JPH0852437A - Transporting material sorting device - Google Patents

Abstract

PURPOSE:To make it possible to surely make operations to grade and sort transporting materials, such as long-sized materials and round materials, by turning front/rear the placing postures of the respective transporting materials placed in respective buckets of a conveyor for sorting, picking up the images of both the front and rear surfaces of the respective transporting materials with a camera for image pickup and deciding the grades by the picked up image data. CONSTITUTION:The transporting materials K are placed in the respective buckets 10... of the conveyor 2 for sorting and are transported. The respective receiving plates 10b, 10b of the respective buckets 10 are regulated in turning to a half-open angle. Respective turning-over rollers 10c, 10c come into pressurized contact with a turning- over belt 24 of an inside out turning-over machine 4. On the other hand, the addresses of the buckets 10 are read by a cylinder 21 for addresses and the images of the front surfaces of the transporting materials K are picked up by the camera 18 for image pickup. The image data and the addresses are then stored. A motor 25 for turning over is then driven and the transporting materials K are turned front/rear by rotating the turning-over rollers 10c, 10c. The images of the rear surfaces are similarly picked up and are stored. The grades of the transporting materials are decided by the picked up image data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to long products such as cucumber, carrot, potato, eggplant, or mandarin orange, apple, peach,
The present invention relates to a conveyor sorting apparatus used for sorting round items such as persimmons and kiwis into equal ranks.

[0002]

2. Description of the Related Art Conventionally, as a method for sorting cucumbers into equal classes as in the above-mentioned example, for example, a large number of each cucumber placed on each bucket of a sorting conveyor is sequentially imaged by an imaging camera, The image data taken by the imaging camera is compared with the equal rank data stored in the main body of the device, the equal rank of each cucumber placed on each bucket is determined, and each bucket is determined based on the determination. There is a method to sort each placed cucumber by equal rank.

[0003]

However, since the hue of the entire surface of the above-mentioned open-air cucumber is uneven, the equal rank of the cucumber is judged by the color of the epidermis. When imaging the front side from above with an imaging camera, even if there is a discolored part or a rotten part on the back side of the cucumber, the back side of the cucumber cannot be imaged with the imaging camera and its rank is equal. It cannot be accurately determined. In addition, there is a problem that the equal class judged by the judging device and the original class of the cucumber placed on the bucket do not match, and a highly accurate sorting process cannot be performed.

Further, when the back side of the cucumber placed on the bucket is imaged from below by the imaging camera, there are various obstacles such as chain guides and mounting frames below the sorting conveyor, and the bucket is There is also a problem that it is difficult to image the cucumber from below the bucket because the imaging of the cucumber is hindered by itself.

In view of the above problems, the present invention reverses the front and back of each conveyed object placed in each bucket of a sorting conveyor and takes an image with an image pickup camera, so that conveyed objects such as long objects and round objects are of equal rank. It is an object of the present invention to provide a transported object sorting device that can perform a separate sorting operation reliably and can perform a highly accurate sorting process.

[0006]

According to the first aspect of the present invention,
At the imaging position set on the sorting conveyor, an imaging camera that images each conveyed object placed in each of the buckets is arranged, and at the imaging position, each conveyed object placed in each of the buckets. It is a conveyed product sorting device provided with a conveyed product reversing means for reversing the front and back.

According to a second aspect of the present invention, there is provided an image pickup camera for picking up an image of each conveyed object placed in each of the buckets at a first image pickup position and a second image pickup position set on the sorting conveyor. It is a transported object sorting device which is provided and is provided with a transported object reversing means for reversing each transported object placed in each of the buckets between the first imaging position and the second imaging position. And

According to a third aspect of the present invention, in addition to the configuration of the first aspect or the second aspect, the conveyed product inverting means supports the conveyed product on the mounting surface of the bucket in a proper mounting posture. And a rotating means for rotating in one direction the rotating body pivotally supported by the bucket at the imaging position.

According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, the rotating body is constituted by a reversing roller that appropriately supports the conveyed object placed on the bucket in a placing posture, It is characterized in that it is a conveyed object sorting device constituted by a reversing belt which makes the rotating means contact the peripheral surface of a reversing roller pivotally supported by the bucket and rotates the reversing roller in one direction by contact resistance.

