JPH08175647A - Sorting device for object to be conveyed - Google Patents

Abstract

PURPOSE: To discriminate respective various objects to be conveyed whose sizes are different positively for highly precise sorting work according to every grade by reversing the fronts and reads of the respective objects to be conveyed placed on the respective recessed placement parts of a sorting conveyed for picking-up them with an image picking-up camera. CONSTITUTION: Image data on the front side picked-up by an image picking-up camera 34 installed on a sorting conveyer 4, and address data of respective placement cups 5... are correspondently-identified and stored in an identifying device body 36. At the same time, the reversing motor 25 of a front/rear reversing machine 7 is driven to rotate reversing rollers 26, 26 brought into pressure contact with a reversing belt 41 in an arrowheaded direction and reverse the front and rear by rotating an orange A by 180 degree in the arrowheaded direction. The image data on the rear side picked-up by an image picking-up camera 35 and the address data of the respective placement cups 5... are made correspondent and stored in the identifying device body 36. The image data of both sides of the front and rear and every grade data stored in the identifying device body 36 are compared with each other to integratedly-identify every grade of the respective oranges A... placed on the respective placement cups 5... in respective rows.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transported material sorting apparatus used for sorting transported materials such as mandarin oranges, apples, pears, persimmons, peaches, etc., by equal rank.

[0002]

2. Description of the Related Art Conventionally, as a method of sorting mandarin oranges by equal rank as in the above example, for example, a large number of each mandarin orange brought in from a producer side is sequentially transferred to each bucket of a sorting conveyor, Each mandarin orange placed in each bucket is sequentially imaged by the imaging camera, and the image data captured by the imaging camera is compared with the equal rank data stored in the determination device main body and placed on each bucket. There is a method of determining the equal rank of each tangerine placed and selecting each tangerine placed in each bucket according to the equal grade based on the determination.

[0003]

However, when each mandarin orange placed in each bucket is imaged from above by the imaging camera as described above, there is a discolored portion or a rotten portion on the back side of the mandarin orange. However, the back side of the mandarin orange cannot be imaged by the imaging camera, and its equivalence class cannot be accurately determined. In addition, there is a problem in that the equivalence class data stored in the main body of the determination device does not match the original equivalence class of the mandarin oranges placed in the bucket, and a highly accurate sorting process cannot be performed.

When the back side of each mandarin orange placed in each bucket is imaged from below by an imaging camera, for example, the imaging camera is provided at a lower position between the conveyors arranged in front and rear. , The lower surface side of each mandarin orange is sequentially imaged by the imaging camera from the gap of each conveyor, but the lower surface side of each mandarin orange can be accurately imaged because the transportation posture and the transportation speed of each mandarin orange are unstable. However, there is a problem in that it is difficult to accurately determine equal classes.

In view of the above problems, the present invention reverses the front and back of each conveyed object placed on each concave mounting portion of the sorting conveyor, and images it with an imaging camera to convey various different sizes. You can surely perform the work of sorting things according to equal rank,
It is an object of the present invention to provide a transported object sorting device that can perform highly accurate sorting processing.

[0006]

According to the first aspect of the present invention,
At the imaging position set on the sorting conveyor, the conveyed articles placed on the concave placement sections are sequentially held in a proper posture by a pair of rotating bodies, and the conveyed articles are turned upside down. In addition, it is a conveyed object sorting device provided with front and back reversing means for rotating each rotating body.

According to a second aspect of the present invention, a pair of rotating bodies are provided on the center mounting surface of each of the concave mounting portions forming the sorting conveyor at intervals so as to appropriately hold the conveyed object in a proper posture. It is a transported object sorting device that is horizontally supported and has front and back reversing means for rotating in one direction each rotating body that is axially supported by each concave mounting portion at the imaging position set on the sorting conveyor. Is characterized by.

According to a third aspect of the present invention, in addition to the configuration according to the first or second aspect of the present invention, the peripheral surface of each rotating body that holds the conveyed object in an appropriate posture is formed into a drum shape. It is a thing sorter.

The invention according to claim 4 is the same as claim 1 or claim 2.
Alternatively, in combination with the configuration according to claim 3, the front and back reversing means is provided on the lower peripheral surface of each rotating body at a height position where the lower peripheral surface of each rotating body pivotally supported by the concave mounting portion comes into contact with the lower peripheral surface. On the other hand, the conveyed object sorting apparatus is characterized by being provided with a rotation imparting member that imparts a rotational force in one direction.

The invention according to claim 5 is the same as claims 1 and 2 above.
Alternatively, in combination with the configuration according to claim 3, the front and back reversing means is provided on the lower peripheral surface of each rotating body at a height position where the lower peripheral surface of each rotating body pivotally supported by the concave mounting portion comes into contact with the lower peripheral surface. On the other hand, the conveyed object sorting apparatus is characterized by being provided with a resistance imparting member that imparts contact resistance in one direction.

[0011]

According to another aspect of the present invention, there is provided an apparatus for sorting conveyed articles, wherein the conveyed articles placed on the concave placing sections of the sorting conveyor are sequentially held in proper postures by a pair of rotating bodies, respectively. Driven to invert each conveyed object held by each rotator, and image both front and back sides of each conveyed object with an imaging camera, and based on the image data of the imaged front and back sides By comprehensively determining the classes by the equal class determining means, it is possible to easily perform the work of sorting each transported object according to the equal classes.

