JP2013003101A

JP2013003101A - Combination measurement apparatus

Info

Publication number: JP2013003101A
Application number: JP2011137515A
Authority: JP
Inventors: Kenichi Kuramae; 健一藏前
Original assignee: Hokuto Corp
Current assignee: Hokuto Corp
Priority date: 2011-06-21
Filing date: 2011-06-21
Publication date: 2013-01-07
Anticipated expiration: 2031-06-21
Also published as: JP5686324B2

Abstract

PROBLEM TO BE SOLVED: To provide a combination measurement apparatus in which a combination of objects to be measured optimal for shipping can be selected appropriately from among a plurality of objects to be measured and work for carrying out or replenishing objects to be measured can be performed automatically.SOLUTION: In measurement means, a plurality of measurement section lines (a), (b) are disposed in parallel with each other, each measurement section line being configured by linearly arranging a plurality of measurement sections 5, 5, ..., side by side. Carry-out means 8 comprises a plurality of carry-out holding hand units 13a, 13b, 13c supported movably on a carry-out rail 11 directed toward the measurement section lines. Each of the carry-out holding hand units 13a, 13b, 13c includes a plurality of hands 32a, 32b for holding objects to be measured at intervals in a direction between the measurement section lines. On the basis of a select signal, control means allows an operation mechanism 14 to move the carry-out holding hand units 13a, 13b, 13c onto the selected measurement section, respectively, and only the hand at a side of the selected object to be measured is operated.

Description

本発明は、重量等の管理値が個々で異なるきのこ等の物品を規定個数で組み合わせて出荷するに際し、多数の被計測物の中から規定値の許容範囲に合致する物品の組み合わせを適宜選択するための組み合わせ計測装置であって、特に被計測物の搬出等の一連の作業を自動で行うことができる組み合わせ計測装置に関する。 In the present invention, when combining a specified number of items such as mushrooms having different management values such as weight, a combination of items that meet the allowable range of the specified value is appropriately selected from a large number of objects to be measured. In particular, the present invention relates to a combination measuring apparatus that can automatically perform a series of operations such as carrying out an object to be measured.

従来、野菜やきのこ等の出荷に際しては、歩留りを考慮して組み合わせ秤等の組み合わせ計測装置を使用し、多数の被計測物の中から規定個数で規定重量の許容範囲に合致する被計測物の組み合わせを選択し、その選択された複数の被計測物を発泡トレイ等の出荷用部材にパック詰めして出荷することが行われている。 Conventionally, when shipping vegetables, mushrooms, etc., a combination measuring device such as a combination weigher is used in consideration of the yield. A combination is selected, and the selected plurality of objects to be measured are packed in a shipping member such as a foam tray and shipped.

このような組み合わせ計測装置には、被計測物を載置する複数の計測部毎に計測が可能な計測手段を備え、この計測手段から得られる計測データに基づき多数の被計測物の中から規定個数で規定重量の許容範囲に合致する最適な被計測物の組み合わせを選択し、その選択された被計測物をランプ等で表示して作業者に知らせるようにしたものが知られている（例えば、特許文献１）。 Such a combination measuring device includes a measuring unit capable of measuring each of a plurality of measuring units on which the measurement object is placed, and is defined from a large number of measurement objects based on measurement data obtained from the measurement unit. There is known a method in which the optimum combination of objects to be measured that matches the allowable range of the specified weight in number is displayed, and the selected objects to be measured are displayed with a lamp or the like to notify the operator (for example, Patent Document 1).

そして、この組み合わせ計測装置を使用した作業では、ランプで表示された位置の被計測物を作業者が計測部から手動で取出し、それを発泡トレイ等の出荷用部材上に並べ、その一方で作業者が取出されて空になった計測部に新しい被計測物を手動で補充していた。 In the operation using this combination measuring device, the operator manually takes out the object to be measured at the position indicated by the lamp, arranges it on the shipping member such as the foam tray, and on the other hand, A new object to be measured was manually refilled in the measuring section that was empty after the person was taken out.

特開２００８−１７０３６１号公報JP 2008-170361 A

しかしながら、上述の如き従来の技術では、出荷に最適な組み合わせを適宜選択することができる一方、不規則に選択される被計測物の計測部からの取出し及び補充等の作業は、機械により行うことが困難であり作業者が手動で行っているため、作業標準時間（タクトタイム）を作業速度の遅い作業者に合わせて設定しなければならず、組み合わせ計測装置の性能を十分に生かしきれず効率が悪いという問題があった。 However, in the conventional technology as described above, an optimal combination for shipment can be selected as appropriate, while operations such as taking out and replenishing irregularly selected objects to be measured from the measuring unit must be performed by a machine. Because it is difficult and the operator performs it manually, the work standard time (tact time) must be set according to the worker with slow work speed, and the performance of the combination measuring device cannot be fully utilized. There was a problem of being bad.

また、選択される被計測物の位置は不規則であるため、その位置から被計測物を取り出したり補充したりする作業においては、作業者の負担が大きく、集中力を長時間維持させることが困難であり、作業者一人当たりの作業継続時間が非常に短く、その為大勢で分担せざるを得ず、人件費が嵩み効率が悪いという問題があった。 In addition, since the position of the measured object to be selected is irregular, in the work of taking out or replenishing the measured object from the position, the burden on the operator is heavy, and it is possible to maintain the concentration for a long time. This is difficult, and the duration of work per worker is very short. Therefore, there is a problem in that it has to be shared in large numbers, and labor costs increase and efficiency is low.

