JPH10297744A - Method of merging goods - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable articles to accurately merge from a tributary line into a predetermined virtual space set in the main flow line even when the main flow line is decelerating or accelerating. SOLUTION: A virtual space β according to the order in which articles G are packed is continuously set in a main stream line 2, and the articles G are reached at a timing when a predetermined virtual space β reaches a position facing the articles G to be merged. Is taken out from the tributary line 1 and merges with the main flow line 2, and when the main flow line 2 is decelerating or accelerating at the above-mentioned timing, the tributary line 1 is separated from the tributary line 1 according to the speed of the main flow line 2. The timing for taking out the article G is corrected, and the predetermined virtual space β faces the article G to be merged from the position of the predetermined virtual space β when the deceleration of the main stream line 2 is started. Tributary line 1 according to distance x to position
The article G is merged from the plurality of branch lines 1 into the main line 2 by correcting the timing of taking out the article G from the main line.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for merging articles, and more particularly, to a method for merging articles from a tributary line into a main stream line even when the main stream line is decelerating or accelerating. The present invention relates to a method for merging articles so that they can merge accurately with each other.

[0002]

2. Description of the Related Art As a conventional technique relating to a method of merging articles, the technique described in Japanese Patent Publication No. 51-32035 is known.

[0003] The prior art described in the above publication will be described.
The loads are sequentially placed on a conveyor provided at the front side of each stage of the storage rack, and then, from the conveyor, a merging conveyor having a speed in which the speed component in the transport direction of the conveyor is equal to the transport speed of the conveyor. There is described a method of transporting cargo in a conveyor system that transports the cargo upward and continuously unloads the cargo by the merging conveyor.

[0004]

However, the above-mentioned prior art has the following problems.

[0005] That is, in the method of transporting cargo in a conveyor system described in Japanese Patent Publication No. 51-32035, a load (article) is transported only when the transport conveyor (main line) is operated at a constant speed. The load cannot be taken out to a predetermined position on the transport conveyor when the transport conveyor is being decelerated or accelerated to temporarily stop due to a trouble or the like because of a trouble or the like.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an article which can accurately join an article from a tributary line to a predetermined virtual space set in the main stream line even when the main stream line is decelerating or accelerating. To provide a merging method.

[0007]

According to the present invention, there is provided a method of merging articles from a plurality of branch lines into a main stream line, wherein a virtual space is successively set in the main stream line in accordance with the order in which articles are packed. The article is taken out from the tributary line and merges with the main stream line at a timing when a predetermined virtual space reaches a position facing the article to be merged, and the main stream is merged at the timing. When the line is decelerating or accelerating, the merging method of the articles is characterized in that the timing for taking out the articles from the tributary line is corrected according to the speed of the main stream line. Thus, the above object has been achieved.

The present invention also relates to a method of merging articles from a plurality of branch lines into a main stream line, wherein a virtual space according to the order of packing articles is continuously set in the main stream line, and At the timing when the virtual space reaches a position facing the article to be merged, the article is taken out from the tributary line and merges with the main stream line, and the main stream line is decelerating at the timing. Or in the case of accelerating, from the tributary line according to the distance from the position of the predetermined virtual space when the deceleration of the main flow line is started to the position facing the article where the predetermined virtual space is to be merged The above object has been attained by providing a method of merging articles, wherein a correction is made to the timing of taking out the article. It is.

The correction value added to the timing of taking out articles from the tributary line is opposed to the article to be merged with the predetermined virtual space from the position of the predetermined virtual space at the time when the deceleration of the main flow line is started. It is preferable that the distance is calculated as a function using the distance to the position as a variable.

It is preferable that the variable range is divided into a plurality of ranges so that the correction value is calculated as a different linear function for each range.

It is preferable that the main line is started at a constant acceleration, is operated at a constant speed when a predetermined speed is reached, and is decelerated at a constant deceleration when it stops.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the method for merging articles according to the present invention will be described below together with an example of an article packing equipment suitable for carrying out the method.

FIG. 1 is a perspective view showing an embodiment of an article packing apparatus, FIG. 2 is an enlarged perspective view showing a branch line and a main line shown in FIG. 1, and FIG. 3 is a branch line shown in FIG. FIG. 4 is an enlarged side view of the downstream end of FIG. 3, and FIG. 4 is a plan view of FIG.