According to a second aspect of the present invention, there is provided a conveyor sorting apparatus which mounts on the upper peripheral surface of each rotating body pivotally supported by each concave mounting portion of the sorting conveyor and drives the front and back reversing means to mount each concave conveyor. Rotate each rotating body pivotally supported on the placing part in one direction, invert each conveyed object placed on each rotating body, and image both front and back sides of each conveyed object with an imaging camera, Based on the image data of the front and back surfaces that have been imaged, the equal rank determination means comprehensively determines the equal rank of the conveyed goods, whereby the work of sorting the conveyed goods placed on each concave mounting portion by the equal rank can be performed. Easy to do.

According to a third aspect of the present invention, in addition to the operation of the first or second aspect of the present invention, the conveyed object sorting apparatus has an upper peripheral surface of each rotating body that is axially supported by each concave mounting portion of the sorting conveyor. Each of the conveyed objects is placed on, for example, a small conveyed object is placed on the small diameter side peripheral surface portion of each rotating body, and a large conveyed object is placed on the large diameter side peripheral surface portion of each rotating body. By rotating each rotating body rotatably supported by each concave mounting portion in one direction, the small and large conveyed objects on the small diameter portion and the large diameter portion of each rotating body are turned upside down. , Various conveyed objects of different sizes placed on the respective rotating bodies are turned upside down at the same movement distance.

In addition to the operation of claim 1, claim 2 or claim 3, the conveyed object sorting apparatus according to claim 4 imparts rotation to each rotating body pivotally supported by each concave mounting portion of the sorting conveyor. By rotating each rotating body that is rotatably supported by each concave mounting portion in one direction by contacting the member, various different sizes of conveyed objects placed on each rotating body have the same moving distance. The inside out.

In addition to the operation of claim 1, 2 or 3, the conveyed object sorting apparatus according to claim 5 imparts resistance to each rotating body pivotally supported by each concave mounting portion of the sorting conveyor. By rotating each rotating body that is rotatably supported by each concave mounting portion in one direction by contacting the member, various different sizes of conveyed objects placed on each rotating body have the same moving distance. The inside out.

[0016]

According to the present invention, the rotating bodies pivotally supported by the concave mounting portions of the sorting conveyor are rotated in one direction, and the conveyed objects placed on the rotating bodies are turned upside down. Since the image is captured by the image capturing camera, there is no blind spot in the image capturing range, and the entire image of each conveyed object can be captured. Even if there is a discolored part or a rotten part in the conveyed product, the entire conveyed product is judged because the equal class of the conveyed product is comprehensively determined based on the image data of the front and back sides imaged by the imaging camera. The uniform class can be accurately determined by the image capturing, and the work of classifying various conveyed objects having different sizes according to the uniform class can be reliably performed, and a highly accurate sorting process can be performed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. The drawing shows a fruit and vegetable sorting apparatus of the first embodiment used in the work of sorting a large number of tangerines by equal rank as an example of a conveyed product. In FIGS. 1 and 2, this fruit and vegetable sorting apparatus 1 is For example, a large number of each tangerine A ... brought in from the producer side is placed on the cargo receiving conveyor 2, and a large number of each tangerine A ... Carried by the same cargo receiving conveyor 2 is sequentially transferred to the aligning conveyor 3. They are mounted and aligned at intervals and positions corresponding to the respective mounting cups 5 of the sorting conveyor 4 described later. The 8 rows of each mandarin orange A ... aligned by the alignment conveyor 3 are sequentially placed on the respective loading cups 5 of the sorting conveyor 4, and the first and second imagings set on the sorting conveyor 4 are performed. At each position, the mandarin oranges A ... K ... mounted on the respective mounting cups 5 in each row are sequentially imaged by the equal rank determination device 6 arranged at the same position and arranged at the lower part of the same position. Each mandarin orange A placed on each mounting cup 5 is reversed by each front and back reversing machine 7 in each row, and the equal rank of each mandarin orange A is based on the image data of the imaged front and back surfaces. judge. Each sorting position a for each equal rank set on the sorting conveyor 4,
In b, c, d, e, f, each mandarin orange A ... is sorted according to the equal rank based on the determination by the equal rank determination device 6,
The mandarin oranges A are sequentially transferred onto the sorting conveyors 8 disposed at the lower positions of the sorting positions a, b, c, d, e and f.
Each mandarin orange A transported by each sorting conveyor 8 ... is sequentially boxed by artificial or mechanical work, and each non-standard mandarin orange A ... It is sequentially thrown into the non-standard recovery section 9 arranged in.

The above-mentioned aligning conveyor 3 is arranged in the vicinity of the sprocket 10, 10 on the lower stage which is pivotally supported in the vicinity of the sending end of the load receiving conveyor 2, and in the vicinity of the starting end of the sorting conveyor 4 in the sending side. Each upper sprocket 11, which is pivotally supported,
The orbiting chains 12 and 12 are stretched between 11 and 11, and a large number of support shafts 13 ... Are provided on the longitudinally facing surfaces of the orbiting chains 12 and 12 at predetermined equal intervals in the feed direction. Is mounted on the longitudinal side shaft peripheral surface of each of the support shafts 13 ...
Each of the hourglass-shaped support rollers 14, which is covered or formed with synthetic rubber, synthetic resin, or the like, is rotatably supported. In addition, a sprocket 11 axially supported on the feed side end of the alignment conveyor 3 and a sprocket 18 axially supported on the feed side start end of the sorting conveyor 4 are provided as sprocket 15,
16 and an interlocking chain 17 so that power can be transmitted.

