WO2024004081A1

WO2024004081A1 - Sorting device

Info

Publication number: WO2024004081A1
Application number: PCT/JP2022/025973
Authority: WO
Inventors: 武彦塩川
Original assignee: 武彦塩川
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2024-01-04
Also published as: JPWO2024004081A1

Abstract

This sorting device includes: a placement stand; a support column; a rotating and tilting unit that is attached to the support column and rotates and tilts the placement stand; a measuring unit that measures the weight of a to-be-sorted object placed on the placement stand; and a control unit that controls the rotating and tilting unit so that the placement stand is rotated and tilted such that the to-be-sorted object placed on the placement stand drops to a position which has been predetermined in correspondence to the weight of the to-be-sorted object measured by the measuring unit.

Description

sorter

The technology of the present disclosure relates to a sorter.

Japanese Unexamined Patent Publication No. 9-10702 discloses a fruit sorting device that tilts a weighing pan to drop vegetables on a side corresponding to the weight of the vegetables on the weighing pan measured by a load cell.

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

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

In order to achieve the above object, a sorter according to a first aspect of the technology of the present disclosure includes a mounting table, a support, a rotating and tilting part attached to the support and rotating and tilting the mounting table, and the above-mentioned a measuring section for measuring the weight of the object to be sorted placed on the mounting table; and a measuring section for measuring the weight of the object to be sorted placed on the mounting table at a predetermined position corresponding to the weight of the object to be sorted measured by the measuring section. and a control unit that controls the rotation and tilting portion so that the placement table rotates and tilts so that the objects to be sorted fall.

In the sorter of the second aspect, in the first aspect, the rotating and tilting section includes a rotating section that rotates the mounting table and an inclined section that tilts the mounting table.

In the third aspect of the sorter, in the second aspect, the mounting table is arranged above the rotating and inclined part in line with the longitudinal direction of the support, and the rotating part and the inclined part are connected to the rotating part and the inclined part. They are arranged in parallel along the length of the column.

In the sorter according to a fourth aspect, in the third aspect, the support column is adjustable in length in the longitudinal direction, and the lower end of the rotating and inclined portion is connected to a container for storing the fallen object to be sorted. The length of the support is adjusted so that the support is located at a height greater than or equal to the height of the support.

In the fifth aspect of the sorter, in any of the first to fourth aspects, the lower end of the column is fixed to a magnetic fixing plate that is fixed to a flat metal plate.

In the sorter of the sixth aspect, in any of the first to fifth aspects, a shock absorbing member is disposed on the upper surface of the mounting table.

In the seventh aspect of the sorter, in the sixth aspect, holes of a predetermined size are formed in the mounting table and the shock absorbing member.

In the sorter of the eighth aspect, in the sixth aspect or the seventh aspect, a guide groove is formed in the shock absorbing member to guide rolling of the object to be sorted due to the tilting of the mounting table. There is.

In the sorter according to the ninth aspect, in any one of the first to eighth aspects, the rotating and inclined portion is free in the direction of the impact when subjected to an impact in a state where the power is not turned on. the rotating and tilting section is electrically movable; the sorter further includes a power control section for turning on and stopping the power supply to the rotating and tilting section; When controlling the rotating and tilting section, when power is applied to the rotating and tilting section and control of the rotating and tilting section is completed, the power supply control section is configured such that power supply to the rotating and tilting section is stopped. Control.

In the sorter according to the tenth aspect, in any one of the first to ninth aspects, the control unit controls the rotational speed and the tilting speed of the mounting table as the weight of the object to be sorted increases. The rotation and the inclined portion are controlled so that at least one of them is slowed down.

The sorter according to the eleventh aspect includes a mounting table, a support, a rotating and tilting part that rotates and tilts the mounting table and raises and lowers the mounting table, and measures the weight of the object to be sorted placed on the mounting table. a measuring section for lifting and lowering the mounting table; a lifting and lowering section for raising and lowering the mounting table; and a lifting and lowering section for raising and lowering the mounting table; and a control section that controls the raising and lowering section and the rotation and tilting section so that the mounting table rotates and tilts and also ascends or descends so that the objects to be sorted fall.