In these drawings, reference numeral 1 denotes a tributary line composed of a gravity roller conveyor whose tip end side is inclined at a low angle, and 3 in the direction along the main flow line 2 and the carry-in line 7.
Eight tributary lines 1 are arranged in two rows in the vertical direction, and these tributary lines 1 constitute a fluidizing shelf F having a plurality of rows and a plurality of levels of frontage. An article take-out device 3 is provided at a downstream end of each branch line 1. The main flow line 2 is a belt conveyor arranged so as to connect the article take-out device 3 in the horizontal direction, and is provided in eight stages in the vertical direction. The carry-in line 7 is a drive roller conveyor arranged so as to connect the upstream end of the tributary line in the horizontal direction, and is provided in eight stages in the vertical direction. Thus, the articles G are merged from a plurality of (32 rows) of branch lines 1 to the respective main lines 2, and the virtual space β according to the order in which the articles G are packed is continuously connected to the main lines 2. At a timing when the predetermined virtual space β reaches a position facing the article G to be merged, the article G is taken out from the branch line 1 and merged with the main line 2, and At times, when the main line 2 is decelerating or accelerating, the timing for taking out the article G from the branch line 1 is corrected according to the speed of the main line 2. In addition, articles G from the tributary line 1 according to the distance x from the position of the predetermined virtual space β when the deceleration of the main flow line 2 is started to the position facing the article G where the predetermined virtual space β is to be merged. A correction is made to the timing of taking out the. The correction value y added to the timing of taking out the article G from the branch line 1 is determined by the article G to which the predetermined virtual space β is merged from the position of the predetermined virtual space β when the deceleration of the main stream line 2 is started. Distance x to the position facing
Is calculated as a function using.
Further, the domain of the variable is divided into a plurality of areas, and the correction value y is calculated as a different linear function for each of the domains. The main flow line 2 is started at a constant acceleration, operates at a constant speed when it reaches a predetermined speed V1, and is decelerated at a constant deceleration when it stops.

To explain each part in the above embodiment, the tributary line 1 has a pair of rail frames 12 provided with a plurality of rollers 11 arranged in an inclined manner, and is branched from the carry-in line 7 to the tributary line 1. The articles G run on the rollers 11 by their own weights, are stored, are taken out to the main line 2 by the article take-out device 3, and are packed in a desired order.

The article take-out device 3 includes shafts 33, 3
A pair of rail frames 32 provided with a plurality of rollers 31 which are pivoted up and down by an air cylinder 35 and a lever 36 with the fulcrum 4 as a fulcrum, and a stopper 37 which locks the article G self-running in the inclined direction. When the air cylinder 35 is at the lower end, the inclination of the rail frame 32 substantially matches the inclination of the rail frame 12, and the upper end of the stopper 37 projects from the upper surface of the roller 31. I have. Thus, when there is an article take-out instruction, by operating the air cylinder 35,
The upper end of the stopper 37 is lowered from the upper surface of the roller 31 and the inclination of the rail frame 32 is changed to the rail frame 12.
And the article G at the tip locked by the stopper 37 is taken out. At this time, since the rear end of the rail frame 32 is higher than the roller 11 surface of the rail frame 12, the following articles G are locked at the rear end of the rail frame 32 and the articles G stored on the tributary line 1. Can be taken out to the main flow line 2, and the taken out article G is joined to the main flow line 2 by the wheel rail 38.

The main line 2 has a conveying speed of 16 m / min (266.7 mm), which is arranged so as to connect the article take-out device 3 provided at the downstream end of the side-by-side branch line 1 in the horizontal direction. / Sec) is a long belt conveyor, which is provided vertically in eight stages so as to be substantially perpendicular to the tributary line 1, and is an endless belt (not shown) suspended between a pair of pulleys 21 (not shown). 22 and the like. One pulley 21 of each of the upper four main flow lines 2 is connected to each other by a chain or the like and is driven by the same motor. A pulse encoder (not shown) is attached to one of the pulleys 21 and a belt 22
Is configured to be able to detect the traveling amount of the vehicle. Similarly, one pulley 2 of each of the lower four main flow lines 2
1 are also connected to each other by a chain or the like and are driven by the same motor. A pulse encoder (not shown) is attached to one of the pulleys 21. In addition, a virtual space β according to the order in which articles are packed is continuously set in the main line 2, and a predetermined virtual space β is to be taken out (merged).
Means for instructing the article G to be taken out of the tributary line 1 to the main stream line 2 at the timing when the article G reaches the position opposite to the main stream line 2. It is placed at the center of the box and merged.

Downstream of the main line 2, there is provided a first transfer conveyor 4 having a transfer speed of 30 m / min.
Further downstream, a second transport conveyor 5 at a transport speed of 60 m / min is provided. In addition, a stopper 6 is provided between the first transport conveyor 4 and the second transport conveyor 5, and the articles G stored on the first transport conveyor 4 are controlled by the stopper 6 to intermittently. It is cut out to the second conveyor 5 while being cut off one by one, and merged, and the second conveyor 5 on the lower side is merged with the second conveyor 5 on the upper side. .

The carry-in line 7 is a drive roller conveyor arranged so as to connect the upstream end of the side-by-side branch line 1 in the horizontal direction. A step is provided, and the rotation of the line shaft is transmitted to the roller by a rubber band hung in a figure-eight shape between the roller and the line shaft. Each of the carry-in lines 7 is independently driven, and a pulse encoder is attached to each of the line shafts. At the branch point of the carry-in line 7, a conversion means is provided.

Next, using the above-described article packing equipment, the articles G stored in the branch line 1 are taken out and merged into the respective main lines 2 so as to be packed in a predetermined order. An embodiment of the method will be described.