As shown in FIGS. 3 and 4, the above-mentioned sorting conveyor 4 has sprockets 1 axially supported at the start end of the feed side.
8, 18 and each sprocket 1 axially supported at the feed end
The orbiting chains 20 and 20 are stretched between 9 and 19, and a large number of respective support shafts 21 ... Are provided at equal intervals in the feed direction on the longitudinally facing surfaces of the orbiting chains 20 and 20. The support cups 21 are vertically mounted on the peripheral surfaces of the respective support shafts 21. The eight mounting cups 5 are covered or formed on the entire mounting surface with, for example, synthetic rubber or synthetic resin. It is rotatably connected. That is, by the driving force of the drive motor 22 with a reduction gear arranged at the lower part of the starting end side, each sprocket 23,
The sorting conveyor 4 via 24 and the drive chain 25
8 of the mounting cups 5 arranged between the orbiting chains 20 and 20 are moved in parallel in the feed direction, and the sprockets 15 and 16 and the interlocking chain 17 are moved.
Via the orbiting chain 12 of the aligning conveyor 3,
A large number of support rollers 14 installed between 12 are moved in the feed direction, and the alignment conveyor 3 and the sorting conveyor 4 are rotated in synchronization with the feed speed, so that the support rollers 14 of the alignment conveyor 3 are separated. The mandarin oranges A ... Placed on the sheet are transferred one by one to the respective mounting cups 5 of the sorting conveyor 4.

The mounting cup 5 described above has, for example, an oval shape on the center mounting surface of the cup body 5a formed in a concave shape.
Mounting hole 5b having an appropriate shape such as a rectangle or a quadrangle
Notches, and between the bearing pieces 5c, 5c formed at the lower edges of both sides of the mounting hole 5b, for example, each hourglass-shaped reversing roller 26 covered or formed with synthetic rubber, synthetic resin, or the like.
The bearing 26 is orthogonal to the feed direction and is free to rotate. In addition, the size of each reversing roller 26, 26 is set to a size that is slightly above the mounting hole 5b of the cup body 5a and that is slightly outside of each bearing piece 5c, 5c of the cup body 5a. The large diameter side peripheral surface portion is formed.

A connecting pin 28 is attached to each supporting piece 5d, 5d formed at the front end of the cup body 5a and each connecting piece 27a, 27a of the connecting plate 27 fixed to the circumferential surface of the support shaft 21 on the longitudinal side. The cup body 5a is vertically rotatably connected to the horizontal posture in which the mandarin orange A is placed and the open posture in which the mandarin orange A is allowed to fall, with the connecting pin 28 being the center of rotation. Further, the guide pin 30 is horizontally slidably supported between the respective support pieces 5e, 5e formed at the right rear end portion of the cup body 5a via the coil spring 29, and the guide pin 30 is supported more than the right rear end portion of the cup body 5a. The guide pins 30 are slightly projected to the side, and eight traveling rails 31 are installed in parallel in the feed direction at the lower positions corresponding to the right rear ends of the eight mounting cups 5 arranged in parallel. Then, the guide pins 30 protruding to the respective mounting cups 5 are engaged with the upper edge portions of the respective traveling rails 31 to move the respective mounting cups 5 in a horizontal posture in which the mandarin orange A is mounted. Guide the driving.

Further, as shown in FIG. 5, the above-mentioned drop of the guide pin 30 is caused at the traveling portion of the traveling rail 31 corresponding to the respective sorting positions a, b, c, d, e, f set for equal ranks. Forming each notch 31a ...
Each connecting rail 3 connected to one end of each notch 31a.
2 and the electromagnetic solenoids 33 disposed at the lower positions of the respective cutouts 31a are connected to each other, and the electromagnetic solenoids 33 are driven based on a command signal output from the equal class determination device 6 described later. Are independently operated, and the connecting rails 32 are pivoted up and down to a position where the cutouts 31a of the traveling rail 31 are closed and a position where the cutouts 31a are opened.

The above-mentioned equal class judging device 6 is shown in FIGS.
As shown in FIG. 7, the first set on the sorting conveyor 2
And, above the second imaging position, eight imaging cameras 34 ... and imaging cameras 35 ... facing the upper surfaces of the eight rows of the mounting cups 5 ... And each of the image pickup cameras 34 and 35 are connected to a determination device main body 36 that determines the equal rank of mandarin orange A and a monitor 37 for displaying an image of mandarin orange A, and each sorting position a, b, c,
The electromagnetic solenoids 33 ... Arranged at d, e, and f are connected to the determination device body 36. Moreover, at the lower part of the imaging position set on the sorting conveyor 2, the imaging cameras 34 and 35 are provided.
The address readers 38 for detecting the addresses of the loading cups 5 arranged in parallel corresponding to the image pickup by are arranged, and the addresses of the loading cups 5 arranged in parallel by the address readers 38 are arranged. Corresponding to the reading, both front and back surfaces of each mandarin orange A ... Mounted on each mounting cup 5 of each row are imaged by the respective imaging cameras 34 ... And the respective imaging cameras 35. Three
Based on the image data on both the front and back sides imaged at 4, 35, the equivalence class of mandarin orange A is determined, and the determination data and the address data are stored in the determination device main body 13 in association with each other.