According to a fifth aspect of the present invention, in addition to the structure of the third aspect, the rotating means is brought into contact with the peripheral surface of a reversing roller pivotally supported by the bucket, and the reversing roller is contacted by a contact resistance. The present invention is characterized in that it is a conveyed object sorting device configured by a reversing member that rotates in a direction.

[0011]

According to a first aspect of the present invention, the transported object sorting device drives the transported object reversing means to reverse the loading posture of each transported object placed on each bucket of the sorting conveyor, and to reverse the buckets. Both front and back surfaces of each transported object placed on the are imaged by the imaging camera, and the equal class of each transported object is comprehensively determined by the equal class determination means based on the image data of both front and back surfaces imaged by one imaging camera. By making the above determination, it is possible to accurately determine the equal class of each conveyed object placed in each bucket, and the sorting operation can be easily performed.

According to another aspect of the present invention, there is provided a sorting apparatus for picking up an image of the front surface of each of the articles placed on each bucket of the sorting conveyor by the image pickup camera at the first image pickup position and driving the article reversing means. Then, after reversing the mounting posture of each conveyed object placed in each bucket, the back side of each conveyed object placed in each bucket is imaged by the imaging camera at the second imaging position, 1
And the equal classes of the conveyed items are comprehensively judged by the equal class judgment means based on the image data of both front and back surfaces imaged by the second image pickup cameras, whereby the conveyed objects placed in the respective buckets. Both front and back surfaces can be reliably imaged, the equal rank can be accurately determined, and the sorting operation can be easily performed.

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 conveyor sorter rotates a rotating body pivotally supported by a bucket in one direction by rotating means.
By reversing the front and back of the transported object placed on the same rotating body,
The entire conveyed object placed on the bucket can be imaged by the imaging camera, and the equal class can be accurately determined.

According to a fourth aspect of the present invention, in addition to the structure of the third aspect, the reversing roller pivotally supported by the bucket and the reversing belt are brought into contact with each other, and the reversing roller is formed by contact resistance with the reversing belt. By rotating in the direction and reversing the conveyed items placed on the reversing belt, the entire conveyed items placed on the bucket can be imaged by the imaging camera, and the equal rank can be accurately adjusted. You can judge.

According to a fifth aspect of the present invention, in addition to the structure according to the third aspect, the reversing roller and the reversing member pivotally supported by the bucket are brought into contact with each other, and the reversing roller is formed by contact resistance with the reversing member. By rotating in the same direction and reversing the conveyed items placed on the reversing rollers, the entire conveyed items placed on the bucket can be imaged by the imaging camera, and the equal rank can be accurately adjusted. You can judge.

[0016]

According to the present invention, the conveyed object placed on the bucket is inverted and imaged by the imaging camera, and the conveyed object and the like are imaged based on the image data of both the front and back sides imaged by the imaging camera. Since the rank is determined comprehensively, for example, when selecting field-cultivated or house-cultivated cucumber, even if there is a discolored part or rotten part of the cucumber, the equal class is suitable by imaging the entire cucumber. It is possible to make a reliable determination, and it is possible to reliably perform work for sorting long items, round items, and other conveyed items by equal grade, and perform highly accurate sorting processing. Moreover, it is not necessary to image the back side of the transported object placed in the bucket from below, and the imaging work and the sorting work can be performed easily, and long items such as cucumber and eggplant or round items such as tangerines and peaches are selected. Ideal for work.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The drawings are used as an example of a conveyed product. First, it is used for a work of sorting a large number of cucumbers to be received according to their ranks.
The cucumber sorting apparatus of the embodiment is shown in FIG. 1 and FIG.
In this cucumber sorting apparatus 1, a large number of each cucumber K ... is sequentially placed on each sorting conveyor 2 arranged in parallel, and each cucumber K is placed at an imaging position set on each sorting conveyor 2 ... Are sequentially conveyed, and each cucumber K ... is sequentially imaged by each class determination device 3 arranged at the upper part of the same position, and each cucumber K ... is surfaced by the front / back reversing device 4 arranged at the lower part of the same position. It is inverted and the equal class of each cucumber K ... Is determined based on the imaged image data of both front and back sides. Each cucumber K ... is sequentially conveyed to the sorting positions for each equal grade set on each sorting conveyor 2 ..., and each cucumber K ... is sorted according to the equal grade based on the determination by the above-described equal grade determination device 3. Then, the cucumbers K of the same class are placed on the aligning conveyor 5 arranged at the lower part of the same position.
… Sequentially transferred. At the same time, the plurality of aligning trays T mounted on the orbiting conveyor 6 are sequentially moved to a position orthogonal to the feed-side end portion of the aligning conveyor 5, and are conveyed by the aligning conveyor 5. Each cucumber K ... is transferred to each alignment tray T ... in sequence. Adsorption type or holding type cucumber cartoning machine 7 arranged on the upper part of the orbiting trays T ... by moving the aligning trays T to the cartoning position set on the orbiting conveyor 6 in sequence.
Thus, a suitable number of cucumbers K ... Mounted on the respective alignment trays T ... are adsorbed or held and packed in a box.

