JPS6045089B2 - Sorting device control method - Google Patents

Description

[Detailed description of the invention] The present invention relates to a sorting device control method.

The sorting device controlled by the method of the present invention includes a conveyor, for example, a tray conveyor, in which a place for loading articles is fixed with respect to the direction of conveyance; The apparatus includes a plurality of automatic sorting object unloading means set at predetermined locations on the conveyance path, for example, in the case of the tray conveyor, an actuator for overturning the trays.

In such a sorting device, when a plurality of rotors are provided in the direction of the conveyor path, the conveyed items loaded from each rotor to the loading location on the conveyor are automatically and automatically sent to a predetermined sorting destination. In order to perform sorting remotely (the conveyor itself does not directly store sorting destination information, the movement of the conveyor is simulated and controlled remotely by a computer), the following control method was considered. . That is, a movement amount detection means is provided for quantifying and detecting the amount of movement of the material loading place (tray, etc.), and the computer memory stores the amount of movement of the material loading place to each sorting destination for each rotor. In addition to setting and memorizing the corresponding numerical values to be controlled, a control table with data writing positions corresponding to each conveyance object loading location on the conveyor is set. to the data writing position corresponding to the transport object loading location to be worked on;
A numerical value to be controlled is searched from the rotor to be used (rotor number) and the input sorting destination, and this is stored together with the sorting destination information, and the control table is constantly searched to match the current numerical value in the movement amount detection means. A control method has been considered in which, if there is a data writing position in which a matching control target value is stored, the automatic conveyance unloading means for the sorting destination stored in the same position is activated.

In such a control method, it is necessary to set and memorize the controlled value corresponding to the amount of movement of the cargo loading area to each sorting destination for each rotor, so even if the number of sorting destinations does not change, the number of installed rotors As the number increases, the number of control target values that must be set and memorized increases, and when searching, it is necessary to check two conditions: the rotor number and the sorting destination.

Furthermore, when loading objects to be transported, it is necessary to simultaneously write and store not only the sorting destination information, but also two pieces of information: the rotor to be used (rotor number) and the control target numerical value retrieved from the inputted sorting destination. Therefore, the entire control becomes complicated, and there is a drawback that it is not possible to easily deal with changes in the installation position of the rotor or increase or decrease in the number of rotors. There was one. Therefore, a sorting destination setting device is installed on the side of the conveyor path that conveys the conveyed objects loaded by the rotor, and the conveyed objects loaded at the conveyed object loading location pass a specific position opposite to this sorting destination setting device. 3. Detect the sorting destination manually or automatically, search for the control target value corresponding to the amount of movement of the cargo loading place from the specific position to the detected sorting destination, and generate data corresponding to the cargo loading location. It is also conceivable to store it in the write position together with the sorting destination information.

In such a control method, the only numerical value to be controlled that must be set and memorized in advance is the number of sorting destinations, regardless of the position or number of rotors, but based on the sorting destination information and this sorting destination, The point remains that two pieces of information, including the searched numerical value to be controlled, must be written and stored at the same time.

Furthermore, in the case where the detection and input of the sorting destination for conveyed items passing through the specific location is performed manually, it is necessary to place a worker at the specific location other than the loading work area. Since it is necessary to determine the sorting destination of moving items, there is a high possibility of input errors. A method of automatically detecting and inputting the sorting destination inevitably involves a significant increase in equipment costs. The present invention has been made to solve the above-mentioned problems, and preferred embodiments thereof will be described below with reference to the attached illustrative drawings.

In FIG. 1, 1 is a main conveyor having trays that can be tipped over in a continuous state, and 2A to 2D are rotors for loading articles onto the trays of the main conveyor 1.

3A to 3X are sorting chutes, each of which is provided with actuators 4A to 4X for selectively overturning trays.

5 is a tray detector, 6 is a pulse generator operated in conjunction with the main conveyor 1, 7A to 7D are sorting destination setting devices operated by a keyer, and 8 is a control computer.

Each of the rotors 2A to 2D is composed of a timing conveyor 9, an acceleration conveyor 10, and a final conveyor 11, respectively, as shown in FIG.
2 onto the timing conveyor 9 and once stopped.