That is, the surface side of each mandarin orange A ... Mounted on each mounting cup 5 of the sorting conveyor 2 is imaged by each imaging camera 34 at the first imaging position, and each mounting cup 5 ... Each mandarin orange A placed on the ...
After being turned upside down, the back surface side of each mandarin orange A ... Mounted on each mounting cup 5 ...
Image data of both front and back surfaces output from the imaging cameras 34 and 35 are compared with equal class data stored in the determination device main body 36, and each mounting cup 5 in each row is captured. Each mandarin orange A placed on ... is of any equal rank (for example,
It is judged whether it corresponds to a grade of excellent, excellent, good, etc. and a class of 2L, L, M, S, etc., and based on the judgment, each mandarin orange A mounted on each mounting cup 5 of each row. ... are sorted according to their ranks. For example, the time lag is counted until the placement cup 5 moves to each sorting position a, b, c, d, e, f set for each equal rank such as 2L, L, M, S, etc. Each sorting position a, b, c, d, corresponding to the judgment
When the mounting cup 5 moves to e and f, the electromagnetic solenoid 33 at a position corresponding to the determination is operated to rotate the mounting cup 5 backward to the open position.

Each of the above-mentioned front / back reversing machines 7 ... is provided with the front / back reversing machines 7 ... at its lower position corresponding to each mounting cup 5 of each row constituting the sorting conveyor 4. As shown in FIG. 8, the first and second set on the sorting conveyor 2
The pulleys 39 and 40 are axially supported below the image pickup position, and a reversal belt 41 having a large friction coefficient covered or formed with, for example, synthetic rubber or synthetic resin is parallel to the feed direction between the pulleys 39 and 40. Then stretch it and place it on the cup 5.
The reversing belt 41 is stretched at a height position where it is pressed against the lower peripheral surfaces of the reversing rollers 26, 26 which are pivotally supported.
That is, the reversing belt 41 is moved in the direction opposite to the feeding direction of the sorting conveyor 2 via the pulleys 43 and 44 and the driving belt 45 by the driving force of the reversing motor 42 with a reduction gear arranged at the lower end side. Each reversing roller 2 pivotally supported on the mounting cup 5 by rotating or reversing the reversing belt 41 in a direction that coincides with the feeding direction of the sorting conveyor 2.
As shown in FIG. 9 and FIG. 10, the tangerines A placed on the upper peripheral surfaces of the respective reversing rollers 26, 26 are pressed against the upper surface of the reversing belt 41 and rotated in one direction. Can be rotated 180 degrees, and the placement posture of mandarin orange can be reversed.

The illustrated embodiment is constructed as described above, and a large number of each mandarin orange A ...
The operation when sorting is performed according to equal classes will be described. First, as shown in FIG. 2, FIG. 3, and FIG. 4, the eight rows of the loading cups 5 ... The guide pins 30 rotatably supported by ... are engaged with the traveling rails 31 ..., respectively, and the mounting cups 5 ... are circulated in the feeding direction while being returned to the horizontal posture. At the same time, a large number of each tangerine A ... brought in from the producer side is sequentially placed on the cargo receiving conveyor 2, and each tangerine A ... carried by the same cargo receiving conveyor 2 is supported by each supporting roller 14 of the aligning conveyor 3. 8 rows of mandarin oranges A, which are placed between the supporting rollers 14 of the aligning conveyor 3, are placed on the loading cups 5 of the sorting conveyor 4 respectively. It is transferred one by one.

Next, the first set on the sorting conveyor 2
Address readers 3 arranged in each row at the imaging position of
Corresponding to the address reading of each mounting cup 5 ...
The surface side of each mandarin orange A ... Mounted on each mounting cup 5 of each row is imaged by each imaging camera 34, and the image data of the surface side imaged by each imaging camera 34 ... It is stored in the determination device body 13 in association with the address data of the mounting cups 5 ... At the same time, the reversing rollers 26, 26 bearing on the mounting cups 5 are arranged on the lower side of each row to form the front and back reversing machines 7.
While being pressed against the upper surface side of each reversing belt 41 of ... And driving each reversing motor 25 of each front and back reversing machine 7, the reversing belts 41 are moved more than the moving speed of each mounting cup 5. The reversing rollers 26, 26 pressed against the respective reversing belts 41 are rotated in the arrow direction so that the mandarin orange A placed on the upper peripheral surface of the reversing rollers 26, 26 is rotated in the arrow direction. Rotate 180 degrees and turn it over. For example, as shown in FIGS. 9 and 10, a large mandarin orange A is placed on the large-diameter side peripheral surface of each reversing roller 26, 26, and each reversing roller 26, 2 is placed.
By placing a small mandarin orange A on the small diameter side peripheral surface portion of 6 and rotating the reversing rollers 26, 26 in the arrow direction by the reversing belt 41 of the front / back reversing machine 7, the reversing rollers 26, 26
Corresponding to the amount of rotation, the large and small tangerines A, A placed on the small diameter portion and the large diameter portion of the reversing rollers 26, 26 are turned upside down at the same movement distance.