The above-mentioned sorting conveyor 2 is shown in FIGS.
As shown in FIG. 5, for example, a large number of buckets 10 covered or formed with synthetic rubber, synthetic resin, or the like are provided between the opposite side circumferential surfaces of the orbiting chains 9, 9 stretched in the left and right direction. , The support rollers 11, which are erected at a predetermined equal interval and are rotatably supported on one side of the respective buckets 10, are engaged with the traveling rails 12 erected on the lower stage of the same side, so that the cucumber K is It is supported horizontally when it is placed in a horizontal position. That is, the orbiting chains 9 and 9 are orbited in the feeding direction by the driving force of a motor with a reducer (not shown), and a large number of buckets 10 are installed between the orbiting chains 9 and 9. The cucumbers K are circulated in the feeding direction, and a large number of the cucumbers K placed on the buckets 10 are continuously conveyed in the feeding direction.

Each of the above-mentioned buckets 10 ... Is formed in a laterally long shape between the opposite circumferential surfaces of the respective circulating chains 9, 9 stretched to the left and right with respect to the circumferential direction of the respective circulating chains 9, 9. The bucket main body 10a is installed orthogonally, and the spindles 1 are provided at the long-side front end and the long-side rear end of the bucket main body 10a.
The long side of each receiving plate 10b, 10b formed in a size and shape for holding one cucumber K on the shaft circumferential surface of each of the support shafts 13, 13 bearing the three and 13 in parallel. The upper end portion is fixed, and two reversing rollers 10c, 10c coated or formed with a member having a large frictional resistance such as synthetic rubber or synthetic resin are provided at the lower end portions on the long sides of the receiving plates 10b, 10b. Each support plate 10 is supported in parallel and freely rotatable.
The upper peripheral surfaces of the respective reversing rollers 10c, 10c are pivotally supported on the receiving surfaces of the b, 10b in a slightly protruding state. Moreover, the base end side of each connecting plate 14, 14 is fixed to one end of each support shaft 13, 13, and the free end side of each connecting plate 14, 14 is supported by the support pin 1.
5, the support roller 11 is rotatably connected to the support pin 11 on the peripheral surface of the support pin 15 so that the support roller 11 can rotate freely.
The b and 10b are interlocked to open and close.

That is, when the traveling rail 12 in front of the image pickup position, which will be described later, is erected at a high position and the supporting roller 11 pivotally supported by the bucket 10 is engaged with the traveling rail 12 on the high side, The lower ends of the plates 10b and 10b on the long sides and the outer peripheral surfaces of the reversing rollers 10c and 10c on the long sides are pivoted to a fully closed angle where they abut each other. In addition, the traveling rail 12 on the rear side from the imaging position is installed at a low position, and the support roller 11 axially supported by the bucket 10 is disposed on the low position side.
When moved up, the lower ends of the receiving plates 10b and 10b on the long sides and the outer peripheral surfaces of the reversing rollers 10c and 10c on the long sides are rotationally regulated at half-open angles spaced at appropriate intervals. , 10c are held at a height position where they come into pressure contact with a reversing belt 24 of a front / back reversing machine 4 described later. Moreover, when the support roller 11 pivotally supported on the bucket 10 is dropped from the notch 12a of the traveling rail 12, each receiving plate 1
0b, 10b on the long side lower end and each reversing roller 10c,
The outer peripheral surface on the longitudinal side of 10c is opened at intervals allowing the cucumber K to fall.