そこで、本発明は、このような従来の問題に鑑み、複数の被計測物中から出荷に最適な被計測物の組み合わせを適宜選択できるとともに、計測部からの被計測物の搬出作業を自動的に行うことができ、作業時間の短縮及び費用の低減を図ることができる組み合わせ計測装置の提供を目的としてなされたものである。 Therefore, in view of such a conventional problem, the present invention can appropriately select a combination of objects to be measured optimally for shipping from a plurality of objects to be measured, and automatically carry out the operation of unloading the objects from the measuring unit. The purpose of the present invention is to provide a combination measuring apparatus that can reduce the work time and cost.

上述の如き従来の問題を解決し、所期の目的を達成するための請求項1に記載の発明の特徴は、被計測物が載置される複数の計測部毎に前記被計測物の計測が可能な計測手段と、該計測手段により計測された前記各被計測物の計測データに基づき多数の前記被計測物の中から規定個数で規定値の許容範囲に合致する被計測物の組み合わせを選択し、且つ選択された被計測物を計測した計測部の位置を示す選択信号を出力する選択手段と、該選択手段により選択された前記被計測物を前記計測部より搬出する搬出手段と、該搬出手段により前記被計測物が取り出されて空となった前記計測部に新たな被計測物を補充する補充手段と、前記搬出手段を制御する制御手段とを備えた組み合わせ計測装置であって、前記計測手段は、複数の前記計測部を直線状に並べてなる複数の計測部列を互いに平行配置に備え、前記搬出手段は、計測部列方向に向けた搬出用レールと、該搬出用レールに移動可能に支持された複数の搬出用保持ハンドユニットと、前記各搬出用保持ハンドユニットをそれぞれ独立して移動させる動作機構とを備え、前記搬出用保持ハンドユニットは、計測部列間方向に間隔を置いて前記被計測物を保持する複数のハンドを備え、前記制御手段は、前記選択信号に基づき前記動作機構に前記各搬出用保持ハンドユニットをそれぞれ前記選択された計測部上に移動させ、且つ前記搬出用保持ハンドユニットに前記選択された被計測物側の前記ハンドのみを動作させるようにしたことにある。 The feature of the invention according to claim 1 for solving the conventional problems as described above and achieving an intended object is to measure the measurement object for each of a plurality of measurement units on which the measurement object is placed. A combination of measurement means capable of measuring and a measurement object that matches a tolerance of a specified value in a specified number among a large number of the measurement objects based on measurement data of each measurement object measured by the measurement means A selection means for selecting and outputting a selection signal indicating the position of the measurement unit that has measured the selected measurement object; and an unloading means for carrying out the measurement object selected by the selection means from the measurement unit; A combination measuring apparatus comprising: a replenishing means for replenishing the measurement part that has been emptied by the unloading means, and a control means for controlling the unloading means. The measurement means includes a plurality of the measurement units. A plurality of measurement unit rows arranged in a straight line are provided in parallel to each other, and the carry-out means includes a carry-out rail directed in the direction of the measurement unit row, and a plurality of carry-out supports supported movably by the carry-out rail. A hand unit and an operation mechanism for independently moving each of the unloading holding hand units, and the unloading holding hand unit holds a plurality of objects to be measured at intervals in the direction between the measuring unit rows. The control means moves each of the unloading holding hand units to the selected measuring unit based on the selection signal, and the control means is selected by the unloading holding hand unit. Further, only the hand on the measured object side is operated.

請求項２に記載の発明の特徴は、請求項１の構成に加え、前記動作機構は、計測部列方向に向けた軌道部材に沿って移動可能なスライダを有する複数の搬出用スライドユニットと、前記搬出用保持ハンドユニットを支持させた支持部材と、前記スライダと前記支持部材とを連結する連結部材とを備え、前記各軌道部材を互いに隣接して配置し、外側に配置された搬出用スライドユニットに支持された前記連結部材は、内側の搬出用スライドユニットを跨ぐ形状に形成されたことにある。 According to a second aspect of the present invention, in addition to the configuration of the first aspect, the operating mechanism includes a plurality of unloading slide units having sliders that are movable along a track member directed in the direction of the measuring unit row, A carrying slide comprising a supporting member that supports the carrying hand unit for carrying out, and a connecting member that couples the slider and the supporting member, wherein the track members are arranged adjacent to each other and arranged on the outside. The connecting member supported by the unit is formed in a shape straddling the inner carrying-out slide unit.