Next, at the second image pickup position, the backsides of the mandarin oranges A mounted on the respective mounting cups 5 of each row are sequentially imaged by the respective imaging cameras 35 ... The image data on the back side imaged by the cameras 35 and the address data of each mounting cup 5 are stored in the determination device body 13 in association with each other.
The image data of both front and back surfaces imaged by each imaging camera 34 and each imaging camera 35 is compared with equal class data stored in the determination device body 36, and each mounting cup 5 of each row is compared. Since the equal ranks of the placed tangerines A ... Are comprehensively determined, there is no blind spot in the imaging range, and the entire image of each tangerine A. .
Even if there is a discolored portion or a rotten portion on the back surface side of the tangerine A placed on the placing cup 5, the equal rank can be accurately determined from the image data of the entire tangerine A.

The reversing rollers 26, 26 pivotally supported on the mounting cup 5 are rotated by the front / back reversing machine 7 of the second or seventh embodiment described later, and the reversing rollers 26, 26 are rotated.
It is also possible to invert the large and small mandarin oranges A placed on the upper peripheral surface of.

Further, the time lag until each mounting cup 5 is moved to each sorting position a, b, c, d, e, f corresponding to the determination by the equal class determination device 6 is counted, for example,
When the mounting cup 5 having the “M” size determination data moves to the M size sorting position “a”, the electromagnetic solenoid 33 at the position corresponding to the determination is operated to move the connecting rail 32 installed at the same position. Rotate to open position and place cup 5
The guide pin 30 pivotally supported on the mounting rail 5 is disengaged from the cutout portion 31a of the traveling rail 31, and the mounting cup 5 is pivoted rearward in the open position to sort the mandarin orange A mounted on the mounting cup 5 into the sorting position a. It is transferred to the sorting conveyor 8 immediately below.

Similarly, based on the judgment by the equal rank judging device 6, each mandarin orange A placed on each mounting cup 5 in each row is sorted according to the equal rank, and each sorting position a, b. , C, d, e, f, the mandarin oranges A ... are sequentially transferred to the sorting conveyors 8 disposed at the lower portions, and the mandarin oranges A ... Conveyed by the sorting conveyors 8 ... Boxing is done by manual work. In addition, each non-standard tangerine A ... Which does not correspond to an equal rank is thrown into the non-standard recovery unit 9.

As described above, the large and small mandarin oranges A placed on each of the eight rows of the placing cups 5 forming the sorting conveyor 2
... is reversed and imaged by each imaging camera 34 ... And each imaging camera 35 ..., and each mandarin orange A is imaged based on the image data of both the front and back sides imaged by each imaging camera 34 ... And each imaging camera 35. Since the equal class of ... Is judged comprehensively,
There is no blind spot in the imaging range, and the whole image of each mandarin orange A ... Mounted on each mounting cup 5 ... Can be captured. Even if there is a discolored portion or a rotten portion on the back side of the tangerine A placed on the placing cup 5, the equal rank can be accurately determined from the imaged data of the entire tangerine A, and various sizes of different sizes can be determined. The work of sorting each tangerine A ... according to the equal rank can be reliably performed, and highly accurate sorting processing can be performed. The work of sorting the mandarin oranges A by rank can be reliably performed, and the sorting process with high accuracy can be performed.

In FIG. 11, the reversing rollers 26, 26 axially supported by the mounting cup 5 are pressed into contact with a reversing pad 49 having a large friction coefficient which is covered or formed with, for example, synthetic rubber or synthetic resin to rotate. The front / back reversing machine 7 of the embodiment is shown, that is, the reversing rollers 26, 26 bearing on the mounting cup 5 are shown.
Is pressed against the upper surface of the reversing pad 49, and each reversing roller 2
Since 6 and 26 are rolled in the feed direction while being pressed against the reversing pad 49, the large and small mandarin oranges A placed on the upper peripheral surfaces of the reversing rollers 26 and 26 can be turned upside down. Both the front and back surfaces of each mandarin orange A placed on the placing cup 5 are imaged by the respective imaging cameras 34 and the respective imaging cameras 35, and by the respective imaging cameras 34 and the respective imaging cameras 35. Based on the image data on both the front and back sides, the equal rank of each mandarin orange A ... Placed on each placing cup 5 ... In each row is comprehensively determined. Therefore, as in the first embodiment,
Each mandarin orange A placed on each placing cup 5 can be sorted according to equal rank.