First, the articles G are taken out from the branch line 1 to the main line 2, and the first and second stages from the bottom until the articles G joined to the respective main lines 2 join the first conveyor 4. A description will be given of a specific example in a case of merging with the first conveyor 4 on the lower side through the main flow line 2 (see FIG. 5). Reference numerals 1a, 1b, 1c, 1d, and 1e denote tributary lines 1f, 1g, 1h, 1i, and 1j, which are arranged downstream of the first main flow line 2 from the bottom. Of the tributary lines arranged on the downstream end side of the main flow line 2 of the first stage and the second stage from the bottom, and the spacing between the 32 tributary lines 1 arranged in each stage is 700 mm. In this case, the distance from the downstream end to the fifth branch line 1e, 1j, that is, the offset value α is 700 mm for the branch lines 1d, 1i adjacent to the branch lines 1e, 1j, and 700 mm for the branch lines 1d, 1i. The adjacent tributary lines 1c and 1h are 1400 mm, the tributary lines 1b and 1g are 2100 mm, and the tributary lines 1b and 1g are 28
00 mm.

Articles G of different sizes are stored in the branch line 1 respectively. That is, tributary line 1
a has a length dimension, that is, a dimension in the main stream line 2 direction of 430;
mm in the branch line 1b having a length of 53 mm.
An article Gb of 0 mm has a length of 3 in the branch line 1c.
An article Gc of 80 mm, an article Gd having a length of 280 mm in the branch line 1d, an article Ge of 250 mm in length in the branch line 1e, and an article Gf of 430 mm in length in the branch line 1f. An article Gg having a length of 380 mm is provided on the branch line 1g, an article Gh having a length of 590 mm is provided on the branch line 1h, and an article Gi having a length of 280 mm is provided on the branch line 1i. Stores a plurality of articles Gj each having a length of 250 mm.

Therefore, the lower first conveyor 4 is
For example, ten articles G are arranged in the following order: articles Ga, G
g, Gj, Gj, Gd, Gi, Gi, Gh, Gj, Gd
When the main line 2 is operated at a constant speed, calculation and control are performed as follows, and a predetermined article G is moved from the tributary line 1 to the bottom line 1 when the main line 2 is operated at a constant speed. The predetermined virtual space β of the main flow line 2 of the second and the second stages
Taken out and joined.

That is, the article Ga that first arrives at the stopper 6 provided at the downstream end of the lower first conveyor 4
Is taken out of the tributary line 1a,
Since the offset value α is located at the most downstream position of 2800 mm, the article Ga is taken out with a delay of the offset value α from the start of packing. That is, 28
After 10.5 seconds, 00 mm ÷ 266.7 mm / sec = 1, an article removal command is given to the article removal device 3 provided at the downstream end of the branch line 1a so as to remove the article Ga from the branch line 1a to the main line 2.

The article Gg arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the article Ga is stored in the second branch line 1 from the bottom, which is different from the article Ga. From the first branch line 1 so that they are merged with a phase difference of 2 seconds so as not to collide with the article G merged from the first branch line 1, and the offset value α of the tributary line 1g is 2100 mm, that is, 2100 mm. 266.
9.9 seconds after adding 7 mm / sec = 7.9 seconds, an article take-out command is sent to the article take-out device 3 provided at the downstream end of the branch line 1g so as to take out the article Gg from the branch line 1g to the main line 2. Given.

The article Gj arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the article Gg is stored in the branch line 1 at the same level as the article Gg. When the articles G stored in the branch line 1 are continuously taken out and merged into the main line 2, a virtual space β corresponding to the merging order of the articles G and the length dimension of the articles G to the main line 2, That is, a space obtained by adding a certain margin space to the length dimension of the article G is continuously set, and when the predetermined virtual space β reaches a position facing the article G to be merged, the article G is moved to the main line 2. Since the article take-out command is given to the article take-out device 3 provided at the downstream end of the branch line 1 so as to take out the product G, the offset value α of the article Gg taken out to the first transport conveyor 4 first Main stream excluding Take out time to the Inn 2, ie 2
Seconds later, a margin 40 is added to the length 380 mm of the article Gg.
The virtual space βg of the article Gg to which 0 mm has been added, ie, 380
mm + 400mm = 780mm, and the main line 2
Time required for the virtual space βg set in
That is, an article take-out command is issued to the main stream line 1j so as to take out the article Gj from the tributary line 1j into the virtual space βj set in the main stream line 4.9 seconds after adding 780 mm ÷ 266.7 mm / sec = 2.9 seconds. It is provided to the article take-out device 3 provided at the downstream end. Since the offset value α of the tributary line 1j is 0 mm, it is not necessary to add the offset value α to the above time.

Since the article Gj is continuously taken out after the article Gj, the virtual space βj of the article Gj obtained by adding the extra space 400 mm to the length dimension 250 mm of the article Gj after the above-mentioned take-out time, that is, 4.9 seconds, That is, 250mm + 40
0 mm = 650 mm, and the time required for the virtual space βj set in the main flow line 2 to move, that is, 650
7.3 seconds after adding mm ÷ 266.7 mm / sec = 2.4 seconds, an article takeout command is issued downstream of the mainstream line 1j so as to take out the article Gj from the tributary line 1j to the virtual space βj set in the mainstream line 2. It is given to the article take-out device 3 provided at the end. Since the offset value α of the tributary line 1j is 0 mm, it is not necessary to add the offset value α to the above time.