The sorting destination of this conveyed object is set in the setting devices 7A to 7D by a keyer while being conveyed on the key-in conveyor 12. The timing conveyor 9 is started by a loading start command from the computer 8, and the conveyed items are fed onto the acceleration conveyor 10, and the speed is increased from 40n1/Min to 1.
20r] 1/Mjn. Since the final conveyor 11 is 120rT1/Mjn, the relative speed when transferring to the final conveyor 11 is zero, and there is no slip of the conveyed object on the rotor.
It is smoothly transferred to the tray 13 on the main conveyor 1.
As shown in FIG. 3, the acceleration conveyor 10 is a belt conveyor having a driving means composed of an induction motor 14, an acceleration induction clutch 15, a deceleration induction clutch 16, a speed reducer 17, etc. It is operated at a speed of 4Qn1/Min.

A speed curve voltage is generated in the acceleration/deceleration curve generation circuit 18 in response to an acceleration command from the computer 8, and a comparison between the voltage level from the tachometer generator 19 for conveyor speed detection and the speed curve voltage level is performed in the subtraction circuit 20, The thyristor trigger circuit 21 for driving the acceleration/deceleration induction clutches 15, 16 is configured so that the voltage level from the tacho generator 19 closely follows the speed curve.
By selectively operating the clutch 15 or 16 and controlling the excitation voltage of the clutch 15 or 16, the acceleration cycle up to 40rT1/Min and the reverse deceleration cycle are controlled. On the other hand, as shown in FIG.
Tl/Min).

When changing the speed of the main conveyor in this type of sorting device, it has conventionally been difficult to synchronize it with the rotor side conveyor, but in this embodiment, the required acceleration time length is determined by the acceleration/deceleration time setter 25 shown in FIG. (40n1/Min to 120rT1/M
The timing of starting the timing conveyor 9 by a loading start command as shown in FIG. By automatically selecting the timing adjustment means 26 whose motion is controlled in response to the speed change of the main conveyor 1, the conveyed articles can be transferred onto a predetermined tray without any support even if the speed of the main conveyor 1 is changed. That is, the speed of the main conveyor 1 is 1001T1/Mi
Even if the conveyance speed is lowered from n to 70rT1/Min or 550rT1/Min, the conveyed items are kept at the main conveyor speed of 100rT1/MI.
The conveyor is steplessly accelerated to a transfer speed of 120rT1/Min that conforms to n and fed onto the tray. However, if the main conveyor speed becomes low, the timing conveyor 9 adjusts the speed of conveyance to accommodate the speed change. 120111/M on acceleration conveyor 10
By lengthening the time required for acceleration to in, the conveyed object can be transferred onto a predetermined tray in a timely manner. If the speed of the main conveyor 1 can be changed as described above, the conveyance speed can be selected according to the amount of conveyance, thereby preventing unnecessary reduction in machine life and failure.

Next, a method of controlling the sorting device configured as described above will be explained.

In addition, all counting is done in radial numbers, and all the counts described below are in radial numbers (1...9, A, B...F,
lO). As shown in FIG. 4, the pulse signal from the pulse generator 6 is thinned out by the thinning processing means 27, and the pulse signal is thinned out by the thinning processing means 27, so that the pulse signal is thinned out at every passing time of a unit distance of one sowing of the total length of the tray (equal to 4 tray pitches). Output to the next stage. The pulses thinned out in this way are counted by the first counter 28. On the other hand, this pulse is counted by the second counter 29 and reset by the detection signal from the tray detector 5 (see the graph shown in FIG. 4).
That is, it is counted at F and is returned to 0 by the tray detection signal. Further, the detection signal from the tray detector 5 is counted by the pointer 30. This pointer 30 returns to O after counting the number of trays, and repeats counting the detection signal from 1 again. The tray control table 31 includes a data writing section corresponding to each of all trays, and has one
Two words can be written per data writing section.

The first word is written with the value of the first counter 28 at the timing of operating the tray overturning actuator, and the second word is written with the value of the first counter 28 at which the tray overturning actuator is activated. , is written.

Now, let Tsec be the time from when the timing conveyor 9 is started until the conveyed object is transferred onto the tray, and let the speed of the main conveyor 1 be 100rT1/Min, then the distance that the tray will travel during Tsec is the tray pitch (1.21T1).
Dividing by is 5.Here, if t=2sec, A half 2.8, 2.8 in trigonometric number. It becomes D.

Therefore, as shown in FIG. 4, considering the rotor 2A, the distance from the transfer point is 2. If the rotor 2A is started when the O tray comes to the rear by distance D, the conveyed object can be transferred onto the tray 13A.