FIG. 12 shows the fruits and vegetables of the third embodiment in which the front and back surfaces of each mandarin orange A placed on each of the eight rows of the respective cups 5 constituting the sorting conveyor 2 are imaged by the image capturing cameras 34. 1 shows the object sorting device 1, that is, each loading cup 5 in each row
The surface side of each mandarin orange A placed on the ...
4 imaged and each large and small mandarin orange A ... mounted on each mounting cup 5 ... each front and back reversing machine 7 of 1st, 2nd, or 7th Example.
After being turned upside down, the backsides of the mandarin oranges A mounted on the mounting cups 5 of each row are imaged by the imaging cameras 34, and the front and back surfaces of the imaging cameras 34 are imaged. Based on the image data, the equal ranks of the mandarin oranges A placed on the loading cups 5 of each row are comprehensively determined. Therefore, each loading cup of each row is similar to the first embodiment. It is possible to accurately determine the equal rank of each mandarin orange A mounted on No. 5, and image is taken only by the eight imaging cameras 34 arranged at each row, so the number of cameras installed is reduced. The manufacturing cost can be reduced by simplifying the configuration and structure of the entire device.

FIG. 13 shows a fourth embodiment in which the front and back surfaces of each mandarin orange A placed on each of the four left and right rows of the respective mounting cups 5 constituting the sorting conveyor 2 are imaged by the respective imaging cameras 34, 34. Of the fruit and vegetable sorting device 1 of FIG. 1, that is, each of the placement cups 5 in the four rows on the left side and each tangerine A placed on each of the placement cups 5 in the four rows on the right side are two imaging cameras 34. , 34 and each of the large and small mandarin oranges A, which are placed on the respective mounting cups 5 of each row, are reversed by the front and back reversing machines 7 of the first, second or seventh embodiment, and then on the left side. 4 rows of mounting cups 5
... and the back side of each mandarin orange A ... mounted on each of the four mounting cups 5 on the right side, which are imaged by the two imaging cameras 34, 34, and which are imaged by the imaging cameras 34, 34. Based on the image data of both sides, the equal rank of each mandarin orange A ... placed on each placing cup 5 ... of each row is comprehensively determined,
Similar to the first embodiment, it is possible to accurately determine the equal class of each mandarin orange A ... Mounted on each mounting cup 5 ... In each row, and to use each imaging camera 34 more than the apparatus of the second embodiment. , 34 can be installed in a small number, the configuration and structure of the entire apparatus can be simplified, and the manufacturing cost can be reduced.

Alternatively, as shown in FIG. 14, each mandarin orange A placed on each of the four left and right rows of the placing cups 5 is turned by the front and back reversing machine 7 of the first, second or seventh embodiment. Flip it over
The front and back surfaces of each mandarin orange A placed on each of the left and right four-row mounting cups 5 may be imaged by the imaging cameras 34, 34 and the imaging cameras 35, 35. It is possible to accurately determine the equal rank of each mandarin orange A ... Placed on the cup 5.

FIG. 15 shows a fruit and vegetable sorter according to the fifth embodiment, in which two mandarin oranges A, which are placed in each row of the cups 5, are picked up by the two image pickup cameras 34, 34 from diagonally above. 1
That is, that is, two imaging cameras 34, 34 are obliquely installed at diagonally upper positions facing the left and right circumferential surfaces of each mandarin orange A ... Mounted on each of the mounting cups 5 in one row. Placement cup 5 ...
The respective left and right peripheral surfaces of each mandarin orange A ... mounted on the image pickup device are simultaneously imaged by the two imaging cameras 34, 34, and each tangerine A ... mounted on each mounting cup 5 ... After being turned upside down by the sheet turning device 7 of the seventh embodiment, the left and right peripheral surfaces of the mandarin oranges A placed on the placing cups 5 are attached to the two imaging cameras 3 respectively.
Based on the image data of both the front and back sides imaged by the imaging cameras 34, 34 simultaneously with 4, 34, 34, the equal rank of each mandarin orange A, placed on each of the mounting cups 5, is comprehensively determined. Therefore, similar to the first embodiment, it is possible to accurately determine the equal rank of each mandarin orange A ... Mounted on each mounting cup 5 ...
Since the imaging range is wider than when the mandarin oranges A mounted on the mounting cups 5 are imaged from directly above and there is no blind spot in the imaging range, highly accurate equal rank determination can be performed.

Alternatively, as shown in FIG. 16, each mandarin orange A placed on each placing cup 5 ... is turned upside down by the face-up inverting machine 7 of the first, second or seventh embodiment, and each placing is turned upside down. Table cup 5
The front and back surfaces of each mandarin orange A mounted on the ... may be imaged obliquely from above by the imaging cameras 34, 34 and the imaging cameras 35, 35, respectively. It is possible to accurately determine the equivalence class of tangerine A.

17 and 18 show that the two rows of the mounting cups 5 constituting the sorting conveyor 4 are tilted in a direction orthogonal to the feeding direction (for example, leftward or rightward orientation), and the respective loading cups 5 are placed. The fruit and vegetable sorter 1 of the 6th Example which sorts each tangerine A ... which was placed in the cup 5 ... according to an equal rank is shown,
The surface side of each mandarin orange A ... Mounted on each mounting cup 5 of the sorting conveyor is imaged by each imaging camera 34, 34, and the large and small sizes are mounted on each mounting cup 5 of each row. Each tangerine A ... is turned upside down by the front / back reversing machine 7 of the first, second or seventh embodiment, and then each tangerine A placed on each mounting cup 5 ...
The rear surface side of each of the imaging cups 35, 35 is imaged, and based on the image data of both front and back surfaces imaged by the imaging cameras 34, 34 and the imaging cameras 35, 35, each mounting cup in each row is 5 ... Judge the rank of each tangerine A ... placed on. Sorting positions a, b, c, which are set in advance by equal rank,
When the mounting cups 5 ... Corresponding to the determination are moved to d, e, f, the tilting mechanisms 46 ... Driven at the sorting positions a, b, c, d, e, f are driven. The loading cups 5 of each row are tilted to the left and right respectively, and the loading cups 5 of each row are ...
Each mandarin orange A ... placed on the left and right conveyors 8 for sorting
Since it is transferred to ..., each mounting cup 5 as in the first embodiment.
It is better to tilt each mounting cup 5 to the left or right than to rotate the rearward. It is ideal for the work to sort the objects to be sorted such as apples, persimmons, etc., whose skin is soft Is.