In the sorter of the twelfth aspect, in any of the first to eleventh aspects, the measuring section is located at a position that does not rotate or tilt.

In the sorter of the thirteenth aspect, in any of the first to twelfth aspects, the control section controls the rotation and tilting sections so that the mounting table rotates and tilts at the same time.

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

The sorter of the second aspect can understand which of the rotating part and the inclined part is malfunctioning.

The sorter of the third aspect can be prevented from expanding laterally.

In the fourth aspect of the sorter, the container can be placed near the sorter.

In the sorter of the fifth aspect, the position of the sorter can be easily adjusted.

The sorter of the sixth aspect can determine the weight of the object to be sorted at an early stage.

The sorter of the seventh aspect can remove soil, etc. when it adheres to the object to be sorted.

The sorter of the eighth aspect can prevent the falling position of the objects to be sorted from deviating from a predetermined position.

The sorter of the ninth aspect can prevent the rotating and inclined parts from breaking down due to impact.

The sorter of the tenth aspect can reduce the burden on the rotating and tilting parts.

The sorter of the eleventh aspect can sort more objects than the first aspect.

In the sorter of the twelfth aspect, since the measuring section is located at a position that does not rotate or tilt, it is possible to prevent the power supply line to the measuring section from coming off from the measuring section.

In the sorter of the thirteenth aspect, the position at which the objects to be sorted fall can be made farther than in the first aspect.

It is a perspective view of the upper part of the sorter of 1st Embodiment. FIG. 2 is a side view of the sorter according to the first embodiment. FIG. 2 is an exploded perspective view of the sorting section of the sorter according to the first embodiment. FIG. 2 is a block diagram of a control system of the sorter according to the first embodiment. FIG. 3 is a functional block diagram of a CPU of the sorter according to the first embodiment. It is a flowchart of the sorting program executed by the CPU of the sorter of the first embodiment. FIG. 7 is a sectional view of a sorter according to a second embodiment. It is a top view of the sorter of 2nd Embodiment. FIG. 7 is a side view of the upper part of the sorter of Modification 1. FIG. 7 is a diagram illustrating a mode in which a load cell and a computer communicate with each other in a sorter according to modification 2;

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

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

FIG. 2 shows a side view of the sorter 100 of this embodiment. In addition, in order to make it easier to understand the sorter 100, FIG. 2 shows

containers

20C and 20D located at the lower right (front) and lower left (front) of the four containers 20A to 20D shown in FIG. is removed to show the sorter 100.

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

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

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

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

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

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

shock absorbing members

34A, 34B that are square columns, and a pair of third

shock absorbing members

36A, 36B that are square columns arranged along the longitudinal direction.

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

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

shock absorbing members

34A and 34B are square prism cushion members having the same size and shape. The third

shock absorbing members

36A and 36B are square prism cushion members each having the same size and shape.

The height of the second shock absorbing members 34A, 34 relative to the top surface of the mounting table 40 is higher than the height of the first shock absorbing members 32A to 32D relative to the top surface of the mounting table 40. The height of the third

shock absorbing members

36A, 36B relative to the top surface of the mounting table 40 is higher than the height of the second shock absorbing members 34A, 34 relative to the top surface of the mounting table 40. That is, there is a step between the first shock absorbing members 32A to 32D and the second shock absorbing members 34A, 34, in which the second shock absorbing members 34A, 34 are higher. Further, there is a step between the second shock absorbing members 34A, 34 and the third

shock absorbing members

36A, 36B, such that the third

shock absorbing members

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

The first

shock absorbing members

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

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

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

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

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

The slope portion 4450 includes a slope 44 to which the load cell 42 is fixed, and a slope unit 50 to which the slope 44 is fixed. The inclined table 44 includes an upper surface 44C to which the load cell 42 is fixed, and a pair of

side surfaces

44A and 44B that are folded downward from the upper surface 44C and have

holes

44D and 44E formed therein. The tilting unit 50 includes a rotating shaft 52 disposed along the horizontal direction and the Y-axis direction, a gear 54 fixed to the rotating shaft 52, a gear 56 that engages with the gear 54, and an output shaft fixed to the gear 56. and a tilt motor 58. The tilt motor 58 is, for example, a servo motor.