On the other hand, when the tray pitch is set based on the transfer point of the rotor 2A as shown in FIG. Corresponds to the 6/16th position. If this condition is satisfied, even if the position of the tray detector 5 is moved to an arbitrary position, the counting state of the second counter 29 will not be affected. Considering that the detector 5 is moved, the tray detector 5 is located at a distance of 2.0 mm from the transfer point of the rotor 2A. Since this corresponds to the 9/16th position from the front end of the tray 13A whose front end is located at a distance D to the rear, by starting the rotor 2A when the value of the second counter 29 is 9, this The conveyed object sent out by the rotor 2A can be transferred onto the tray 13A. Each rotor 2A to 2D corresponds to 2 digits (
stomach). O-F. F) Digital switches 32A to 32D for adjusting the loading timing are provided, and the digital switch 32A corresponding to the rotor 2A is set to 0.9.

On the other hand, the loader pitch (calculated based on the number of trays) between rotors 2A to 2B, 2C, and 2D is 2.3, 3.0, respectively, as shown in FIG. A, if it is 5.8, rotor-2B
The digital switch 32B corresponding to 2. The digital switch 32C corresponding to the rotor 2C is set to 4.3, and the digital switch 32D corresponding to the rotor 2D is set to 6.1.

When the second counter 29 is C, the rotor 2B
, when 3, rotor 2C, and when 1, rotor 2C.
All you have to do is start 2D. At this time, the numerical value in the upper digit of each digital switch indicates the number of detections by the tray detector 5, ie, the number of steps of the pointer 30, while the tray at the position indicated by 13A advances by each loader pitch.

In other words, the tray indicated by 13A is 0.7 (=1.0-0.9)
The first detection operation is performed when the loader pitch has traveled by 0.7, so calculate the number of detection operations remaining while traveling the distance minus 0.7 from the loader pitch, and add the first detection operation to this value. The number of times that is added becomes the upper digit value of each digital switch. Sorting destination chute No. to the tray control table 31. Writing is performed as follows.

That is, for each rotor, a corresponding digital switch 32A
-32 Subtract the number of high-order digits of D7 from 10, respectively. θ
As for the rotor 2A, the sorting chute number set by the setting device 7A. is written at the start timing of the rotor 2A at the 5th data write position on the tray control table 31 which corresponds to the value of the pointer 30 at the +1-th point from the data write position on the tray control table 31.

Similarly, for rotor 2B, the value of pointer 30 +E
For rotor 2C, the value of the pointer 30 + the Cth data write position, and for the rotor 2D, the value of the pointer 30 + the Ath data write position are set at the sorting destination chute at the timing of the loader start. NO. Write. In this way, the arrangement of the objects to be transported on the tray and the arrangement of the information on the tray control table become equal.

The value of the first counter 28, that is, the operation timing information of the tray overturning actuator at the sorting destination is written to the tray control table 31 as follows.

That is, chute No. 3 is placed at the data writing position of the tray control table 31 corresponding to the value of the pointer 30. Check whether it is written.

If it is written, the distance value to that chute (the number of pulses emitted while the tray advances from the fixed place P where the corresponding tray is located to that chute...the thinning processing means 27 thins out the value) (number of processed pulses) and the value of the first counter 28 at that time, and this value is added to the shoot number. Write to the data write position where is written. Therefore, the distance value is constant for each shot, and only one set is required regardless of the increase or decrease of the rotor. computer 8
The built-in controller is always connected to tray control table 3.
1 is searched, and it is checked whether there is any information that matches the value of the first counter 28. If there is matching information, the sorting chute number written in the same data writing position as that information is checked. For example, a tray overturning command that activates a 3A actuator 4A is issued.

When resetting the actuator, the information on the next data write position on the tray control table 31 is checked, and if the data is destined for the same chute, the actuator is not reset. If whether or not to reset the actuator is determined according to the sorting destination of the conveyed items on the succeeding tray, if the conveyed items to the same destination are continuously flowed, the actuator will be reset to one tray. Instead of operating the actuator every time, the actuator is kept in continuous operation (fixed state) until all the trays carrying the objects have passed, thereby reducing the frequency of operation and extending the life of the machine. Next, a series of effects will be explained. Now, assume that an object is transported to the rotor 2C and stopped on the timing conveyor 9 of the rotor 2C. Then, the code NO. of the chute 3D where this transported object is sorted. The setting device 7 is set by the keyer.
It is set to C. In this state, when the value of the second counter 29 reaches the number of lower digits set by the digital switch 32C, that is, 3, the computer 8 issues a loading start command to the rotor 2C,
Timing conveyor 9 is activated. At this time, the fact that the sorting destination is the chute 3D is written at the +Cth data writing position on the tray control table 31 indicated by the pointer 30. When the conveyed object is transferred from the timing conveyor 9 to the acceleration conveyor 10, an acceleration command is sent from the computer 8 to the rotor 2C, and the acceleration conveyor 10 is accelerated to 120r]1/Min in a predetermined acceleration cycle. is 12
It is sent to the final conveyor 11 at the same speed at a speed of 0rr1/Min.