Further, as shown in FIG. 6, each receiving plate 10
Each of the three reversing rollers 10d at the lower end of the long side of b, 10b.
By rotatably supporting each of the reversing rollers 10d, the reversing rollers 10d are downsized and made lighter than the reversing rollers 10c, 10c having the above-described long dimension, and the reversing rollers 1 are
Since the rotational resistance of 0d ... Is small, each reversing roller 10c ... Can be efficiently rotated by the reversing belt 24 of the front / back reversing machine 4 described later.

Further, the traveling rails 12 corresponding to the sorting positions set on the sorting conveyor 2 are provided with notches 12a ... Each of which has a size which allows the supporting roller 11 to fall. Command signals output from the equal-class determination device 3 described later by connecting the support rails 16 formed to have a length that closes the portions 12a and the opening / closing solenoids 17 disposed on the same position side part. The solenoids 17 for opening and closing are operated on the basis of
The support rails 16 are moved back and forth to a forward position where they block 2a ... And a backward position where they open the notches 12a.

The above-mentioned equi-class determination device 3 has an imaging camera 18 facing the upper surface side of each bucket 10 ... Moved to the imaging position above the imaging position set on the sorting conveyor 2. Each of the opening / closing solenoids 17 arranged at each sorting position is connected to the device body 19 for determining the equal class of the cucumber K and the monitor 20 for displaying the image of the cucumber K. Are connected to the apparatus main body 19. In addition, below the image pickup position set on the sorting conveyor 2, an address reader 21 for detecting the address of each bucket 10 is provided in correspondence with the image pickup by the above-mentioned image pickup camera 18, and the same address is used. Each bucket 1 by the reader 21
Corresponding to the address reading of 0 ..., the front and back sides of each cucumber K ... placed on each bucket 10 ... are imaged by the imaging camera 18, and the cucumber K is based on the image data captured by the imaging camera 18. The same rank is determined, and the determination data and the address data are stored in the apparatus main body 13 in association with each other.

That is, each bucket 1 of the sorting conveyor 2
Both the front and back sides of each cucumber K ... placed on 0 ... are imaged by the imaging camera 18, and the image data of the front and back sides output from the imaging camera 18 and the equal rank data stored in the apparatus main body 19 In comparison with each of the buckets 10 of the sorting conveyor 2, each cucumber K ... is of any equal rank (for example, grade of excellent, excellent, good, etc. and 2L, L, M, S, etc.). Class), and based on the determination, each cucumber K ... Mounted on each bucket 10 of the sorting conveyor 2 is sorted according to equal rank. For example, 2L, L,
Bucket 1 at the sorting position set for each equal rank such as M and S
The time lag is counted until 0 moves, and the bucket 10 is moved to the sorting position corresponding to the determination made by the equal grade determination device 3.
When is moved, the opening / closing solenoid 17 is operated to open the bucket 10 at the sorting position corresponding to the determination.

In the above-mentioned front / back reversing machine 4, for example, a synthetic rubber or a synthetic resin is provided between the pulley 22 pivotally supported at the feed side start end portion below the image pickup position and the pulley 23 pivotally supported at the feed side end portion. The reversing belt 24 covered or formed with a member having a large friction coefficient is stretched, and is driven by the driving force of the reversing motor 25 with a speed reducer disposed at the lower end side via the pulleys 26, 27 and the driving belt 28. , The reversing belt 24 is rotated in the direction of the arrow. The feed speed of the reversing belt 24 can be variably adjusted. That is, the reversing belt 24 is rotated faster than the moving speed of the buckets 10 forming the sorting conveyor 2, and the reversing rollers 10c, 10c of the bucket 10 pressed onto the reversing belt 24 are rotated in the arrow direction. At the same time, the cucumber K placed on each of the reversing rollers 10c, 10c is rotated 180 degrees in the direction of the arrow so that the front and back are reversed.