The article Gd arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the article Gj is stored in the first branch line 1 from the bottom, which is different from the article Gj. 9.3 seconds after adding the phase difference 2 seconds after 7.3 seconds, the offset value α of the tributary line 1d is 700 mm, ie, 700 mm 分 266.7 m.
tributary line 1 11.9 seconds after adding m / sec = 2.6 seconds
An article take-out command is given to the article take-out device 3 provided at the downstream end of the tributary line 1d so as to take out the article Gd from d to the main stream line 2. In addition, the following calculation is also performed in order to confirm whether or not a sufficient margin space is provided in the first main stream line 2 from the bottom. That is, the removal time of the article Ga to the main stream line 2 excluding the offset value α of the article Ga taken out before the article Gd is taken out at the downstream end of the first main stream line 2 from the bottom, that is, 0 seconds later, The virtual space βa of the article Ga obtained by adding the extra space 400 mm to the length 430 mm, that is, 430 mm + 40
0 mm = 830 mm, and the time required for the virtual space βa set in the main flow line 2 to move, that is, 830
mm ÷ 266.7 mm / sec = 3.1 seconds added value is 3.
One second later, this value and the removal time described above, ie, 9.
Comparing with 3 seconds later, since the above-mentioned 9.3 seconds later is later, it can be confirmed that a sufficient margin space is provided in the first main flow line 2 from the bottom. If the necessary extra space is not available in the first main flow line 2 from the bottom, the above-mentioned take-out time, that is, the time for further securing the necessary extra space after 11.9 seconds is added. Is controlled.

The articles Gi arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the articles Gd are stored in the second branch line 1 from the bottom, which is different from the articles Gd. 10. A phase difference of 2 seconds was added after 9.3 seconds after the removal time to the main line 2 excluding the offset value α of the articles Gd to be taken out to the first conveyor 4.
Three seconds later, the offset value α of the tributary line 1i is 700 m.
m, that is, 700 mm ÷ 266.7 mm / sec = 2.6 seconds later, an article removal command is provided at the downstream end of the tributary line 1i so as to remove the article Gi from the tributary line 1i to the main stream line 2 after 13.9 seconds. Provided to the received article take-out device 3. In addition, the following calculation is also performed in order to confirm whether or not a sufficient margin space is provided in the second main flow line 2 from the bottom. In other words, after the product Gj is taken out before the product Gi is taken out to the downstream end of the second main flow line 2 from the bottom, the product Gj is taken out to the main flow line 2 excluding the offset value α, that is, 7.3 seconds later, An article Gj obtained by adding 400 mm of extra space to the length dimension of 250 mm of Gj
Virtual space βj, that is, 250 mm + 400 mm = 650
mm, the virtual space βj set in the main line 2
Is required to move, that is, 650 mm ÷ 266.
The value obtained by adding 7 mm / sec = 2.4 seconds is after 9.7 seconds,
Comparing this value with the take-out time before adding the offset value α of the article Gi described above, that is, 11.3 seconds later,
Since the time after 11.3 seconds is later, it can be confirmed that a sufficient margin space is provided in the second main stream line 2 from the bottom.

Since the article Gi is also continuously taken out after the article Gi, the take-out time of the article Gi taken out to the first transport conveyor 4 to the main line 2 excluding the offset value α, ie, 11.3. After 2 seconds, the length dimension 2 of the article Gi
The virtual space βi of the article Gi obtained by adding the extra space 400 mm to the 80 mm, that is, 280 mm + 400 mm = 680 mm
Is set, and the time required for the virtual space βi set in the main flow line 2 to move, that is, 680 mm ÷ 266.7 m
13.8 seconds after adding m / sec = 2.5 seconds, the offset value α of the tributary line 1i is 700 mm, that is, 700 mm ÷.
16.4 seconds after adding 266.7 mm / sec = 2.6 seconds, an article take-out instruction is issued at the downstream end of the branch line 1i so that the article Gi is taken out from the branch line 1i to the virtual space βi set in the main line 2. Is provided to the article take-out device 3 provided in the apparatus.

The articles Gh arriving at the stopper 6 provided at the downstream end of the first conveying conveyor 4 after the articles Gi are stored in the branch line 1 at the same stage as the articles Gi, so that the first conveying is performed first. The virtual space βi of the article Gi obtained by adding the spare space 400 mm to the length dimension 280 mm of the article Gi after the removal time of the article Gi to the main line 2 excluding the offset value α of the article Gi taken out to the conveyor 4, that is, 13.8 seconds. ,
That is, 280 mm + 400 mm = 680 mm is set, and the time required for the virtual space βi set in the main flow line 2 to move, that is, 680 mm ÷ 266.7 mm / sec = 2.
16.3 seconds after adding 5 seconds, the offset value α of the tributary line 1h is 1400 mm, that is, 1400 mm ÷ 266.
An article take-out command is provided at the downstream end of the tributary line 1h so as to take out the article Gh from the tributary line 1h to the virtual space βh set in the main flow line 2 21.5 seconds after adding 7 mm / sec = 5.2 seconds. Provided to the received article take-out device 3.