One end of the rotating shaft 52 is inserted into a hole 44D in a side surface 44A of the tilt table 44 and a hole 60D in a side surface 60A of a rotary table 60, which will be described later, and is attached to the side surface 44A and the side surface 60A by welding, adhesive, etc. Fixed. The other end of the rotating shaft 52 is inserted into a hole 44E in a side surface 44B of the tilt table 44 and a hole 60E in a side surface 60B of a rotary table 60, which will be described later, and is attached to the side surface 44B and the side surface 60B by welding, adhesive, etc. Fixed. In this way, the tilting table 44 is fixed to the rotating shaft 52, and as described above, the load cell 42 is fixed to the tilting table 44, and the mounting part 3040 is fixed to the load cell 42. Therefore, when power is supplied and the tilting motor 58 rotates to the right or left, the

gears

56 and 54 rotate, the rotating shaft 52 rotates, and the mounting section 3040 rotates to the left or right about the rotating shaft 52. The mounting table 40 is rotated in the direction such that the left side in FIG. 2 is tilted downward or the right side is tilted downward. The tilting part 4450 is a tilting actuator that converts the supplied power into a tilting motion of the mounting table, and is a tilting mechanism that tilts the mounting table.

The rotating section 6070 includes a rotating table 60 to which the tilting unit 50 is fixed, and a rotating unit 70 to which the rotating table 60 is fixed. The rotary table 60 includes a top surface 60C to which the tilting unit 50 is fixed and a hole 60F formed therein, and a pair of

side surfaces

60A and 60B that are folded upward from the top surface 60C and have

holes

60D and 60E formed therein. . As described above, one end of the rotating shaft 52 is inserted into the hole 60D in the side surface 60A of the rotating table 60, and one end of the rotating shaft 52 is fixed to the side surface 60A of the rotating table 60. Further, the other end of the rotating shaft 52 is inserted into the hole 60E in the side surface 60B of the rotating table 60, and the other end of the rotating shaft 52 is fixed to the side surface 60B of the rotating table 60. The rotation unit 70 includes a rotation shaft 72 arranged along the vertical direction, a gear 74 fixed to the rotation shaft 72, a gear 76 that engages with the gear 74, and a rotation motor whose output shaft is fixed to the gear 76. It is equipped with 78. The rotary motor 78 is, for example, a servo motor.

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

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

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

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

A load cell 42, a tilt motor 58, a rotation motor 78, a power supply module 120, a transmitter 124, and a storage device 126 are connected to the I/O port 110.

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

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

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

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

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

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

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

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

Next, the operation of this embodiment will be explained.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

As described above, the objects to be sorted fall to a predetermined position corresponding to the weight of the objects to be sorted measured by the load cell 42 during the above-mentioned predetermined time.

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

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

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

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

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

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

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

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

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

By the way, in the technology of the present disclosure, no matter which of the second range h2 to the fifth range h5 is determined, the mounting section 3040 is rotated in a certain direction (for example, clockwise) and rotated on one side (for example, , right side) may be tilted downward. In this case, for example, once the third range h3 is determined, the placing section 3040 must be rotated 315° clockwise from the initial position, and the time required for the object to be sorted to be placed until it falls is takes a long time. However, in the present embodiment, when each of the second range h2 to the fifth range h5 is determined, the placing section 3040 is rotated clockwise, counterclockwise, clockwise, and counterclockwise from the initial position. and tilt the left side down, the right side down, the right side down, and the left side down. Therefore, in this embodiment, the time from when the object to be sorted is placed until it falls can be shortened.
(Second embodiment)
Next, a sorter 200 according to a second embodiment will be explained. FIG. 7 shows a cross-sectional view of the sorter 200, and FIG. 8 shows a top view of the sorter 200. Note that the configuration of the sorter 200 of the second embodiment has the same parts as the configuration of the sorter 100 of the first embodiment, so the same parts are denoted by the same reference numerals, and the details thereof will be explained. Omit detailed explanation. As shown in FIGS. 7 and 8, a plurality of containers, for example, four containers 20E to 20H, are arranged around the containers 20A to 20D.