Assuming that the illustrated embodiment is configured as described above, the operation of selecting cucumber K by the cucumber selecting apparatus 1 will be described below. First, as shown in FIG. 2 and FIG. 3, each bucket 10 of the sorting conveyor 2 is circulated in the feed direction,
Support roller 11 of bucket 10 returning to the starting end of the feeding side
Are sequentially engaged with the traveling rail 12 at the high position, and the receiving plates 10b, 10b of the bucket 10 are orbitally moved in the feed direction while being restricted in rotation to the fully closed angle. At the same time, a large number of each cucumber K is placed in each bucket 10 of the sorting conveyor 2.
One by one is placed on each of the receiving plates 10b of the bucket 10,
The cucumber K is placed on each of the reversing rollers 10c, 10c pivotally supported by 10b.

Next, at the imaging position set on the sorting conveyor 2, each cucumber K placed on each bucket 10 ...
... are sequentially captured by the imaging camera 18, and the imaging camera 1
Based on the image data picked up in 8, the equal class of each cucumber K ... Is determined, and each cucumber K ... Mounted on each bucket 10 of the sorting conveyor 2 is classified according to the equal class.

That is, as shown in FIG. 4, the bucket 10
Support rollers 11 of the bucket 10 are sequentially engaged on the traveling rail 12 at a low position, the receiving plates 10b, 10b of the bucket 10 are regulated to rotate at a half-open angle, and the bearing plates 10b, 10b are respectively supported. The reversing rollers 10c and 10c are pressed against the reversing belt 24 of the front / back reversing machine 4. At the same time, the address reader 21
Corresponding to the address reading of the bucket 10 by, the front surface side of the cucumber K placed on the bucket 10 is imaged by the imaging camera 18, and the front side image data captured by the imaging camera 18 and the bucket 10 are read. The address data is stored in the apparatus main body 13 in association with each other.

Thereafter, the reversing motor 25 of the front / back reversing machine 4
Are driven to rotate the reversing belt 24 faster than the moving speed of the buckets 10 ..., and the reversing rollers 10c, 10c pressed against the upper surface of the reversing belt 24 are rotated in the direction of the arrow to reverse the reversing rollers. The cucumber K placed on the rollers 10c, 10c is rotated 180 degrees in the direction of the arrow to turn it upside down. At the same time, the back surface side of the cucumber K placed on the bucket 10 is imaged by the imaging camera 18, and the image data on the back surface imaged by the imaging camera 18 and the address data of the bucket 10 are associated with each other in the device body 13. Remember. One imaging camera 1
Image data of both front and back sides imaged by 8 and the apparatus main body 1
9 is compared with the equal rank data stored in 9 to comprehensively determine the equal rank of each cucumber K ... Placed in each bucket 10 of the sorting conveyor 2, so that the bucket 10 is placed in the bucket 10. Even if there is a discolored portion or a rotten portion on the back surface side of the cucumber K, it is possible to accurately determine the equal rank based on the image data of the entire cucumber K.

A front / back reversing machine 4 according to a second embodiment described later.
The reversing rollers 10c, 10c pivotally supported by the receiving plates 10b, 10b of the bucket 10 may be rotated to reverse the cucumber K mounted on the reversing rollers 10c, 10c.

Further, the time lag until the bucket 10 moves to the sorting position corresponding to the determination by the equal rank determination device 3 is counted, and for example, the bucket 10 having the determination data of "M" size is the sorting position of M size. 2 and 3, the opening / closing solenoid 17
The support rail 16 installed at the sorting position by operating the
Of the support roller 1 supported by the bucket 10
1 is dropped from the cutout portion 12a of the traveling rail 12.
That is, the receiving plates 10b, 10b of the bucket 10 are opened, and the cucumber K placed between the receiving plates 10b, 10b.
Are sequentially transferred onto the alignment conveyor 5 immediately below the sorting position.