Alternatively, each mandarin orange A placed on each mounting cup 5 is turned upside down by the front / back reversing machine 7 of the first, second or seventh embodiment and placed on each mounting cup 5 ... Both the front and back sides of each placed tangerine A ... may be imaged by only the imaging cameras 34, 34, and each tangerine A placed on each placing cup 5 ...
It is possible to accurately judge the equal class of.

FIG. 19 shows the front / back reversing mechanism 7 of the seventh embodiment in which the reversing rollers 26, 26 pivotally supported on the mounting cup 5 are rotated by the meshing operation of the gears 47, 47 and the rack 48. The gears 47, 47 are fixed to one end side of the reversing rollers 26, 26 pivotally supported on the gear 5, and the gears 47, 4 are fixed.
The rack 48 is horizontally arranged at a height position where it meshes with 7,
The gear cups 47, 47 and the rack 48 are meshed with each other and relatively move in the feed direction, whereby the mounting cup 5
Each of the reversing rollers 26, 26 pivotally supported in one direction is rotated in one direction, and the large and small mandarin oranges A placed between the reversing rollers 26, 26 are turned upside down at the same movement distance as in the first embodiment. be able to.

FIG. 20 shows the mounting cup 5 of the eighth embodiment in which the reversing rollers 26, 26 are axially supported by the receiving cups 5f, 5f which are openably and closably supported, and the cup body constituting the mounting cup 5 is shown. The receiving cups 5f, 5f are rotatably supported by 5a, and the reversing rollers 26, 26 are rotatably supported by the open end of the receiving cups 5f, 5f. The reversing rollers 26, 26 axially supported by the receiving cups 5f, 5f of the mounting cup 5 by the front / back reversing mechanism 7 of the embodiment.
By rotating in one direction, the large and small mandarin oranges A placed between the reversing rollers 26, 26 can be turned upside down at the same movement distance as in the first embodiment.

In the correspondence between the configuration of the present invention and the above-described embodiment, the conveyed product of the present invention corresponds to the mandarin orange A of the embodiment, and hereinafter, similarly, the conveyed product selecting device is the fruit and vegetable selecting device 1.
The equal class determining means corresponds to the equal class determining device 6, the concave mounting portion corresponds to the mounting cup 5, and the rotating body is
Corresponding to the reversing roller 26, the front and back reversing means includes a front and back reversing machine 7, a reversing belt 41, a gear 47 and a rack 48.
The rotation imparting member corresponds to the reversing pad 41, the rotation imparting member corresponds to the reversing belt 41, and the resistance imparting member corresponds to the reversing pad 49. However, the present invention is not limited to the configuration of the above-described embodiment. Absent.

For example, as shown in FIG. 21, each of the reversing rollers 26, 26 axially supported on the mounting cup 5 is divided into left and right with respect to the feeding direction to be axially supported, or as shown in FIG. , The reversing rollers 26, 26 axially supported by the mounting cup 5.
The left and right ends of the small-diameter roller 26a and the medium-diameter roller 26b
And a large-diameter roller 26c may be divided into a plurality of parts for axial support, and the reversing rollers 26, 26 axially supported on the mounting cup 5 by the front / back reversing mechanism 7 of the first, second, or seventh embodiment.
By rotating in one direction, the large and small mandarin oranges A placed between the reversing rollers 26, 26 can be turned upside down at the same movement distance as in the first embodiment.

In addition, the cone-shaped reversing rollers 26, 26 formed by dividing the left and right sides are axially supported so as to face each other in the axial direction, or the cone-shaped reversing rollers 26, 26 are opposed to the feeding direction. The shafts may be supported alternately.

Further, in each of the above-mentioned embodiments, each reversing roller 2 pivotally supported on each mounting cup 5 of the sorting conveyor 4.
6, 26 are rotated by the front and back reversing mechanism 7 of the first, second or seventh embodiment. For example, as shown in FIG.
Revolving chains 50, 50 are stretched under the imaging position set on the sorting conveyor 4, and each revolving chain 5
A plurality of sets of reversing rollers 26, 26 mounted between 0 and 50
Are revolved in the feed direction in synchronism with the respective mounting cups 5 of the sorting conveyor 4, and the reversing rollers 2 are revolved on the center mounting surface of the respective mounting cups 5 at the imaging position.
By rotating 6 and 26 by the front / back reversing mechanism 7 of the first or second embodiment, respectively, like the first embodiment, various tangerines A having different sizes are reversed at the same movement distance. be able to.