本発明に係る組み合わせ計測装置は、上述したように、被計測物が載置される複数の計測部毎に前記被計測物の計測が可能な計測手段と、該計測手段により計測された前記各被計測物の計測データに基づき多数の前記被計測物の中から規定個数で規定値の許容範囲に合致する被計測物の組み合わせを選択し、且つ選択された被計測物を計測した計測部の位置を示す選択信号を出力する選択手段と、該選択手段により選択された前記被計測物を前記計測部より搬出する搬出手段と、該搬出手段により前記被計測物が取り出されて空となった前記計測部に新たな被計測物を補充する補充手段と、前記搬出手段を制御する制御手段とを備えた組み合わせ計測装置であって、前記計測手段は、複数の前記計測部を直線状に並べてなる複数の計測部列を互いに平行配置に備え、前記搬出手段は、計測部列方向に向けた搬出用レールと、該搬出用レールに移動可能に支持された複数の搬出用保持ハンドユニットと、前記各搬出用保持ハンドユニットをそれぞれ独立して移動させる動作機構とを備え、前記搬出用保持ハンドユニットは、計測部列間方向に間隔を置いて前記被計測物を保持する複数のハンドを備え、前記制御手段は、前記選択信号に基づき前記動作機構に前記各搬出用保持ハンドユニットをそれぞれ前記選択された計測部上に移動させ、且つ前記搬出用保持ハンドユニットに前記選択された被計測物側の前記ハンドのみを動作させるようにしたことにより、不規則に選択される被計測物を自動で的確に搬出することができ、作業効率が向上しコストの低減を図ることができる。 As described above, the combination measuring apparatus according to the present invention is capable of measuring the measurement object for each of a plurality of measurement units on which the measurement object is placed, and each of the measurement units measured by the measurement unit. Based on the measurement data of the measurement object, a combination of the measurement objects that match the allowable range of the specified value with a specified number is selected from a large number of the measurement objects, and the measurement unit that measures the selected measurement object Selection means for outputting a selection signal indicating a position, unloading means for unloading the measurement object selected by the selection means from the measurement unit, and the measurement object is taken out by the unloading means and emptied A combination measuring device including a replenishing unit for replenishing a new object to be measured to the measuring unit and a control unit for controlling the carrying-out unit, wherein the measuring unit arranges a plurality of the measuring units in a straight line. Multiple measurement unit sequences In preparation for parallel arrangement, the unloading means includes unloading rails directed in the direction of the measuring unit row, a plurality of unloading holding hand units supported movably on the unloading rails, and the unloading holding hands. An operation mechanism that moves the units independently, and the holding hand unit for carrying out includes a plurality of hands that hold the object to be measured at intervals in the direction between the measuring unit rows, and the control means includes: Based on the selection signal, the operating mechanism moves the unloading holding hand units onto the selected measuring unit, and the unloading holding hand unit has only the hand on the selected object side to be measured. By making it operate | move, the to-be-measured object selected irregularly can be carried out automatically automatically correctly, work efficiency can improve and cost reduction can be aimed at.

また、本発明において、前記動作機構は、計測部列方向に向けた軌道部材に沿って移動可能なスライダを有する複数の搬出用スライドユニットと、前記搬出用保持ハンドユニットを支持させた支持部材と、前記スライダと前記支持部材とを連結する連結部材とを備え、前記各軌道部材を互いに隣接して配置し、外側に配置された搬出用スライドユニットに支持された前記連結部材は、内側の搬出用スライドユニットを跨ぐ形状に形成されたことにより、簡易な構造で搬出用保持ハンドユニットをそれぞれ独立して動作させることができる。 In the present invention, the operating mechanism includes a plurality of unloading slide units having sliders that are movable along track members in the measuring unit row direction, and a support member that supports the unloading holding hand unit. A connecting member that connects the slider and the support member, the track members are arranged adjacent to each other, and the connecting member supported by an unloading slide unit arranged on the outside is provided on the inside By being formed in a shape straddling the slide unit, the carrying-out holding hand unit can be operated independently with a simple structure.

本発明に係る組み合わせ計測装置の一例の概略を示す正面図である。It is a front view which shows the outline of an example of the combination measuring device which concerns on this invention. 同上の平面図である。It is a top view same as the above. 同上の装置の下半部を示す平面図である。It is a top view which shows the lower half part of an apparatus same as the above. 図１中の組み合わせ秤の一例を示す平面図である。It is a top view which shows an example of the combination scale in FIG. 図１中の搬出手段の一例を示す平面図である。It is a top view which shows an example of the carrying-out means in FIG. 同５中の搬出用保持ハンドユニット部の一例を示す平面図である。It is a top view which shows an example of the holding hand unit part for carrying out in the same 5. 同上の部分破断側面図である。It is a partially broken side view same as the above. 同上の正面図である。It is a front view same as the above. （ａ）〜（ｈ）は組み合わせ秤による被計測物の選択パターンの例を示す平面図である。(A)-(h) is a top view which shows the example of the selection pattern of the to-be-measured object by a combination scale.

次に、本発明に係る組み合わせ計測装置の実施の態様を図１〜図９に示した実施例に基づいて説明する。尚、図中符号１は組み合わせ計測装置、符号Ａはエリンギ等の被計測物である。 Next, an embodiment of the combination measuring apparatus according to the present invention will be described based on the examples shown in FIGS. In the figure, reference numeral 1 denotes a combination measuring device, and reference numeral A denotes an object to be measured such as eringi.

この組み合わせ計測装置１は、組み合わせ秤２を設置した計測室３を備え、この計測室３内で組み合わせ秤２を使用して多数の被計測物Ａ，Ａ...の中から規定個数で規定重量の許容範囲に合致する最適な被計測物の組み合わせを適宜選択し、その選択された被計測物Ａ，Ａ...を詰め替え室４に搬出し、詰め替え室４で出荷部材Ｂに詰め替えるようになっている。 This combination measuring device 1 includes a measurement chamber 3 in which a combination scale 2 is installed, and a predetermined number of objects to be measured A, A ... are specified using the combination scale 2 in the measurement chamber 3. The optimal combination of objects to be measured that matches the allowable range of weight is selected as appropriate, and the selected objects A, A... Are transported to the refill chamber 4 and refilled into the shipping member B in the refill chamber 4. It has become.