The articles Gj arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the articles Gh are stored in the branch line 1 at the same stage as the articles Gh, so that the first conveyance is performed first. The virtual space βh of the article Gh obtained by adding the spare space 400 mm to the length dimension 590 mm of the article Gh after the take-out time to the main line 2 excluding the offset value α of the article Gh taken out to the conveyor 4, that is, 16.3 seconds. ,
That is, 590 mm + 400 mm = 990 mm is set, and the time required for the virtual space βh set in the main flow line 2 to move, that is, 990 mm ÷ 266.7 mm / sec = 3.
After 20.0 seconds after adding 7 seconds, an article takeout command is provided at the downstream end of the branch line 1j so as to take out the article Gj from the branch line 1j into the virtual space βj set in the main line 2. 3 given. Since the offset value α of the tributary line 1j is 0 mm, it is not necessary to add the offset value α to the above time.

The article Gd arriving at the stopper 6 provided at the downstream end of the first conveyor 4 after the article Gj is stored in the first branch line 1 from the bottom, which is different from the article Gj. To the main stream line 2 excluding the offset value α of the article Gj to be taken out to the first conveyor 4, that is, 20.0 seconds later and a phase difference of 2 seconds added.
After 2.0 seconds, the offset value α minutes of the tributary line 1d is 70 minutes.
0 mm, that is, 700 mm ÷ 266.7 mm / sec = 2.6
24.6 seconds after the addition of the second, the article Gd from the tributary line 1d
Is given to the article take-out device 3 provided at the downstream end of the tributary line 1d so as to take out to the main stream line 2. In addition, the following calculation is also performed in order to confirm whether or not a sufficient margin space is provided in the first main stream line 2 from the bottom. In other words, after the article Gd is taken out before the article Gd is taken out to the downstream end of the first main stream line 2 from the bottom, the article Gd is taken out to the main stream line 2 excluding the offset value α, that is, after 9.3 seconds, the article Gd is taken out. The virtual space βd of the article Gd obtained by adding a margin space 400 mm to the length dimension 280 mm of Gd, that is, 280 mm + 400 mm = 6
80 mm is set, and the time required for the virtual space βd set in the main flow line 2 to move, that is, 680 mm ÷ 26
The value obtained by adding 6.7 mm / sec = 2.5 seconds is 11.8 seconds, and the take-out time before adding this value and the above-described offset value α of the article Gd, that is, 22.0 seconds later. Since it is slower after 22.0 seconds as described above, it can be confirmed that a sufficient margin is provided in the first mainstream line 2 from the bottom.

The transport speed of the main stream line 2 is 266.7 m during the time period from the start of packing to the removal of each article G, which is calculated by a computer (not shown) as described above.
The value multiplied by m / sec is the value of each article G
Is the transport distance of each virtual space β until is extracted. Therefore, the virtual space β during one pulse of the pulse encoder attached to the pulley 21 of the main flow line 2
A value obtained by dividing the transport distance in the virtual space β from the start of packing to the removal of each article G by the transport distance of the above is a pulse value from the start of packing in which each article G is to be removed. Thus, the computer transmits the pulse value from the start of the packing and the number of the tributary line 1 from which each article G is to be taken out to a sequencer (not shown). The sequencer that has received the data stores the pulse value from the start of the packing and the number of the tributary line 1 from which the articles G are to be taken out, and starts counting the pulses of the pulse encoder at the same time as the packing starts. The air cylinder 35 of the article take-out device 3 provided at the downstream end of the tributary line 1 that coincides with the pulse value thus moved is moved so as to take out a predetermined article G into a predetermined virtual space β of the main flow line 2 and join it. To control. Therefore, the articles G taken out and merged into each main line 2 are:
The articles Ga, Gg, Gj, Gj, G
Packed in the order of d, Gi, Gi, Gh, Gj, Gd.

As described above, the articles G loaded on the lower first conveyor 4 in a predetermined order, and the articles G on the upper first conveyor 4 in a predetermined order, for example, the articles Gk. Gn, Gp, Gr, Gl, Go, Gq, Gs, G
The order in which the articles G packed in the order of m and Gt are packed in the final end of the second conveyor 5, for example, the articles G
a, Gk, Gn, Gg, Gp, Gj, Gr, Gl, G
o, Gj, Gd, Gi, Gi, Gq, Gh, Gs, G
Stopper 6 is set to 1 according to the order of m, Gj, Gd, and Gt.
It operates intermittently at intervals of seconds, is carried out to the second conveyor 5 and is merged, and the articles G merged in a predetermined order are packed at the final end of the second conveyor 5. Is done.