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

The ascending and descending section 202 includes a plurality of (at least three) columns 204A, 202B whose upper ends are in contact with the sorting section 10 (table 80 (see FIG. 3)) and have thread grooves formed around them, and columns 204A, 202B. The

gears

206A, 206B mesh with the thread grooves of the

gears

206A, 206B, and the

motors

208A, 208B have output shafts fixed to the

gears

206A, 206B. When the

motors

208A, 208B rotate in the first direction or a second direction opposite the first direction, the

gears

206A, 206B rotate and the struts 204A, 202B rise or fall. As a result, the sorting section 10 moves up or down.

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

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

In the first embodiment, a container is provided for manually sorting objects whose weight is equal to or greater than the first range h1 and the sixth range h6.

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

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

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

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

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

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

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

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

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

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

In the second embodiment, the weight range is divided into eight ranges, and the objects to be sorted are sorted into containers 20A to 20D and containers 20E to 20H, but even more containers are prepared. However, the objects to be sorted may be sorted. In this case, instead of one raised position, a plurality of raised positions with different heights may be defined, and passages may be provided accordingly.

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

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

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

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

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

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

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

Claims

A mounting table,
The pillar and
a rotating and tilting part attached to the support that rotates and tilts the mounting base;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control section that controls the rotation and tilting section so as to
A sorter equipped with
The rotating and tilting part is
a rotating part that rotates the mounting table;
an inclined part that inclines the mounting table;
The sorter according to claim 1, comprising:
The mounting base is arranged above the rotating and inclined part in a longitudinal direction of the support column,
The rotating part and the inclined part are arranged side by side in the longitudinal direction of the support column,
The sorter according to claim 2.
The length of the support column is adjustable in the longitudinal direction,
The length of the support is adjusted such that the lower end of the rotating and inclined portion is located at a height greater than or equal to the height of the container containing the fallen object to be sorted.
The sorter according to claim 3.
The sorter according to claim 1, wherein the lower end of the support column is fixed to a magnetic fixing plate fixed to a flat metal plate.
The sorter according to claim 1, wherein a shock absorbing member is arranged on the upper surface of the table.
The sorter according to claim 6, wherein holes of a predetermined size are formed in the mounting table and the shock absorbing member.
The sorter according to claim 6 or 7, wherein the shock absorbing member has a guide groove formed therein to guide the rolling of the objects to be sorted due to the tilting of the mounting table.
The rotating and tilting part is an electrically rotating and tilting part that can freely move in the direction of the impact when it receives an impact when the power is not turned on;
The sorter further includes a power control unit for turning on and stopping the turning on of power to the rotating and tilting part,
When controlling the rotating and tilting section, the control section turns on power to the rotating and tilting section, and when the control of the rotating and tilting section is finished, turning on the power to the rotating and tilting section. controlling the power supply control unit to stop;
The sorter according to claim 1.
The control unit controls the rotation and tilting unit so that at least one of a rotational speed and a tilting speed of the mounting table becomes slower as the weight of the object to be sorted becomes heavier.
The sorter according to claim 1.
A mounting table,
The pillar and
a rotating and tilting section that rotates and tilts the mounting table and raises and lowers the mounting table;
a measuring unit that measures the weight of the object to be sorted placed on the mounting table;
a lifting and lowering section for lifting and lowering the mounting table;
The mounting table rotates and tilts so that the object to be sorted placed on the mounting table falls to a predetermined position corresponding to the weight of the object to be sorted measured by the measuring unit. a control unit that controls the raising and lowering part and the rotating and tilting part so that they rise or fall at the same time;
A sorter equipped with
The sorter according to claim 1 or claim 11, wherein the measuring section is located at a position that does not rotate or tilt.
The sorter according to claim 1 or claim 11, wherein the control unit controls the rotation and tilting units so that the mounting table rotates and tilts at the same time.