組み合わせ秤２は、図４に示すように、被計測物Ａ，Ａ...が載置される複数の計測部５，５...毎に計測が可能な計測手段と、計測手段により計測された計測データに基づき多数の被計測物の中から規定個数で規定重量の許容範囲に合致する被計測物Ａ，Ａ...の組み合わせを適宜選択する選択手段とを一体的に備え、この選択手段は、選択された被計測物Ａ，Ａ...が載置された計測部５の位置をランプ６の点灯で明示するとともに、選択された計測部５の位置を示す選択信号及び選択された被計測物の計測データを図示しないコントロールユニットからなる制御手段に出力するようになっている。尚、この組み合わせ秤２には、市販されている組み合わせ秤を使用することができる。 As shown in FIG. 4, the combination weigher 2 is measured by a measuring unit capable of measuring each of the plurality of measuring units 5, 5. And a selection means for appropriately selecting a combination of the objects to be measured A, A ... that match the allowable range of the specified weight in a specified number from a number of objects to be measured based on the measured data. The selection means clearly indicates the position of the measurement unit 5 on which the selected objects A, A... Are placed by turning on the lamp 6, and a selection signal indicating the position of the selected measurement unit 5 and the selection. The measured data of the measured object is output to a control means comprising a control unit (not shown). For the combination weigher 2, a commercially available combination weigher can be used.

この計測手段では、複数の計測部５，５...が作業ライン方向で直線状に並べられて計測部列ａ，ｂを形成するとともに、この計測部列ａ，ｂが互いに平行な多列配置（本実施例では２列）となっている。 In this measuring means, a plurality of measuring sections 5, 5... Are arranged in a straight line in the work line direction to form measuring section arrays a and b, and the measuring section arrays a and b are parallel to each other. It is arranged (in this embodiment, two rows).

また、各計測部５，５...上には、被計測物Ａを載置するための上面が開口した有底箱状の計測用トレイ７が設置されている。 Further, a measurement box 7 having a bottomed box shape with an upper surface opened for placing the object A to be measured is installed on each of the measuring units 5, 5.

また、この組み合わせ計測装置１は、搬出手段８、補充手段９及び詰め替え手段１０を備え、これら各手段８，９，１０を上記選択信号に基づき制御手段により制御し、選択された被計測物Ａ，Ａ...の計測部５からの搬出、搬出されて空となった計測部５（計測用トレイ７）への新たな被計測物Ａ，Ａ...の補充及び搬出された被計測物Ａ，Ａ...の出荷部材Ｂへの詰め替えからなる一連の作業を自動で行うことができるようになっている。 The combination measuring apparatus 1 includes an unloading means 8, a replenishing means 9, and a refilling means 10, and these means 8, 9, and 10 are controlled by the control means based on the selection signal, and the selected object A to be measured is selected. , A... From the measuring unit 5, replenishment of the new measuring object A, A... A series of operations including refilling of the articles A, A... Into the shipping member B can be automatically performed.

搬出手段８は、図５に示すように、計測部列方向に向けた搬出用レール１１と、搬出用レール１１に沿って移動可能な複数の支持部材１２，１２...と、各支持部材１２，１２...に支持された搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃと、各支持部材１２をそれぞれ独立して移動させる動作機構１４とを備え、各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃが各々独立して組み合わせ秤２と詰め替え室４内に設置された仮置き台１５との間を移動できるようになっている。 As shown in FIG. 5, the carry-out means 8 includes a carry-out rail 11 directed in the direction of the measurement unit row, a plurality of support members 12, 12... Movable along the carry-out rail 11, and each support member. Are provided with carrying-out holding hand units 13a, 13b, 13c supported by 12, 12,..., And operation mechanisms 14 for independently moving the respective supporting members 12, and each carrying-out holding hand units 13a, 13b, 13c can move independently between the combination weigher 2 and the temporary storage table 15 installed in the refill chamber 4.

搬出用レール１１は、組み合わせ秤２の上側に計測室３及び詰め替え室４の天井部に支持された計測部列方向に向けた梁材１６の側面部に沿って設置され、この搬出用レール１１に移動自在に支持されたスライド部材１７に支持部材１２の背面部が固定されている。 The unloading rail 11 is installed on the upper side of the combination weigher 2 along the side surface of the beam member 16 facing the measuring unit row direction supported by the ceiling of the measuring chamber 3 and the refilling chamber 4. The back surface portion of the support member 12 is fixed to a slide member 17 that is movably supported by the slide member 17.

支持部材１２は、上下に長い矩形板状の基部１２ａと、基部１２ａの両側縁より表側に立ち上げた形状の側板１２ｂ，１２ｂとを備え、この基部１２ａの下部表面側に上下方向に向けた上下動用レール１８が固定部材１２ｃを介して固定されている。 The support member 12 includes a rectangular plate-like base portion 12a that is long in the vertical direction, and side plates 12b and 12b that are raised from the both side edges of the base portion 12a to the front side, and are directed vertically to the lower surface side of the base portion 12a. The vertical movement rail 18 is fixed via a fixing member 12c.

この上下動用レール１８には、レールに沿って移動可能なスライド部材１９を介して搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを構成するアーム部２０の一端が上下移動可能に支持されている。 One end of an arm portion 20 constituting the carry-out holding hand units 13a, 13b, and 13c is supported by the vertical movement rail 18 via a slide member 19 that can move along the rail.

また、そのアーム部２０の端部上面部には、基部１２ａに固定板１２ｄを介して固定された上下動用シリンダ２１のシャフト部２１ａの先端部が連結されており、この上下動用シリンダ２１を動作させることにより保持ハンドユニット１３が支持部材１２に対して上下動用レール１８に支持されて上下移動するようになっている。尚、図中符号２２はアーム部２０と上下動用シリンダ２１のシャフト部２１ａとの間に介在させたフローティングジョイントである。 Further, the upper end portion of the end portion of the arm portion 20 is connected to the distal end portion of the shaft portion 21a of the vertical movement cylinder 21 fixed to the base portion 12a via the fixing plate 12d. By doing so, the holding hand unit 13 is supported by the vertical movement rail 18 with respect to the support member 12 and moves up and down. In the figure, reference numeral 22 denotes a floating joint interposed between the arm portion 20 and the shaft portion 21a of the vertical movement cylinder 21.