[Brief description of drawings]

FIG. 1 is a plan view showing a sorting operation by a fruit and vegetable sorting device according to a first embodiment.

FIG. 2 is a side view showing a sorting operation by the fruit and vegetable sorting device.

FIG. 3 is a side view showing a connection state of mounting cups that constitute a sorting conveyor.

FIG. 4 is a plan view showing a bearing state of each reversing roller which constitutes the rotary mounting cup.

FIG. 5 is a side view showing a rotating operation of a mounting cup which constitutes the sorting conveyor.

FIG. 6 is a plan view showing an arrangement state of each mounting cup and each imaging camera of the sorting conveyor.

FIG. 7 is a front view showing an image pickup method by each image pickup camera.

FIG. 8 is a side view showing a reversing operation by a front / back reversing machine.

FIG. 9 is an enlarged front view showing a state in which a large mandarin orange is placed on the reversing roller.

FIG. 10 is an enlarged front view showing a state in which a small mandarin orange is placed on the reversing roller.

FIG. 11 is a side view showing a reversing operation by the front / back reversing machine of the second embodiment.

FIG. 12 is a vertical sectional front view showing an image pickup method by the fruit and vegetable sorting apparatus according to the third embodiment.

FIG. 13 is a vertical sectional front view showing an image pickup method by the fruit and vegetable sorting apparatus according to the fourth embodiment.

FIG. 14 is a side view showing a method of imaging front and back surfaces by front and rear imaging cameras.

FIG. 15 is a vertical sectional front view showing an image pickup method by the fruit and vegetable sorting device according to the fifth embodiment.

FIG. 16 is a side view showing a method of imaging front and back surfaces by front and rear imaging cameras.

FIG. 17 is a plan view showing a sorting operation by the fruit and vegetable sorting device according to the sixth embodiment.

FIG. 18 is a vertical cross-sectional front view showing the tilting operation of the mounting cup that constitutes the sorting conveyor.

FIG. 19 is a side view showing a reversing operation by the front / back reversing machine of the seventh embodiment.

FIG. 20 is a side view showing the opening / closing operation of the mounting cup of the eighth embodiment.

FIG. 21 is an enlarged front view showing a bearing state of left and right divided reversing rollers.

FIG. 22 is an enlarged front view showing a bearing state of a plurality of divided reversing rollers.

FIG. 23 is a side view showing a state in which a plurality of sets of reversing rollers axially mounted between respective revolving chains are revolved in the feed direction.

[Explanation of symbols]

 A ... Tangerine 1 ... Fruit and vegetable sorter 2 ... Conveyor for receiving 3 ... Conveyor for sorting 4 ... Conveyor for sorting 5 ... Placement cup 5a ... Cup body 5b ... Mounting hole 5c ... Bearing piece 5f ... Receiving cup 6 ... Equal rank determination Device 7 ... Front / back reversing machine 8 ... Sorting conveyor 26 ... Reversing roller 26a ... Small diameter roller 26b ... Medium diameter roller 26c ... Large diameter roller 34, 35 ... Imaging camera 36 ... Judgment device main body 41 ... Reversing belt 46 ... Tilt mechanism 47 … Ga 48… Rack 49… Reversal pad 50… Chain for revolution

Claims (5)

[Claims] 1. An image pickup camera images each conveyed object placed on each concave mounting portion of a sorting conveyor, and the equal rank of each conveyed object is based on the image data picked up by the imaging camera. Determined by the class determination means, a transported object sorting device for sorting each transported object placed on each of the concave mounting portions by equal rank, at the imaging position set on the sorting conveyor, each of the above Conveyance provided with front and back reversing means for sequentially holding each conveyed object placed on the concave mounting portion in an appropriate posture by a pair of rotating bodies and rotating each rotating body in a direction in which the conveyed objects are reversed. Object sorter. 2. An image pickup camera images each conveyed object placed on each concave placing portion of the sorting conveyor, and the equal class of each conveyed object is based on the image data picked up by the imaging camera. A conveyor sorting device for sorting by a class determination means and sorting each transported object placed on each of the recessed mounting portions by equal rank, the center of each recessed mounting portion constituting the sorting conveyor. The pair of rotating bodies are axially supported on the part mounting surface at intervals so as to hold the conveyed object in an appropriate posture, and are axially supported by the concave mounting parts at the imaging position set on the sorting conveyor. Conveying object sorting device provided with front and back reversing means for rotating each rotating body in one direction. 3. The rotating member for holding the conveyed object in an appropriate posture, wherein the peripheral surface of each rotating member is formed in a drum shape.
Conveyed goods sorting device described. 4. The front and back reversing means is rotated in one direction with respect to the lower peripheral surface of each rotary body at a height position where it contacts the lower peripheral surface of each rotary body pivotally supported by the concave mounting portion. Claim 1, 2 or claim 3 constituted by providing a rotation imparting member for imparting force.
Conveyed goods sorting device described. 5. The front and back reversing means is unidirectionally contacted with the lower peripheral surface of each rotary body at a height position where it contacts the lower peripheral surface of each rotary body pivotally supported by the concave mounting portion. The conveyed object sorting device according to claim 1, 2 or 3, wherein a resistance imparting member that imparts resistance is provided.