At the same time, the plurality of alignment trays T mounted on the orbiting conveyor 6 are sequentially moved to a position orthogonal to the end of the aligning conveyor 5 on the feed side, and the aligning conveyor 5 moves the trays. The cucumbers K ... of the same class to be transported are sequentially transferred to the respective alignment trays T. At the same time, the respective alignment trays T ... are sequentially moved to the boxing position set on the orbiting conveyor 6, and the suction type. Alternatively, a holding type cucumber cartoning machine 7 holds a suitable number of each cucumber K ... Mounted on each of the aligning trays T.

As described above, each cucumber K placed on each bucket 10 of the sorting conveyor 2 is turned upside down and picked up by the image pickup camera 18, and both sides of the image picked up by one image pickup camera 18 are taken. Since the equal rank of each cucumber K ... Is comprehensively determined based on the image data of cucumber K, even if there is a discolored portion or a rotten portion on the back side of the cucumber K placed on the bucket 10, The image can be used to accurately determine the equal rank, and the work of selecting cucumber K by equal rank can be performed reliably.
Highly accurate sorting process is possible. Moreover, it is not necessary to image the back side of the cucumber K placed on the bucket 10 from below, and the imaging work and the sorting work can be easily performed, and long items such as cucumber and eggplant or round items such as apples and persimmons are separated. It's perfect for work.

FIG. 7 shows the first set on the sorting conveyor 2.
The imaging cameras 18 and 18 are provided at the imaging position and the second imaging position.
Is shown and the front and back reversing machine 4 of the second embodiment is shown, in which both front and back surfaces of each cucumber K ... mounted on each bucket 10 are imaged by the respective imaging cameras 18 and 18, that is, the bucket 1
The surface side of the cucumber K placed on 0 is imaged by the imaging camera 18 at the first imaging position, the reversing belt 24 of the front / back reversing machine 4 is rotated, and the bearing plates 10b and 10b of the bucket 10 are supported. Each reversing roller 10c, 10c is rotated in the direction of the arrow, the cucumber K placed on each reversing roller 10c, 10c is turned upside down, and then the cucumber K placed on the bucket 10
Image the back side of the image with the imaging camera 18 at the second imaging position,
Since the equal class of cucumber K is comprehensively determined based on the image data of the front and back surfaces imaged by the imaging cameras 18 and 18, the buckets 10 of the sorting conveyor 2 are assigned to each bucket 10 as in the first embodiment. Both the front and back sides of each placed cucumber K can be reliably imaged, the equal class can be accurately determined, and highly accurate sorting processing can be performed.

FIG. 8 shows a reversing member 29 in which the reversing rollers 10c, 10c pivotally supported on the bucket 10 are covered or formed with a member having a large friction coefficient such as synthetic rubber or synthetic resin.
The front and back reversing machine 4 of the third embodiment, which is pressed against and rotates,
That is, after the front surface side of the cucumber K placed on the bucket 10 is imaged by the imaging camera 18 at the first imaging position, the receiving plates 10b, 10b of the bucket 10 are rotated to a half-open angle,
Each reversing roller 10 bearing on each receiving plate 10b, 10b
C and 10c are pressed onto the reversing member 29. At the same time, the reversing rollers 10c, 10c are rolled in the feeding direction while being pressed against the reversing member 29, so that the reversing rollers 10c, 10c are rotated.
c in the direction of the arrow so that the reversing rollers 10c, 10
Rotate the cucumber K placed on c in the direction of the arrow 180 degrees and turn it over. Immediately after the reversal, the back side of the cucumber K placed on the bucket 10 is imaged by the imaging camera 18 at the second imaging position. Therefore, as in the first embodiment, the first and second imaging cameras 18, Based on the image data picked up at 18, it is possible to accurately determine the equal rank of each cucumber K ..., and it is possible to perform a highly accurate sorting process.