一方、各支持部材１２の上端部には、連結部材２３ａ，２３ｂ，２３ｃの一端側が固定され、この連結部材２３ａ，２３ｂ，２３ｃを介して動作機構１４による動力が伝達されるようになっている。 On the other hand, one end side of the connecting members 23a, 23b, and 23c is fixed to the upper end portion of each support member 12, and the power by the operation mechanism 14 is transmitted through the connecting members 23a, 23b, and 23c. .

動作機構１４は、計測部列方向に向けた軌道部材２４に沿って移動するスライダ２５を有する搬出用スライドユニット２６ａ，２６ｂ，２６ｃをもって構成され、各搬出用スライドユニット２６ａ，２６ｂ，２６ｃのスライダ２５と各支持部材１２とがそれぞれ連結部材２３ａ，２３ｂ，２３ｃにより連結され、スライダ２５の移動に連動して各支持部材１２が移動するようになっている。 The operating mechanism 14 includes unloading slide units 26a, 26b, and 26c each having a slider 25 that moves along the track member 24 in the direction of the measurement unit row, and the sliders 25 of the unloading slide units 26a, 26b, and 26c. And the support members 12 are connected by connecting members 23 a, 23 b, and 23 c, respectively, and the support members 12 move in conjunction with the movement of the slider 25.

各搬出用スライドユニット２６ａ，２６ｂ，２６ｃは、軌道部材２４内にその長さ方向に向けた図示しないボールねじを備え、このボールねじをサーボモータ２７により回転させることにより、ボールねじを構成するナット部と一体化させたスライダ２５が軌道部材２４に沿った方向の任意の位置に移動させるようになっている。 Each carry-out slide unit 26 a, 26 b, 26 c includes a ball screw (not shown) oriented in the length direction in the track member 24, and the ball screw is rotated by a servo motor 27, thereby forming a nut constituting the ball screw. The slider 25 integrated with the portion is moved to an arbitrary position in the direction along the track member 24.

各搬出用スライドユニット２６ａ，２６ｂ，２６ｃは、下面部が梁部材２８，２８を介して計測室３及び詰め替え室４の天井部に支持され、互いに平行な隣接配置に設置されている。また、各搬出用スライドユニット２６ａ，２６ｂ，２６ｃは、その長さ方向、即ち計測部列方向で少しずつ位置をずらして設置され、搬出用レール１１に沿って並べられた各支持部材１２で同じスライド量を確保している。 The bottom surfaces of the carry-out slide units 26a, 26b, and 26c are supported by the ceiling portions of the measurement chamber 3 and the refill chamber 4 through the beam members 28 and 28, and are installed in an adjacent arrangement parallel to each other. Further, each of the carry-out slide units 26a, 26b, 26c is installed with its position slightly shifted in the length direction thereof, that is, in the measurement unit row direction, and is the same for each support member 12 arranged along the carry-out rail 11. The slide amount is secured.

連結部材２３ａ，２３ｂ，２３ｃは、支持部材１２の上端部に固定される支持部材側連結部２９と、スライドユニットのスライダ上面部に固定されるスライダ側連結部３０とをもって構成され、両連結部２９，３０は、スライド方向に向けたフローティングジョイント３１を介して揺動可能に連結されている。 The connecting members 23a, 23b, and 23c include a support member side connecting portion 29 that is fixed to the upper end portion of the supporting member 12, and a slider side connecting portion 30 that is fixed to the slider upper surface portion of the slide unit. 29 and 30 are connected through a floating joint 31 in the sliding direction so as to be swingable.

また、連結部材２３ｂ、２３ｃは、内側のスライドユニットを跨ぐように形成され、互いに干渉せずに各搬出用スライドユニット２６ｂ，２６ｃの動作を各支持部材１２に伝達できるようにしている。 Further, the connecting members 23b and 23c are formed so as to straddle the inner slide unit so that the operations of the carry-out slide units 26b and 26c can be transmitted to the support members 12 without interfering with each other.

保持ハンドユニット１３ａ，１３ｂ，１３ｃは、計測部列間方向に向けた片持ち梁状のアーム部２０と、アーム部２０の下面部に計測部列間方向に間隔を置いて固定された複数のハンド３２ａ，３２ｂとを備え、各ハンド３２ａ，３２ｂに計測用トレイ７上の被計測物Ａを把持させるようになっている。 The holding hand units 13 a, 13 b, and 13 c include a plurality of cantilevered arm portions 20 facing in the direction between the measurement unit rows, and a plurality of fixing units that are fixed to the lower surface portion of the arm unit 20 at intervals in the measurement unit row direction. Hands 32a and 32b are provided, and each hand 32a and 32b is configured to grip the object A to be measured on the measurement tray 7.

ハンド３２ａ，３２ｂには、例えば、圧縮空気により爪部３３，３３が計測部列方向で開閉するエアチャックを使用し、爪部３３，３３の開閉により爪部３３に固定された把持部３４，３４が被計測物Ａを把持し、或いは開放するようになっている。 For the hands 32a and 32b, for example, an air chuck is used in which the claw portions 33 and 33 are opened and closed by compressed air in the direction of the measurement unit row. 34 grips or opens the object A to be measured.

