JPS58166970A - Driving of classifier in automatic sorting apparatus of fruits - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for sorting fruits, etc. on a conveyor by weight, for example.
The present invention relates to an automatic sorting device that performs il1 sorting, and particularly to a method of driving a classifying device that is driven according to the sorting results.

First, an example of the configuration of an automatic sorting device, which is the premise of this introduction, will be explained.

FIG. 1 is a plan view showing an example of the configuration of a conveyor section of an automatic sorting device for sorting fruits and the like by weight. In this diagram,
Reference numeral 1 indicates nine cups attached to an endless chain (not shown in FIG. 1) in a continuous array at regular intervals, 2 indicates a drive unit consisting of a sprocket, a motor, etc. that drives the chain, and 3 indicates a drive unit. A driven part 4-1 to 4-8 is a receiving box for each of the nine weight classes arranged in a protruding manner on the chain.

5-1 to 5-8 are respectively provided at the positions of the receiving boxes 4-1 to 4-8), and 6-1 to 6-8 are provided at the positions of the receiving boxes 4-1 to 4-8, respectively, in the cup conveyance path. classifier,
7 is the measured value @ provided in the auxiliary cup conveyance path of the receiving box 4-1 at the front end.

8 is a measuring device 170 base. All of the classification devices 16-1 to 6-8 are measured values! It is located behind 117. Note that the chain, the drive section 2, and the slave section 3 constitute a conveyor. Here, when the drive unit 2 operates, the cup 1 is conveyed in the direction of the arrow, rotated downward at the drive unit 2, and turned upward again at the follower s3.
K turns around. When a fruit to be sorted is placed on the cup I at the placement point A near the driven part 3, this fruit is placed on the cup IK.
The weighing device 7 measures the weight of the bag while it is still placed thereon. This measured value is processed by a data processing device shown in FIG. 1s2, and the position of the classifying device 6 in the receiving box 4 to be classified is determined based on the weight of the measured fruit. Then, at the timing when the cup 1 carrying the fruit is transported to the predetermined classification device 6, a classification command is sent from the data processing device to the classification device 6. As a result, the second sorting device 116 performs one operation, and the cup 1 tilts the receiving box 4mVC, and the fruit falls into the receiving box 4 and is sorted.

Next, the data processing device 111D shown in FIG. 2 will be explained.

In FIG. 2, the electric signal corresponding to the load value output from the load cell of the weighing device 70 is amplified by the amplifying section 10,
Noise is removed by filter 11.

It is converted into a digital signal by the A/D converter 12 *fi
, enters the sampling circuit 13. Nasi, 14ij A/D
This is an A/D converter control device pupil for controlling the converter 12. The electrical signal output from the load cell has the shape of a rectangular wave with a time width equal to the time it takes for the sliding bin attached to the cup 1 to pass over the weighing rail of the conveyor. Instead of measuring just one point, which changes over time, several points are sampled and measured, and the sample value averaging circuit 15 calculates the average value. This average value output is input to a comparison/determination circuit 16 to determine the presence or absence of fruit on the cup. Standard setter 17
A next reference setting value is stored in advance by adding one value to the maximum value of the empty cup load, that is, the tare weight, and the average value output inputted to the comparison judgment circuit 16 is compared with this reference setting value. When no fruit is placed, the average value output is smaller than the reference setting value, and it is determined that there is no fruit, and is inputted to the empty cup weight memory 18 as an empty cup signal.
If fruit is placed, the value becomes larger than the reference setting value, and it is determined that there is fruit, and the calculation control unit 19 outputs the placed cup signal as a signal.
is input.

On the other hand, the electrical signal from the weighing device 7 and the detection signal from the photoelectric switch 21 are input to the number recognition circuit 20 . In this case, the photoelectric switch 20 detects a detection piece provided on one of the many cups 1 and outputs a detection signal. Then, the number recognition circuit 20 recognizes the cup that passes through the weighing device 7 and is measured immediately after the detection signal is input as, for example, the No. 1 cup, and sends an address designation signal to the empty cup weight memory 18. From then on, each time a cup passes through the measuring device 7, the electrical signal output is counted, and the number 2 cup and the third cup are selected.

. . . - is recognized in sequence and an address designation signal is sent out.

For example, when the No. 1 cup is measured, if no fruit is placed on it and an empty cup signal is input to the empty cup weight memory 1B, the address designation key input at the same time causes the No. 1 cup to be measured. The address corresponding to the cup is specified, and the empty cup signal is read and stored at that address. At this time, the previously stored content is updated with new content.

For example, when the second cup is measured, if fruit is placed and the first cup signal is input to the calculation control unit 19, it is simultaneously input to the empty cup weight memory 18 and the original address designation signal is input. The address corresponding to the second cup is specified, and the empty cup signal of the second cup already stored at this address is read out and sent to the calculation side a section 19.