FIG. 9 shows a roll-over type bucket 30 having a cup shape according to the fourth embodiment, which is used for a work of selecting a round object such as a mandarin orange, an apple, a peach, a persimmon, and a kiwi.
A semicircular cup 30 formed in a 1/2 spherical shape on the upper surface side of a
b is rotatably supported, and the reversing rollers 30c, 30c are rotatably supported at the center of the bottom surface of the semicircular cup 30b. For example, when persimmon L is selected as an example of a round object, at the imaging position set on the selection conveyor 2,
Reversing rollers 30c, 3 pivotally supported on the overturning bucket 30
0c is rotated by the front / back reversing machine 4 of the first embodiment or the second embodiment to reverse the persimmon L placed on the respective reversing rollers 30c, 30c, so that, like the first embodiment, Both front and back surfaces of the persimmon L placed on the overturning bucket 30 can be imaged by the imaging camera 18 of the equal-class determination device 3, and the selection work of various round objects as in the above example can be appropriately performed.

FIG. 10 shows an openable bucket 31 having a cup shape according to the fifth embodiment used in the above-mentioned operation for sorting round objects, which is 1 / on the upper surface side of the bucket body 30a.
Each of the split cups 31b, 31b formed in the four spherical shape is rotatably supported in an openable / closable manner, and the reversing rollers 31c, 31c are rotatably supported at the lower end portions of the split cups 31b, 31b on the open / close side. For example, when the persimmon L is selected, the reversing rollers 31c and 31c pivotally supported by the respective split cups 31b and 31b of the openable bucket 31 at the imaging position set on the selection conveyor 2 are used in the first embodiment or The reversing rollers 31c, 31c are rotated by the front / back reversing machine 4 of the second embodiment.
Since the persimmon L placed on 31c is turned upside down, both the front and back sides of the persimmon L placed on the openable bucket 31 are imaged by the imaging camera 18 of the equal rank determination device 3 as in the first embodiment. Therefore, it is possible to properly perform the selection work of various round objects as in the above-described example.

FIG. 11 shows a cucumber selecting device 1 of a sixth embodiment in which an appropriate number of each cucumber K ... Placed on the aligning conveyor 5 is adsorbed or held by the cucumber boxing machine 7 to be boxed. The cucumbers K placed on the buckets 10 of the sorting conveyor 2 are turned upside down and sequentially picked up by the image pickup camera 18 of the equal rank determination device 3, and based on the image data picked up by the image pickup camera 18. Then, each cucumber K ... is sorted into equal classes. The cucumbers K ... of the same class that are dropped and supplied from the buckets 10 of the sorting conveyor 2 are sequentially transferred to the aligning conveyor 5, and an appropriate number of the cucumbers K ... transported by the aligning conveyor 5 are cucumber. Since the boxing machine 7 sucks or holds the boxes to pack them, the same rank of the cucumber K placed on the bucket 10 can be accurately determined, and the boxes are placed on the alignment conveyor 5 as in the first embodiment. Since each cucumber K ... is directly held by the cucumber cartoning machine 7 to be boxed, it is not necessary to install the orbiting conveyor 6, and the configuration of the entire apparatus can be simplified and the manufacturing cost can be reduced.

Further, a large number of the respective alignment trays T ... Are sequentially moved by the alignment conveyor 5, and the cucumbers K ... of the same equal rank dropped from the buckets 10 of the sorting conveyor 2 are aligned. It is also possible that the cucumbers are transferred to the trays T ... one after another, and an appropriate number of the cucumbers K ... Mounted on the trays T for alignment are directly held by the cucumber cartoning machine 7 to be boxed.

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 cucumber K and the persimmon L of the embodiment. Similarly, the conveyed product selection device is a cucumber. Corresponding to the sorting device 1, the equal class determining device corresponds to the equal class determining device 3, the conveyed product reversing device corresponds to the front / back reversing machine 4 and the reversing belt 24, and the reversing member 29, and the rotating body, Corresponding to each reversing roller 10c, 30c, 31c, the rotating means corresponds to the reversing belt 24 and the reversing member 29,
The present invention is not limited to the configurations of the above-described embodiments.