尚、ハンド３２ａ，３２ｂ、上下動用シリンダ２１及び搬出用スライドユニットト２６ａ，２６ｂ，２６ｃは、それぞれ制御手段により制御され、制御手段からの命令信号に基づき動作するようになっており、制御手段は、選択手段より出力された選択された計測部５を示す選択信号に基づき動作機構１４に各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを選択された計測部５上に移動させ、且つ保持ハンド３２ａ，３２ｂに選択された被計測物のみを保持させるようになっている。 The hands 32a, 32b, the vertical movement cylinder 21 and the carry-out slide units 26a, 26b, 26c are controlled by the control means, respectively, and operate based on a command signal from the control means. Based on the selection signal indicating the selected measuring unit 5 output from the selecting means, the operating mechanism 14 moves the holding hand units 13a, 13b, 13c for unloading onto the selected measuring unit 5 and holds the holding hand 32a. , 32b holds only the object to be measured.

補充手段９は、計測手段のライン上流側に配置された複数の並べ替え用トレイ４０ａ，４０ｂ，４０ｃと、並べ替え用トレイ４０ａ，４０ｂ，４０ｃを移動させ並べ替える並べ替え機構４１と、並べ替え用トレイ上の被計測物を計測手段に移送する移送機構４２とを備え、新たな被計測物を載置させた各並べ替え用トレイ４０ａ，４０ｂ，４０ｃを並べ替え機構４１により並べ替えた上で、各並べ替え用トレイ４０ａ，４０ｂ，４０ｃに載置された被計測物を移送機構４２により計測手段に移送し、空となった計測部５に新たな被計測物を充填するようになっている。 The replenishing means 9 includes a plurality of sorting trays 40a, 40b, and 40c arranged on the upstream side of the measuring means, a sorting mechanism 41 that moves and sorts the sorting trays 40a, 40b, and 40c, and sorting. And a rearrangement mechanism 41 for rearranging the rearrangement trays 40a, 40b, and 40c on which the new measurement object is placed. Thus, the measurement objects placed on the sorting trays 40a, 40b, and 40c are transferred to the measurement means by the transfer mechanism 42, and the measurement object 5 that has become empty is filled with a new measurement object. ing.

次に、このように構成された組み合わせ計測装置１による組み合わせ計測について説明する。尚、図９は組み合わせ秤２による選択パターンの例を示し、選択された位置に被計測物Ａを明示している。 Next, the combination measurement by the combination measurement apparatus 1 configured as described above will be described. FIG. 9 shows an example of a selection pattern by the combination weigher 2, and the measurement object A is clearly shown at the selected position.

初めに、図４に示すように、計測手段の計測部５に被計測物（例えば、エリンギ）Ａ，Ａ...を置き、全ての計測部５，５...に被計測物Ａ，Ａ...を充填する。尚、この最初の充填作業は、作業者が手動で行ってもよく、補充手段９に別プログラムにより充填させるようにしてもよい。 First, as shown in FIG. 4, the objects to be measured (for example, eringi) A, A... Are placed in the measuring unit 5 of the measuring means, and the objects to be measured A, all of the measuring units 5, 5. Fill with A ... This initial filling operation may be performed manually by the operator, or the replenishing means 9 may be filled by another program.

そして、計測手段に充填された全計測部５，５...の中から出荷用に規定された個数（本実施例では３個とする。）で重量の許容範囲に合致する組み合わせを選択手段により選択する。このとき、選択手段は、演算により選択した被計測物を計測した計測部５の位置をランプ６の点灯で明示するとともに、その計測部５の位置を示す選択信号を制御手段としてコントロールユニットに出力する。 Then, a selection unit that selects the combination that matches the allowable range of weight among all the measurement units 5, 5... Filled in the measurement unit and that is specified for shipment (three in this embodiment). Select by. At this time, the selection means clearly indicates the position of the measurement unit 5 that measured the object to be measured selected by calculation by turning on the lamp 6, and outputs a selection signal indicating the position of the measurement unit 5 to the control unit as a control means. To do.

そして選択信号を受信した制御手段は、その選択信号に基づき搬出手段８の各搬出用スライドユニット２６ａ，２６ｂ，２６ｃを動作させ、各保持ハンドユニット１３ａ，１３ｂ，１３ｃを選択された計測部５，５...上に移動させる。 Then, the control means that has received the selection signal operates each of the carry-out slide units 26a, 26b, and 26c of the carry-out means 8 based on the selection signal, and each of the holding hand units 13a, 13b, and 13c has been selected. 5 ... Move up.

このとき、各搬出用スライドユニット２６ａ，２６ｂ，２６ｃは、それぞれ各保持ハンドユニット１３ａ，１３ｂ，１３ｃをそれぞれ独立して移動させることができるので、選択された３つの被計測物が計測部列方向のどの位置であっても各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃで対応することができるようになっている。 At this time, each carrying-out slide unit 26a, 26b, and 26c can move each holding hand unit 13a, 13b, and 13c independently of each other. Any one of the positions can be handled by each of the carrying-out holding hand units 13a, 13b, and 13c.

例えば、図９（ａ）又は（ｂ）に示すように計測部列ａ、bいずれか一方で互いに間隔を置いて３つの被計測物が選択された場合では、上流側の搬出用保持ハンドユニット１３ａを三つの選択された計測部のうち最も上流側の計測部上に、下流側の搬出用保持ハンドユニット１３ｃを三つの選択された計測部のうち最も下流側の計測部上に、中間の搬出用保持ハンドユニット１３ｂを三つの選択された計測部の内中間に位置する計測部上に移動させる。 For example, as shown in FIG. 9 (a) or (b), when three objects to be measured are selected at intervals in one of the measurement unit rows a and b, the upstream holding hand unit for unloading 13a on the most upstream measurement unit among the three selected measurement units, and the downstream carry-out holding hand unit 13c on the most downstream measurement unit among the three selected measurement units. The carrying-out holding hand unit 13b is moved onto the measuring unit located in the middle of the three selected measuring units.