As described above, when the main line 2 is operated at a constant speed, the articles G stored in the branch lines 1 are taken out and merged into the respective main lines 2 so as to be packed in a predetermined order. While one embodiment of the method has been described, it is not so limited. For example,
Instead of setting a virtual space β by adding a certain extra space to the length dimension of the article G, the width dimension of the article G (branch line 1
The virtual space β may be set by calculating the margin space in consideration of the transition time from the tributary line 1 to the main flow line 2 according to the dimension in the direction).

Further, instead of calculating so as to have a constant phase difference between the articles G taken out from different stages, a phase difference according to the length dimension of the articles G is calculated, and the extra space between the articles G is substantially reduced. You may make it constant.

The first main flow line 2 from the bottom to the first main line 2
The transfer time to the predetermined position of the transfer conveyor 4 and 2 from the bottom
If the transport time from the mainstream line 2 of the tier to the predetermined position of the first transport conveyor 4 is different, the correction time is added to the time from the start of packing and the removal of each article G. For example, if the transport time from the second main stream line 2 from the bottom to the predetermined position of the first transport conveyor 4 is 2.5 seconds faster, the article take-out command is issued at the downstream end of the second substream line 1 from the bottom. A correction time of 2.5 seconds is added to the time given to the article take-out device 3 provided in the section, and the time taken to take out the article G from the second branch line 1 from the bottom is set to 2.5.
Seconds slow.

The transfer time from the stopper 6 provided at the downstream end of the lower first conveyor 4 to the confluence of the second conveyor 5 and the upper first conveyor 4
If the transport time from the stopper 6 provided at the downstream end of the second conveyor 5 to the confluence of the second transport conveyor 5 is different, a phase difference is set for the timing of unloading the article G from each stopper 6 and The article G delivered from the stopper 6 is prevented from colliding at the junction of the second conveyor 5. For example, if the transfer time from the stopper 6 provided at the downstream end of the upper first conveyor 4 to the confluence of the second conveyor 5 is 2.5 seconds faster, the first upper conveyor 1
The stopper 6 provided at the downstream end of the conveyor 4 operates with a phase difference of 2.5 seconds, and the stopper provided at the downstream end of the upper first conveyor 4 based on the phase difference. 6, the time for unloading the article G is delayed by 2.5 seconds.

Further, a plurality of types of articles G having different sizes may be stored in each branch line 1.

Next, when the articles G stored in the branch line 1 are taken out and merged into the respective main lines 2 in a predetermined order by using the above-described article packing apparatus, When the main flow line 2 is operated while being decelerated or being accelerated, the calculation and control are performed as follows, and the same as when the main flow line 2 is operated at a constant speed. The articles G taken out from the branch line 1 are placed at the center of a predetermined virtual space β and merged.

That is, the articles G taken out from the branch line 1 onto the main line 2 are transferred while sliding on the belt 22 of the main line 2 and stopped, but when the main line 2 is operated at a constant speed. There is no practical problem even if the timing for taking out various articles G is determined assuming that there is a constant (average) slip amount with respect to the belt 22. However, when the main line 2 is operated while being decelerated or accelerated, the conveyance of the articles G taken out from the branch line 1 onto the main line 2 in accordance with the speed is carried out in the main line 2. In order to place the article G in the center of the predetermined virtual space β, it is necessary to correct the timing of taking out the article G from the tributary line 1 according to the speed of the main stream line 2 because the slip amount in the direction is different. As one embodiment of the specific means, a predetermined virtual space β when the deceleration of the main flow line 2 is started.
The distance x from the position to the position facing the article G where the predetermined virtual space β is to be merged (the position at which the article removal command is given to the article removal device 3 when the main line 2 is operating at a constant speed) Accordingly, the timing for taking out the article G from the branch line 1 is corrected.

When the main line 2 is operated at a constant speed (when the main line 2 is operated at a constant transport speed V1), articles taken out from the branch line 1 onto the main line 2 by the article take-out device 3 The take-out time T1a of the G is determined after the article take-out command is given to the article take-out device 3 and the article G
The article G slides on the belt 22 of the main stream line 2 and stops relatively to the belt 22 when the article G slides on the belt 22 of the main stream line 2 (falling time T2 until reaching the top) (the falling time T2 does not relate to a change in the transport speed of the main stream line 2) This is the time obtained by adding the sliding time T3a until the start, and the relationship between the take-out time T1a, the falling time T2, and the sliding time T3a can be approximately shown in FIG. When the position is directly below the center position of the branch line 1 containing the articles G to be merged, an article take-out command is given to the article take-out device 3, and the center position of the predetermined virtual space β and the taken-out article G are actually The amount of deviation (distance) from the position placed on the
Can be represented by the area (Sa + Sb). On the other hand, by previously measuring the drop time T2 and the shift amount (Sa + Sb) in the above-mentioned article packing equipment, the inclination of the oblique line of the triangle constituting the area Sb and the sliding time T3a in FIG. You can ask.
The inclination of the oblique lines is the inclination of the triangular oblique lines constituting the area Sd when the main line 2 is operated while being decelerated at a constant deceleration, and the main line 2 is operated while being accelerated at a constant acceleration. In this case, the area Sf can be treated as approximately matching the slope of the oblique line of the triangle constituting the area Sf.