Next, the arithmetic control [9] and its peripheral circuits will be explained. First, the pulse generator 23 is attached to the rotating shaft of the drive unit 2 shown in FIG. It is designed to output 20 pulses per hour.

The classification position memory 24 stores eight classification devices 6-1 to 6-8.
This is a memory in which length data obtained by converting the length between the pulse generator 23 and the measuring device 17 into the number of output pulses of the pulse generator 23 is stored. The classification data memory 25 stores fruit by weight Kl,
This is a memory in which classification data used when classifying by 7t is stored, and in this embodiment, 200
F (gram)%180F, 160F...60
Eight pieces of classification data corresponding to each PK are stored.

The classification instruction memory 26, as shown in FIG.
Danger register columns 28-1 to 28-2 are provided corresponding to -8, respectively.
8-8. In this case, register row 28-
1~28-8V! Each of the two classifiers 6-1 to 6-8 and the measuring device 7 is constituted by a number of registers equal to the number of cups.

Next, the operation of the calculation control section 19 will be described in detail.

For example, now, as soon as the fruit is placed, the second cup 1 reaches the position of the weighing device 7, and the above-mentioned nine device cup signal is sent from the comparison judgment circuit 16 to the arithmetic control N19. When each fruit is supplied from the fruit weight memory 18 to the calculation control unit 19, the calculation control unit 19 first subtracts the empty cup signal from the placed cup signal to calculate the fruit weight. Next, the calculated fruit weight is classified based on the classification data output from the classification data memory 25. In other words, if the fruit weight is 200 or more for 1st grade or 199 for 2nd grade? ~180F 3rd class 179? ~1601 8th grade 79f~ 60? Detect which class it belongs to. Furthermore, this! j
! In this embodiment, fruits belonging to the above-mentioned grades 1 to 8 are stored in receiving boxes 4-1 to 4-8, respectively.

Here, it is assumed that the fruit on the second cup 1 mentioned above belongs to the second grade, and that this fruit is the fruit that reaches the weighing point [7] for the first time after the power is turned on.
reads the length data corresponding to the classification device 6-2 from the classification position memory 24 and sets it in the classification instruction memory 260 subtraction register 27-2.

Next, for example, when the cup 1 with the n+5 aroma on which the fruit is placed reaches the weighing device 7, the arithmetic control unit 19 calculates the weight of the fruit in the same way as in the case described above, and then the fruit is graded 1 to 8. Detect which category it belongs to. Here, the fruit is 1
If it belongs to the classification value @6-1, the arithmetic control unit 19 reads the length data corresponding to the classification value @6-1 from the classification position memory 24, and sets it in the subtraction register 27-1 of the classification instruction memory 26. Next, as soon as the fruit is placed, the number 6 cup 7'l
reaches the weighing device 17, and assuming that the weight of the fruit on this cup 1 belongs to class 2, the arithmetic control g19 calculates the cup difference between the second cup and the sixth cup described above. 4" and writes this cup difference "4" into the register 28-2m of the register row 28-2 of the classification instruction memory 26. Next, for example, if it is assumed that the weight of the fruit on the cup No. 8 belongs to the first grade, when the cup 1 reaches the weighing device 7, the arithmetic control Wi 519 determines the weight of the fruit on the cup No. 5 as mentioned above. The cup difference "3" from the No. 8 cup 1 is calculated, and this cup difference "3" is written in the register 28-1m of the register row 2B-1.

In this way, when the fruit belonging to the first grade reaches the weighing device 7 for the first time after the power is turned on, the arithmetic control section 19 subtracts the length data corresponding to the classifier 6-1 in the first class position memory 24 and subtracts the length data from the register. 27-1, and thereafter, each time a fruit belonging to the first grade reaches the weighing device 1lli7, the previous weighing device W is set.
When reaching L7, the cup difference from the fruit belonging to the first grade skin is calculated, and this cup difference is sequentially written to each register in the register row 28-1.

The same applies to fruits belonging to 2nd grade % 3rd grade...