また、図９（ｅ）又は（ｆ）に示すように２つの被計測物が計測部列ａ，ｂ間方向で並んで選択され、その他の１つの被計測物が計測部列ａの下流側のものが選択された場合には、上流側の搬出用スライドユニット１３ａを二つの被計測物が並んで選択された計測部上に移動させ、中間の搬出用スライドユニット１３ｂを下流側で選択された計測部上に移動させ、下流側の搬出用スライドユニット１３ｃを任意の位置に移動させる。 Also, as shown in FIG. 9 (e) or (f), two objects to be measured are selected side by side in the direction between the measurement unit rows a and b, and the other one object to be measured is downstream of the measurement unit row a. Is selected, the upstream carrying slide unit 13a is moved on the selected measuring unit along with the two objects to be measured, and the intermediate carrying slide unit 13b is selected on the downstream side. The downstream slide unit 13c is moved to an arbitrary position.

そして、搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを対応する計測部上に移動させた後、その位置で各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを下降させ、且つ選択された被計測物のみをハンド３２ａ，３２ｂに把持させる。 And after moving holding | maintenance unit 13a, 13b, 13c for carrying out on a corresponding measurement part, each holding | maintenance unit 13a, 13b, 13c for carrying out is lowered | hung in that position, and only the to-be-measured object selected Are held by the hands 32a and 32b.

各ハンド３２ａ，３２ｂの動作は、例えば、図９（ｅ）に示すように、計測部列ａ，ｂ間方向で並ぶ被計測物が選択された場合には、上流側の搬出用保持ハンドユニット１３ａの両ハンド３２ａ，３２ｂを動作させて爪部３３，３３を閉じ、中間の搬出用保持ハンドユニット１３ｂでは、計測部列ａ側のハンド３２ａのみを動作させて爪部３３，３３を閉じ、下流側の移送用保持ハンドユニット１３ｃでは、両ハンド３２ａ，３２ｂを動作させない。尚、動作させないその他のハンド３２は爪部３３，３３を開いたままの状態にしておく。 For example, as shown in FIG. 9E, the operations of the respective hands 32a and 32b are performed when an object to be measured arranged in the direction between the measurement unit rows a and b is selected. 13a, both hands 32a, 32b are operated to close the claw portions 33, 33. In the intermediate carrying-out holding hand unit 13b, only the hand 32a on the measurement unit row a side is operated to close the claw portions 33, 33, In the holding hand unit for transfer 13c on the downstream side, the hands 32a and 32b are not operated. In addition, the other hand 32 which is not operated keeps the claw portions 33 and 33 open.

一方、図９（ｇ）又は（ｈ）に示すように選択された被計測物が計測部列ａ，ｂ間方向で重ならない場合には、各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃはそれぞれ一方のハンドのみを動作させて被計測物を把持するようになっている。 On the other hand, when the selected objects to be measured do not overlap in the direction between the measurement unit rows a and b as shown in FIG. 9 (g) or (h), the carry-out holding hand units 13a, 13b, and 13c are respectively Only one hand is operated to hold the object to be measured.

そして、被計測物を把持した状態で各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを上昇させ、搬出用スライドユニット２６ａ，２６ｂ，２６ｃを動作させ、各搬出用保持ハンドユニット１３ａ，１３ｂ，１３ｃを仮置き台１５の位置までスライド移動させる。 Then, the holding hand units for unloading 13a, 13b, and 13c are lifted while holding the object to be measured, and the sliding slide units 26a, 26b, and 26c are operated to move the holding hand units for unloading 13a, 13b, and 13c. Slide to the position of the temporary table 15.

そして、詰め換え室４内の仮置き台１５上で保持ハンドユニット１３ａ，１３ｂ，１３ｃを下降させ、且つハンド３２ａ，３２ｂの爪部３３，３３を解放することにより被計測物Ａを仮置き台５上の仮置き用トレイ１１３，１１３...上に載置させ、搬出が完了する。 Then, the holding hand units 13a, 13b, and 13c are lowered on the temporary table 15 in the refill chamber 4, and the claws 33 and 33 of the hands 32a and 32b are released to temporarily place the measurement object A on the temporary table. 5 are placed on the temporary placement trays 113, 113...

このようにすることにより搬出手段８は、選択された被計測物Ａのみを計測手段より取出すことができる。 By doing in this way, the carrying-out means 8 can take out only the selected to-be-measured object A from a measurement means.

一方、補充手段９では、搬出手段８による被計測物の搬出作業と同時進行で空計測部５に新たな被計測物を補充する。 On the other hand, the replenishment means 9 replenishes the empty measurement unit 5 with a new object to be measured simultaneously with the work to be carried out by the unloading means 8.

以上の動作を組み合わせ秤２、搬出手段８及び補充手段９を同期させながら繰り返し行うことにより組み合わせ計測、搬出作業、補充作業を自動的に行うことができる。 By repeatedly performing the above operations while the combination weigher 2, the unloading means 8 and the replenishing means 9 are synchronized, the combination measurement, unloading work and replenishment work can be automatically performed.