Therefore, if the main line 2 is decelerating and the conveying speed of the main line 2 is V2 when the article take-out command is given to the article take-out device 3, the article take-out command is sent to the article take-out device 3. The falling time T2 from when the article G is given to when the article G reaches the belt 22 of the main stream line 2 is the same as when the main stream line 2 is operated at a constant speed, Since the transport speed of the main stream line 2 when the speed has reached is reduced to V3, from the transport speed V3 and the inclination of the triangular diagonal line constituting the area Sd, the belt slides on the belt 22 of the main stream line 2 and And the sliding time T3b before relatively stopping can be determined. Thus, when the main line 2 is operated while being decelerated, the deviation (distance) between the center position of the predetermined virtual space β and the position where the taken-out article G is actually placed is determined by the main line. 2 is operated at a constant speed, the tributary line 1 is set so as to be equal to the deviation (Sa + Sb) between the center position of the predetermined virtual space β and the position where the taken out article G is actually placed.
Since it is necessary to correct the timing of taking out the article G from the area, the area (Sa + Sb) and the area (Sx + Sc + S
The area Sx is determined so that the value d) is equal to the value d), and a correction time T4b added to the timing of removing the article G from the branch line 1 is obtained. That is, when the main line 2 is operated while being decelerated, the articles G are transferred from the branch line 1 in accordance with the transport speed V2 of the main line 2 at the timing when the articles G are taken out from the branch line 1 before correction is made. The timing for taking out the article G from the branch line 1 is corrected by a correction time T4b.
The article removal command is given to the article removal device 3 with only a delay, so that the main line 2 is operating at a constant speed despite the main line 2 being decelerating. , The predetermined article G can be placed in the center of the predetermined virtual space β and can be merged accurately.

When the main line 2 is accelerating and the article take-out device 3 is given an article take-out command and the transport speed of the main line 2 is V4, the article take-out command is given to the article take-out device 3. Goods G after being received
Is the same as when the main line 2 is operating at a constant speed, but the main flow when the article G reaches the belt 22 of the main line 2 Since the transfer speed of the line 2 is accelerated to V5, the transfer line V2 slides on the belt 22 of the main flow line 2 and stops relatively to the belt 22 from the transfer speed V5 and the inclination of the oblique line of the triangle constituting the area Sf. Up to the sliding time T3c. Thus, when the main line 2 is operated while being accelerated, the deviation amount (distance) from the position where the article G whose center position of the predetermined virtual space β has been extracted is actually placed is determined by the main line 2 2 is operated from the branch line 1 so that the difference between the center position of the predetermined virtual space β and the position where the taken out article G is actually placed (Sa + Sb) is equal to (Sa + Sb). Since it is necessary to add a correction to the timing of taking out the area, the area (Sa + Sb) and the area (Sy + Se + Sf)
And the area Sy is determined so that
A correction time T4c to be added to the timing of taking out the article G from is obtained. That is, when the main line 2 is operated while being accelerated, the articles G are transferred from the tributary line 1 according to the transport speed V4 of the main line 2 at the timing when the articles G are taken out from the tributary line 1 before correction. Of the tributary line 1
Is delayed by the correction time T4c so that an article take-out command is given to the article take-out device 3, and as a result, the main line 2
Can be placed in the center of the predetermined virtual space β and the merging can be performed accurately, as in the case where the main line 2 is operating at a constant speed even though the main line 2 is accelerating. Can be.

Based on the method of calculating the correction times T4b and T4c, the main line 2, which has been operating at a constant speed of V1, is decelerated at a constant deceleration, stopped, and then started at a constant acceleration. In response to the speed change until reaching the predetermined constant speed operation speed V1, the position of the predetermined virtual space β when the deceleration of the main flow line 2 is started is shifted to the predetermined virtual space β.
To the position facing the article G to be merged (that is, the main line 2 after the deceleration of the main line 2 is started).
The relationship between the transfer amount or the pulse amount) x and the correction value (the transfer distance or the pulse amount) y added to the timing of taking out the article G from the branch line 1 is obtained, and the relationship is approximated as shown in FIG. It can be represented by a plurality (four) of straight lines. Note that the horizontal axis in FIG. 7 is the conveyance amount (distance or pulse amount) x of the main flow line 2 with the origin being when the deceleration of the main flow line 2 is started, and the vertical axis is the timing at which the article G is taken out from the tributary line 1 in addition to the timing. Correction value (distance or pulse amount) y to be obtained. Therefore, the correction value y added to the timing of taking out the article G from the branch line 1 is determined by using the transport amount x of the main line 2 after the deceleration of the main line 2 is started as a variable, and changing the variable over a plurality of (4 ), And the correction value y can be calculated as a different linear function for each domain. That is, when the transport amount x of the main flow line 2 after the start of deceleration is equal to or less than s (or a value converted into the number of pulses), the correction value y (or the number of pulses The converted value may be calculated as y = ax, and the correction value y when the transport amount x exceeds s and is equal to or less than t is calculated as y = bx-p, and the transport amount x exceeds t. The correction value y when u is equal to or less than u can be calculated by y = −cx + q, and the correction value y when the carry amount x exceeds u can be calculated by y = −dx + r. Therefore, a correction is made to the timing of taking out the article G from the tributary line 1, and
Is delayed by the correction value y calculated above, so that an article take-out command is given to the article take-out device 3. As a result, the main line 2 is being decelerated or accelerated. Nevertheless, like when the main line 2 is operating at a constant speed,
The predetermined article G can be placed at the center of the predetermined virtual space β and can be merged accurately.