Then, the final conveyor 11 transfers it onto a predetermined tray on the main conveyor 1. At this time, the tray is placed on the rotor when the timing conveyor 9 is started.
2. Backwards from the transfer point from 2C. The tray 13C is located at a distance of D. As the tray 13C moves, the value of the pointer 30 increments, and the data writing position on the tray control table 31 that it points to sequentially increments. Then, when the timing conveyor 9 of the rotor 2C has been activated and C tray detection operations have been performed, that is, when the P tray 13C reaches a certain location, the pointer 30 writes NO in the sorting chute 3D (7). The data writing position of the tray control table 31 that has been written will be specified, and according to the check that 1 data has been written at this time, the distance value X from the fixed place P to the written sorting destination chute 3D is Value X+Y picked up from the distance value table and added to the indicated value Y of the first counter 28 at that time
However, the sorting destination chute 3D (7) NO. The data being written is written to the write location. When writing the operation timing information of the tray overturning actuator, the tray is positioned at a fixed location P no matter which rotor the tray receives the conveyed object from. For example, rotor 2
The first tray detection operation is performed when the tray that receives the conveyed item from A has advanced by 0.7 from the position shown at 13A, and the position when it has advanced 15 tray pitches from this point is a fixed position. It is P. That is, a total of 16 times (10
Tray 13A is detected when tray detection operation is performed.
has reached a certain place P, and the pointer 30 is +10
Therefore, the pointer 30 points to the data write position at the +10 position where the sorting destination information was written. Also, the tray that receives the conveyed items from the rotor 2C is 0. The first tray detection operation is performed when the tray has advanced by D, and when the tray has advanced by 11 tray pitches from this point, the saw position P is reached. That is, when the tray detection operation has been performed a total of 12 times (one can), the tray 13C has reached the fixed position P, the pointer 30 has advanced by +C (step forward), and therefore the pointer 30 has This will indicate the data writing position which was at the +C position where the sorting destination information was written. Similarly, the tray 5 that receives the conveyed items from the rotor 2B is moved 2. When the tray detection operation is performed 14 times from the bent position, the pointer 30 advances by +E and reaches a certain place P. This will indicate the data write θ write position. Furthermore, the same can be said about the rotor 2D. As is clear from the above description, all said distance values can be calculated starting from a fixed location P, are unique for each shot, and are independent of the rotor. As the tray 13C advances, the value of the first counter 28 also increments, and when the value becomes equal to the written numerical value A tray overturning command is output that activates the actuator 4D,
The tray 13C is overturned on the entrance of the chute 3D, and the conveyed object is lowered onto the chute 3D as set.

The sorting control of conveyed items from the other rotors 2A, 2B, and 2D is performed in the same manner as described above, but in order to prevent double loading into the same tray, when the timing conveyor 9 is started, the chute NO. Tray control table 3 to write
Check the data writing position on 1 and select shoot no.
．． If the information has already been written, this indicates that the object has already been transferred from the upper rotor onto the tray to which the object is to be transferred, so chute No. Writing of information and starting of the timing conveyor 9 is canceled.

With this kind of control, there is no need to fix a transfer tray for each rotor, giving each rotor a chance to start loading one tray at a time, and moreover, it is possible to perform efficient sorting work without the accident of double loading. Ru. However, the above method also allows loading operations to be concentrated on specific rotors.

Therefore, if necessary, it is also possible to balance the input of conveyed items between rotors by using a method that restricts the input of conveyed items from the same loader until it has passed several trays after the loaded items. . Again, low! By checking the number of operating trays and changing the value of the above-mentioned passing tray number setting counter, it is possible to balance the speed of the main conveyor 1 and fill all the trays without letting the trays idle. It is also possible to have it inserted. In addition, in the past, it was common practice to overturn all trays in the final chute, assuming that the hair products were not sorted into the sorting destination chute, but in this case, the noise of all the trays overturning was seen as a problem. .