尚、上述の実施例では、作業ライン方向に向けた計測部５の列を計測部列とした例について説明したが、作業ラインと直交する方向に向けた計測部の列を計測部列としてもよい。 In the above-described embodiment, the example in which the column of the measurement unit 5 directed in the work line direction is the measurement unit column has been described. However, the column of the measurement unit directed in the direction orthogonal to the work line may be used as the measurement unit column. Good.

Ａ被計測物
１組み合わせ計測装置
２組み合わせ秤
３計測室
４詰め替え室
５計測部
６ランプ
７計測用トレイ
８搬出手段
９補充手段
１０詰め替え手段
１１搬出用レール
１２支持部材
１３搬出用保持ハンドユニット
１４動作機構
１５仮置き台
１６梁材
１７スライド部材
１８上下動用レール
１９スライド部材
２０アーム部
２１シリンダ
２２フローティングジョイント
２３連結部材
２４軌道部材
２５スライダ
２６搬出用スライドユニット
２７サーボモータ
２８梁部材
２９支持部材側部材
３０スライダ側部材
３１フローティングジョイント
３２ハンド
３３爪部
３４把持部
４０並べ替え用トレイ
４１並べ替え機構
４２移送機構 A object to be measured 1 combination measuring device 2 combination weigher 3 measuring chamber 4 refilling chamber 5 measuring unit 6 lamp 7 measuring tray 8 unloading means 9 replenishing means 10 refilling means 11 unloading rail 12 support member 13 unloading holding hand unit 14 operation Mechanism 15 Temporary stand 16 Beam member 17 Slide member 18 Rail for vertical movement 19 Slide member 20 Arm portion 21 Cylinder 22 Floating joint 23 Connecting member 24 Track member 25 Slider 26 Unloading slide unit 27 Servo motor 28 Beam member 29 Support member side member DESCRIPTION OF SYMBOLS 30 Slider side member 31 Floating joint 32 Hand 33 Claw part 34 Gripping part 40 Rearrangement tray 41 Rearrangement mechanism 42 Transfer mechanism

Claims

被計測物が載置される複数の計測部毎に前記被計測物の計測が可能な計測手段と、該計測手段により計測された前記各被計測物の計測データに基づき多数の前記被計測物の中から規定個数で規定値の許容範囲に合致する被計測物の組み合わせを選択し、且つ選択された被計測物を計測した計測部の位置を示す選択信号を出力する選択手段と、該選択手段により選択された前記被計測物を前記計測部より搬出する搬出手段と、該搬出手段により前記被計測物が取り出されて空となった前記計測部に新たな被計測物を補充する補充手段と、前記搬出手段を制御する制御手段とを備えた組み合わせ計測装置であって、
前記計測手段は、複数の前記計測部を直線状に並べてなる複数の計測部列を互いに平行配置に備え、
前記搬出手段は、計測部列方向に向けた搬出用レールと、該搬出用レールに移動可能に支持された複数の搬出用保持ハンドユニットと、前記各搬出用保持ハンドユニットをそれぞれ独立して移動させる動作機構とを備え、
前記搬出用保持ハンドユニットは、計測部列間方向に間隔を置いて前記被計測物を保持する複数のハンドを備え、
前記制御手段は、前記選択信号に基づき前記動作機構に前記各搬出用保持ハンドユニットをそれぞれ前記選択された計測部上に移動させ、且つ前記搬出用保持ハンドユニットに前記選択された被計測物側の前記ハンドのみを動作させるようにしたことを特徴としてなる組み合わせ計測装置。 Measuring means capable of measuring the object to be measured for each of a plurality of measuring units on which the object to be measured is placed, and a large number of the objects to be measured based on measurement data of the objects to be measured measured by the measuring means A selection means for selecting a combination of objects to be measured that meet a tolerance of a specified value from a specified number and outputting a selection signal indicating a position of a measurement unit that has measured the selected object to be measured, and the selection Unloading means for unloading the object to be measured selected by the means from the measuring section, and replenishment means for replenishing the measuring section that has become empty after the object to be measured has been taken out by the unloading means And a combination measuring device comprising a control means for controlling the carry-out means,
The measuring means includes a plurality of measuring unit rows arranged in a straight line with a plurality of measuring units arranged in parallel with each other,
The unloading means independently moves the unloading rail toward the measuring unit row direction, a plurality of unloading holding hand units supported movably on the unloading rail, and the unloading holding hand units. Operating mechanism
The carrying-out holding hand unit includes a plurality of hands that hold the object to be measured at intervals in the direction between the measuring unit rows,
The control means causes the operating mechanism to move the carry-out holding hand units onto the selected measuring unit based on the selection signal, and to the carry-out hold hand unit on the side of the selected object to be measured. A combination measuring device characterized in that only the hand is operated.

前記動作機構は、計測部列方向に向けた軌道部材に沿って移動可能なスライダを有する複数の搬出用スライドユニットと、前記搬出用保持ハンドユニットを支持させた支持部材と、前記スライダと前記支持部材とを連結する連結部材とを備え、前記各軌道部材を互いに隣接して配置し、外側に配置された搬出用スライドユニットに支持された前記連結部材は、内側の搬出用スライドユニットを跨ぐ形状に形成された請求項１に記載の組み合わせ計測装置。
The operating mechanism includes a plurality of unloading slide units having sliders movable along track members directed in the direction of the measuring unit row, a supporting member that supports the unloading holding hand unit, the sliders, and the support A connecting member for connecting the members, the track members are arranged adjacent to each other, and the connecting member supported by the carrying-out slide unit arranged on the outside straddles the inner carrying-out slide unit. The combination measuring device according to claim 1, which is formed in the above.