On the other hand, the arithmetic control unit 19 reads the contents of the subtraction registers 27-1 to 27-8 every time a pulse is supplied from the pulse generator 23, and reads out the contents of the subtraction registers 27-1 to 27-8.
Subtract "1" from the contents of 1-8. If each subtraction result is not "0", each subtraction result is written into the subtraction registers 27-1 to 27-8 again. On the other hand, for example, if the content of the subtraction register 27-2 is "0" KNatsutomo, that is, if the fruit to be stored in the receiving box 4-2 reaches the position of the classification device @6-2, the fruit to be stored in the receiving box 4-2 reaches the position of the classification device @6-2. A classification command is output to -2 and set in the register row 28-22. Also, at this time, rOJ is set in the register 28-2. Note that the above-mentioned numeral "20" is the number of pulses of the pulse generator 23 corresponding to the cup pitch. Next, when the content of the subtraction register 27-2 becomes "0" again, Vi outputs the classification command to the classification device 6-2 again, and the content K of the register 28-2b of the register row 28-2 is "20J". The multiplication result is written into the subtraction register 27-2, and "0" is set in the register 28-2b. Thereafter, the same operation is repeated, whereby the fruits on the p-cup 1 are sequentially stored in the receiving boxes 4-1 to 4-8.

Next, the write and read operations of the register columns 28-1 to 28-8 will be further explained using the register column 28-2 as an example.

Now, for example, in a state where the cup difference is written in each of the registers 28-2a to 28-2c, the subtraction register 27
When the contents of -2 become ``0'', the contents of register 28-2m are multiplied by ``120'' as described above and written to the subtraction register, and finally, ``0'' is written to register 28-2a. It will be done. Next, when the fruit belonging to the second grade reaches the weighing device 7, the cup difference is written in the register 28-2d. Thereafter, in the same manner, registers 28-2@, 2
The cup difference is sequentially written to fc register 28-2f, -28-21, and fc register 28-2b.

The contents of 28-2c, . . . are sequentially output and processed. After the cup difference is written to the register 28-21, the register 28-2m, 28-2b, . . .
The cup differences are sequentially written to .... Here, the number of registers in the register row 28-2 is equal to the cup difference between the weighing device 1117 and the classifier @6-2.
Therefore, the cup difference in register 28-2JL is not written to register 28-2& again before the cup difference in register 28-2JL is processed.

Next, when the content of the subtraction register 27-2 becomes "O", each register 28-2 of the register row 28-2
If the contents of a to 28-21 are all rOJ (in such a case, the second grade fruit does not reach the weighing device 7 for a certain period of time and the next case occurs), writing to the subtraction register 27-2 is performed. In this case, when the second grade fruit reaches the weighing device 17, the length data corresponding to the sorting device @6-2 in the sorting position memory 24 is added to the subtraction register 27-2.
written to.

In the automatic sorting device described above, the cup difference can be measured by counting the number of pulses output from the pulse generator 23 or by counting the number of pulses output from the weighing value 117. be exposed. t71t & normal, line 2
A microprocessor is used as the component 13°15.16, 19.20 in the figure, It, memory 2
ROM (Read Only Memory) is used as 4.25, and RAM (Random Access Memory) is used as memory 18.26. In some cases, other devices m (
The ROM may be replaced with RAMK on the premise that necessary data will be transmitted from the 91I (or higher-level computer).

The above are the details of the automatic sorting device that is the premise of this invention. By the way, the above-mentioned automatic sorting device has the following problems.

■ For example, when setting the length data of the 5-minute scale memory 24 to the subtraction register 27-2, if this setting time deviates for some reason, the data in the subtraction register 27-2 will become rOJ and the cup will stop at the 9th point. 1 is not positioned correctly in the position of the classification device 6-2, and a situation arises in which it is displaced. However, in the automatic sorting device described above, the classification device 6
-2, the next drive time is determined based on the cup difference in the register row 28-2. Once the drive time of the classifier 6-2 shifts, the cup difference in the register row 28-2 is determined. As long as the classification device 1116-2 is included, all subsequent driving times of the classification device 1116-2 will be shifted.

■ The chain that transports cup 1 may expand or contract slightly depending on the ambient temperature, or may stretch after long-term use.
At that time, the cup pitch is the number of pulses r of the pulse generator 23
20J does not match 0 For example, the cup pitch is 20
．． This means that it corresponds to one OQ pulse. As a result, even if the length data in the 5-class position memory 24 is set in the subtraction register 27-2 with the correct tie, the data in the subtraction register 27-2 becomes "0" K, and the next time the cup 1 is not located in the position of the classification device 6-2.
Positioned out of alignment. This slight deviation does not pose a problem if the above-mentioned length data is set in the subtraction register 27-*<Setset. However, the classification device 6
-2, if there is a slight deviation in the driving time of the classifier 6-2, the previous driving time and that time's deviation are added to the next driving time, and then the next driving time is To the time, the difference from the time before the previous time, the time difference from the previous time, and the time difference from that time are added. In this way, the deviation in driving the classification device 6-2 based on the cup difference is accumulated one by one, and a large deviation ultimately occurs.