If this is configured so that the final chute detects and selects only the trays that carry objects and overturns them, not only will the noise problem be solved, but the service life of the equipment will also be reduced due to unnecessary operation. Can be prevented. A loader select dial is attached to each of the setting devices 7A to 7D for inputting the sorting destination of conveyed items, and even if one setting device breaks down, it can be backed up by a setting device belonging to another rotor. (1) The loading timing from each rotor to the tray and the actuator activation timing of each sorting destination chute can be easily adjusted by simply changing the set values of the digital switches 32A to 32D.

H The method of the present invention can be carried out as described above, and
Its features include a movement amount detection means (in the embodiment, the pulse generator 6, the thinning processing means 27, and A control table is set in the memory of the computer with data writing positions corresponding to the loading locations of the conveyed objects on the conveyor. During the loading operation, the sorting destination information for the transported objects to be loaded is stored in the data writing position corresponding to the transported object loading area 1 to be loaded, and the Rogue group and the transported object automatic unloading means group are stored. When each cargo loading location passes through a specific position (position P in the embodiment) between is stored, at the same data writing position,
A control target value obtained by adding a value corresponding to the amount of movement of the cargo loading place from the specific position to the specified sorting destination and the current value of the movement amount detection means is monitored, and the control table is constantly searched. If there is a data writing position storing a control target value that matches the current value in the movement amount detecting means, the moving means for moving and lowering the sorted object stored at the same position is activated. .

According to the control method of the present invention, as described in the embodiment, the stored information (in the embodiment, the number of pulses) corresponding to the distance to each sorting destination is stored regardless of the position or number of rotors. One type is sufficient for each sorting destination.

Furthermore, when searching for stored information, only one condition regarding the sorting destination needs to be verified. Furthermore, when loading objects to be transported, it is only necessary to write and store one piece of information regarding the sorting destination in a predetermined data writing position, so overall control is simple, especially when changing the rotor installation position or increasing or decreasing the number of rotors. , can be done extremely easily. In addition, since no manual input operation is required at the specific position, even if the sorting destination information is input manually, the inputting operation of the sorting destination information can be performed by a worker who is normally located at the loading work place. Compared to cases where a worker must be placed at the specific position, or where a means is required to automatically detect sorting destination information from moving objects, Extremely economical. Furthermore,
Even if the sorting destination information is entered at the loading work area while there is sufficient time while the conveyed object is still stopped, the sorting destination information must be written into the specified data at the timing when the rotor operates. Since it is only necessary to perform a writing operation on the position, it is easy to input the sorting destination information easily and accurately.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an explanatory diagram of the overall configuration, FIG. 2 is an explanatory diagram showing the relationship between the rotor and the conveyor, and FIG. 3 is a diagram illustrating the rotor acceleration conveyor control system. , FIG. 4 is an explanatory diagram of the control system of the rotor and tray overturning actuator. 1... Main conveyor, 2A to 2D... Rotor, 3A
~3X... Sorting chute, 4A~4X... Actuator for tray overturning, 5... Tray detector, 6...
...Pulse generator, 7A to 7D...Setting device, 8...
Computer, 9... Timing conveyor, 10...
・Acceleration conveyor, 11...Final conveyor, 12
...Key-in conveyor, 13...Tray, 28...
・First counter, 29...Second counter, 30・
...Pointer, 31...Tray control table, 32
A~32D...Digital switch.

Claims (1)

[Claims] 1. A conveyor equipped with loading areas for transported objects at equal intervals, a plurality of loaders for loading transported objects onto the loading areas, and sorters each installed at a plurality of predetermined locations on the conveyance path of the conveyor. The sorting device is equipped with a means for automatically unloading conveyed articles, and is provided with a movement amount detection means for quantifying and detecting the amount of movement of the conveyed article loading place, and has a computer memory corresponding to each conveyed article loading place. A control table with data writing positions is set, and when each loader loads the goods, sorting destination information about the goods to be loaded is written to the data writing position corresponding to the goods loading location to be loaded. when each article loading location passes through a specific position between the loader group and the conveyed article automatic unloading means group, checking the data writing position corresponding to the passing article loading location; When sorting destination information is stored in the data writing position, a numerical value corresponding to the amount of movement of the cargo loading place from the specific position to the specified sorting destination and the current value of the movement amount detection means are stored in the same data writing position. If there is a data writing position where a controlled object numerical value that matches the current numerical value in the movement amount detecting means is stored by constantly searching the control table, it is stored at the same position. 1. A method for controlling a sorting device, comprising activating an automatic means for unloading conveyed objects at a sorting destination.