In the above-mentioned embodiment, the work of selecting the cucumber K and the persimmon L as an example of the conveyed product has been described. For example, long products such as carrots, potatoes, eggplants, or tangerines, apples, peaches, kiwis, etc. It can also be applied to the work of sorting round objects,
The present invention is not limited to the conveyed items shown in the examples.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a cucumber sorting device according to a first embodiment.

FIG. 2 is a side view showing a cucumber sorting operation by a sorting conveyor.

FIG. 3 is a plan view showing a cucumber sorting operation by a sorting conveyor.

FIG. 4 is a side view showing a cucumber reversing operation and an imaging operation by the front and back reversing machine.

FIG. 5 is a plan view showing a bucket bearing two reversing rollers.

FIG. 6 is a plan view showing a bucket bearing six reversing rollers.

FIG. 7 is a side view showing a cucumber inversion operation and an imaging operation by the front / back inversion machine of the second embodiment.

FIG. 8 is a side view showing a cucumber inversion operation and an imaging operation by the front / back reversing machine of the third embodiment.

FIG. 9 is a plan view showing a state in which a reversing roller is axially supported by the laterally rotating cup of the fourth embodiment.

FIG. 10 is a plan view showing a state in which a reversing roller is axially supported by the openable cup of the fifth embodiment.

FIG. 11 is an overall configuration diagram showing a cucumber sorting device of a sixth embodiment.

[Explanation of symbols]

 K ... Cucumber L ... Persimmon 1 ... Cucumber sorting device 2 ... Sorting conveyor 3 ... Equal class determination device 4 ... Front / back reversing machine 5 ... Aligning conveyor 6 ... Orbiting conveyor 7 ... Cucumber boxing machine 9 ... Orbiting chain 10 ... Bucket 10a ... Bucket main body 10b ... Receiving plate 10c, 10d ... Reversing roller 11 ... Support roller 12 ... Traveling rail 18 ... Imaging camera 24 ... Reversing belt 25 ... Reversing motor 29 ... Reversing member 30 ... Overturning bucket 30a ... Bucket main body 30b ... Half-circle cup 30c ... Reversing roller 31 ... Retractable bucket 31a ... Bucket body 31b ... Dividing cup 31c ... Reversing roller

Claims (5)

[Claims] 1. A means for determining the equal rank of each conveyed object on the basis of image data picked up by the image pickup camera, by picking up an image of each conveyed object placed in each bucket of a sorting conveyor. Is a transport object sorting device for sorting each transported object placed in each of the buckets by equal rank, and is placed in each of the buckets at an imaging position set on the sorting conveyor. An article picking device which is provided with an image pickup camera for picking up an image of each article and which is provided with a article reversing means for reversing each article placed on each of the buckets at the imaging position. 2. A means for determining the equal rank of each conveyed object on the basis of the image data picked up by the image pickup camera, by picking up an image of each conveyed object placed in each bucket of the sorting conveyor. According to the present invention, there is provided a conveyor sorting apparatus for sorting the conveyed articles placed in the respective buckets according to equal ranks, wherein the first image pickup position and the second image pickup position are set on the sorting conveyor, Each imaging camera that images each transported object placed in each bucket is arranged, and each transported object placed in each bucket is placed between the first imaging position and the second imaging position. A conveyed product sorting device provided with a conveyed product reversing means for reversing the inside and outside. 3. A rotator for supporting the conveyed object in a mounting posture on the mounting surface of the bucket, and the supported member inverting means pivotally supports the bucket at the image pickup position. The transported object sorting apparatus according to claim 1 or 2, wherein a rotating means for rotating the rotating body in one direction is provided. 4. The revolving body is composed of a reversing roller for appropriately supporting the transported object placed on the bucket in a loading posture,
4. The conveyed object sorting apparatus according to claim 3, wherein the rotating means is constituted by a reversing belt that comes into contact with a peripheral surface of a reversing roller pivotally supported by the bucket and rotates the reversing roller in one direction by contact resistance. 5. A conveyed object sorting apparatus according to claim 3, wherein said rotating means is constituted by a reversing member which comes into contact with a peripheral surface of a reversing roller pivotally supported by said bucket and which rotates said reversing roller in one direction by contact resistance. apparatus.