The embodiments of the method for merging articles according to the present invention have been described above together with the examples of the equipment for arranging articles suitable for carrying out the method. However, the method for merging articles according to the present invention is not limited thereto. Absent. For example, the size of the virtual space β set in the main line 2 may be a fixed length regardless of the length of the merging articles G.

When the main line 2 is provided with partitioning means such as trays and buckets, a virtual space β may be set in the main line 2 in accordance with the length of the partitioning means, mounting intervals, and the like. Therefore, it goes without saying that the method of merging articles of the present invention can also be applied to the main stream line 2 having the above-mentioned partitioning means.

[0049]

Since the method of merging articles of the present invention is configured as described above, even if the main stream line is decelerating or accelerating, articles are transferred from the tributary line to the predetermined main line. It can join the virtual space accurately. Therefore, even if the main line is decelerating or accelerating, the packing operation of the articles can be continued without interruption, so that the packing operation with extremely high efficiency can be achieved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of an article packing apparatus.

FIG. 2 is an enlarged perspective view showing a branch line and a main line shown in FIG. 1;

FIG. 3 is an enlarged side view showing a downstream end portion of the tributary line shown in FIG. 2;

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is an explanatory diagram showing a process of taking out an article from a branch line to a main stream line and joining the articles joined to each main line to a first transport conveyor.

FIG. 6 is an explanatory diagram of a take-out time of an article taken out from a branch line to a main stream line by the article take-out device.

FIG. 7 is added to a distance from a position of a predetermined virtual space to a position where a predetermined virtual space faces an article to be merged when the deceleration of the main stream line is started, and a timing of taking out an article from a tributary line. FIG. 4 is an explanatory diagram showing a relationship with a correction value.

[Explanation of symbols]

1 Tributary line 2 Main stream line G Article x Distance from the position of the predetermined virtual space when deceleration of the main stream line is started to the position facing the article where the predetermined virtual space is to be merged y Correction value β Virtual space

Continued on the front page (72) Inventor Tatsuo Yamane Fukuoka Prefecture Kasuya-gun Kogacho Station East 3-3-1 Seibu Electric Co., Ltd. (72) Inventor Takeshi Fujioka Fukuoka Prefecture Kasuya County Kogacho Station Higashi 3-3-1 Seibu Electric Co., Ltd. Inside the Company (72) Inventor Keiichi Tsumaga 2-2-1 Toranomon, Minato-ku, Tokyo Japan Tobacco Industry Co., Ltd. (72) Inventor Kazuo Hayashi 2-2-1 Toranomon, Minato-ku, Tokyo Japan Tobacco Industry Co., Ltd. (72 Inventor Michiharu Kobayashi 2-2-1 Toranomon, Minato-ku, Tokyo Japan Tobacco Inc.

Claims (5)

[Claims] 1. An article merging method for merging articles from a plurality of tributary lines into a main stream line, wherein a virtual space according to the order in which articles are packed is continuously set in the main stream line,
At a timing when a predetermined virtual space reaches a position facing an article to be merged, the article is taken out from the tributary line and merges with the main stream line,
If the main line is decelerating or accelerating at the timing, the timing for removing the articles from the branch line is corrected according to the speed of the main line. Method of merging articles. 2. An article merging method for merging articles from a plurality of tributary lines into a main stream line, wherein a virtual space according to an order of packing articles is continuously set in the main stream line,
At a timing when a predetermined virtual space reaches a position facing an article to be merged, the article is taken out from the tributary line and merges with the main stream line,
Further, when the main flow line is decelerating or accelerating at the timing, the predetermined virtual space is opposed to an article to be merged from a position of the predetermined virtual space when the deceleration of the main flow line is started. Wherein the timing of taking out the article from the branch line is corrected according to the distance to the position to be joined. 3. The correction value added to the timing of taking out an article from the branch line is opposed to the article to which the predetermined virtual space is to be merged from the position of the predetermined virtual space when deceleration of the main stream line is started. 3. The method according to claim 2, wherein the distance is calculated as a function using the distance to the position as a variable.
A method for merging the described articles. 4. The method according to claim 3, wherein the variable domain is divided into a plurality of ranges, and the correction value is calculated as a different linear function for each of the variable domains. . 5. The main line is activated at a constant acceleration,
The vehicle is operated at a constant speed when a predetermined speed is reached, and is decelerated at a constant deceleration when stopped.
5. The method for merging articles according to 2, 3, or 4.