In view of the circumstances of the 1st generation, this company provides a method for driving a classification device that can automatically correct the discrepancy between the driving time of the classification device and the cup position. Each time the data reaches the detection unit (weighing device 7), the data in the subtraction register is recalculated based on the length data between the classification device and the detection unit, and the subtraction register is rewritten with the data obtained as a result. It's like a friend.

Hereinafter, the present invention will be explained by taking as an example the case where it is applied to the automatic sorting apparatus shown in FIGS. 1 to 3.

t1 As shown in FIG. 4, the cup 1a on which the fruit belonging to grade 2 is placed has just reached the position of the needle amounting device 17, and then the cup 1a and the classifying device 6-2 are connected. between 2
There are 1111 fruits belonging to the class! Assume that there is a cup 1b placed there. In this case, the distance between the cup 1b and the classifier 6-2 (distance converted into the number of pulses) is Lb1 metering device! 1
7 and the cup 1b (pulse number conversion distance) is La, and the distance between the weighing device F and the classifier 6-2, that is, the classifier 16 in the classification position memory 24.
If the length data corresponding to -2 is L2, then Lb =
The formula L2-La---1---fit holds true. In this +11 formula, the distance is C cup 1a
cup difference between and 1b) x 20
+21 The error included in the optical distance La calculated by (2) 2 is o, oolx if the cup pitch corresponds to, for example, 20.001 pulses.
(Cup difference) -----(Like 31, so,
The distance contains only a very small error, t
7t, the error included in the distance L2 is, of course, "0". Therefore, the distance L calculated using the above formula (11) is
The error contained in l) is extremely small.

Therefore, in the arithmetic control section 19 in FIG. 2, the second grade fruit is I! Every time the straightened cup 1 reaches the weighing device 7, the distance La between the cup 1 of the second grade fruit closest to the first classifier 6-2 and the weighing device 7 is calculated, and the distance La is calculated. Next, the distance Lb is obtained by substituting the calculated distance Lb and the length data in the classification position memory 24 into the equation 11.1. And, looking for friend distance 111
The subtraction register 27-2 is rewritten by Lb. Similar processing is performed for fruits belonging to other classes.

In this way, the deviation between the driving time of the classification device and the position of the cup 1 is not accumulated, and
When setting the length data in 4 to the subtraction register 27-2, even if the set timing is out of sync, the deviation will be corrected the next time the second grade fruit reaches the weighing device 7.

Note that the present invention is of course applicable not only to the above-mentioned case of sorting fruit fruits by weight, but also to the case of sorting fruits etc. by size, quality, etc., for example.
4. As explained above, according to the present invention, fruits etc. can be detected by S
(For example, the content of the subtraction register is rewritten every time the measured value !117 in Fig. 2 is reached.)
The effect of automatically correcting the deviation between the driving time of the classification device and the cup position can be obtained.

[Brief explanation of the drawing]

Figures 1 to 3 are diagrams each showing an example of the configuration of an automatic sorting device that is a premise for this generation. A block diagram showing the configuration, FIG. 3 is the classification instruction memory 26 in FIG.
FIG. 4 is an explanatory diagram for explaining the method according to the present invention. 1...Cup, 4-1 to 4-8...Receiving box, 6-1 to 6-8...Classification m position, 7.
...Measuring device, 19... Arithmetic control section, 2
6... Classification instruction memory, 27-1 to 27-8.
...Subtraction register, 28-1 to 28-8...
...Register string.

Claims (1)

[Scope of Claims] A conveyor for carrying a plurality of cups carrying electric current to be measured at predetermined intervals, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups, and a conveyor for conveying the cups; A detection unit for detecting a detection unit, a plurality of classification devices provided in series on the travel path of the cup behind the detection unit, and a receiving box provided corresponding to each of these classification devices 1, In an automatic sorting device for fruits, etc., which classifies the object to be measured based on the detection result by the spouting part, drives the classification device according to the classification result, and stores the object to be measured in the receiving box, A subtraction register is provided corresponding to each of the classification devices, and a register row is provided corresponding to each of these subtraction registers, and when the physical characteristic of the $7III constant proboscis is detected by the detection unit, Write the cup difference with the fruit of the same grade that last passed through the detector in the register row, and subtract "1" from the contents of the subtraction register each time you move one foot distance. When becomes "0", a classification command is output to the corresponding classification device, and the cup difference stored in the register row is converted to length data and written to the same subtraction register, and When the physical characteristics of the object are emitted and it is determined to which class the object to be measured belongs, the length data corresponding to the length between the classification device and the detection unit corresponding to the determination result is determined. , subtracting cup difference data corresponding to a cup difference between the cup of the fruit of the same grade that is closest to the detection unit and the classification device. A method for driving a sorting device in an automatic sorting device for fruits, etc., characterized in that the subtraction result is written into a corresponding subtraction register.