After opening the air to the atmosphere while supplying compressed air from the air source side to one specific supply/exhaust port related to the extrusion operation of the extrusion member, the other one related to the return operation of the extrusion member is supplied. A sorting device that performs a high-speed extrusion operation by exhausting air from an exhaust port. The supply/discharge control section includes a three-position switching valve,
The switching valve is configured to supply compressed air from the air source side to a first supply/discharge port of the pair and exhaust air from a second supply/discharge port of the pair so as to cause the extrusion member to perform an extrusion operation. and a second operating position in which compressed air is supplied from the air source side to the second supply and discharge port and exhausted from the first supply and discharge port so as to cause the extrusion member to perform a retreating operation. and a third operating position in which the pair of pressure chambers are opened to the atmosphere through the first supply/discharge port and the second supply/discharge port while blocking compressed air from the air source side. The sorting device according to claim 1 or 2, characterized in that it has a . The supply/discharge control section is configured to temporarily block compressed air from the air source side while switching the forward/backward movement direction of the rod to a specific side so as to start the extrusion operation of the extrusion member. a first operation mode in which the pair of pressure chambers of the cylinder are opened to the atmosphere, and then compressed air from the air source is supplied to one specific supply/discharge port related to the extrusion operation of the extrusion member; A second operation mode in which compressed air from the air source is supplied to one specific supply/discharge port related to the extrusion operation of the extrusion member without opening the pair of pressure chambers to the atmosphere for a predetermined period of time. 3. The sorting device according to claim 1, wherein the sorting device can be switched to any operation mode . A cylinder equipped with a rod that moves forward and backward by air drive, and a sorting member connected to the tip side of the rod, the sorting member using the cylinder to sort articles in a predetermined section of the article conveyance path. a sorting device that sorts the articles out of the article transport route by a sorting operation ;
an inspection device disposed upstream of the article conveyance path from the sorting device, which performs a predetermined method of inspecting the articles and transmits and outputs a sorting signal according to the result of the inspection to the sorting device; And,
The cylinder has a pair of pressure chambers and a supply/discharge port corresponding to one side and the other side of the rod in the forward and backward movement direction,
A supply/discharge control unit is connected to the cylinder, which supplies compressed air from an air source to any one of the supply/discharge ports of the pair, and exhausts the air from the other supply/discharge port;
The supply/discharge control unit includes an article detection means for detecting that the article to be sorted reaches a predetermined position on the upstream side of a predetermined section of the article conveyance route,
When switching the advancing/retreating direction of the rod to a specific one side so as to start the distributing operation of the distributing member, the supply/discharge control section is configured to control the supply/discharge control section according to the result of the article inspection from the inspection device before the switching. On the condition that a sorting signal has been received, the pressure chamber into which compressed air from the air source was introduced at the time when the article detection means detected the article is controlled for a predetermined period of time immediately before the start of the sorting operation. . An article sorting system characterized in that compressed air from the air source is blocked while being released to the atmosphere . The sorting member has a sorting arm whose one end is pivoted and whose other end is swingable in the width direction of the article conveyance path, and performs a sorting operation such that the other end of the sorting arm crosses the article conveyance path. performing the sorting by swinging in the direction,
The supply/discharge control unit controls the cylinder when the other end side of the sorting arm is located at a predetermined position in a predetermined section of the article conveyance path and when the forward/backward movement direction of the rod is switched to the specific one side. The pair of pressure chambers are opened to the atmosphere for the predetermined period of time, and then compressed air from the air source is supplied to one specific supply/discharge port of the sorting arm related to the distribution operation. The article sorting system according to claim 5 , wherein the article sorting system executes a sorting operation . The sorting member has an extrusion member that moves in the forward and backward movement direction of the rod, and the extrusion member moves to the specific one side in the forward and backward movement direction to transport the articles to be sorted. performing the sorting operation to push it out of the route;
The supply/discharge control section includes a three-position switching valve,
The switching valve is configured to supply compressed air from the air source side to a first supply/discharge port of the pair and exhaust air from a second supply/discharge port of the pair so as to cause the extrusion member to perform an extrusion operation. and a second operating position in which compressed air is supplied from the air source side to the second supply and discharge port and exhausted from the first supply and discharge port so as to cause the extrusion member to perform a retreating operation. and a third operating position in which the pair of pressure chambers are opened to the atmosphere through the first supply/discharge port and the second supply/discharge port while blocking compressed air from the air source side. has
When the extrusion member has retreated outside the predetermined section of the article conveyance path and the direction of forward and backward movement of the rod is switched to the extrusion direction of the extrusion member on the specific one side, the direction of the extrusion movement of the cylinder After the pair of pressure chambers are opened to the atmosphere for the predetermined time, compressed air from the air source is supplied to one specific supply/discharge port related to the extrusion operation of the extrusion member, while the extrusion member is returned to the atmosphere. 6. The article sorting system according to claim 5 , wherein the high-speed extrusion operation is performed by exhausting air from the other one of the supply/discharge ports involved in the operation . The sorting member has an extrusion member that moves in the forward and backward movement direction of the rod, and the extrusion member moves to the specific one side in the forward and backward movement direction to transport the articles to be sorted. performing the sorting operation to push it out of the route;
The feed/discharge control unit is configured such that the extrusion member is retracted outside a predetermined section of the article conveyance path, and the forward and backward movement direction of the rod is set to the extrusion operation direction of the extrusion member that is the specific one side. When switching, the pair of pressure chambers of the cylinder are opened to the atmosphere for the predetermined time, and then compressed air from the air source is supplied to one specific supply/discharge port related to the extrusion operation of the extrusion member. On the other hand, a first operation mode executes a high-speed extrusion operation by exhausting air from the other supply/exhaust port related to the return operation of the extrusion member, and a first operation mode in which the pair of pressure chambers of the cylinder is opened to the atmosphere for a predetermined time. It is possible to switch to any operation mode among the second operation mode in which compressed air from the air source side is supplied to one specific supply/exhaust port related to the extrusion operation of the extrusion member without The article sorting system according to claim 5 , characterized in that: A sorting device according to claim 1 or 2,
an inspection device disposed upstream of the article conveyance path from the sorting device, which performs a predetermined method of inspecting the articles and transmits and outputs a sorting signal according to the result of the inspection to the sorting device; .

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