Discharge chute

Abstract

To provide a discharge chute that can clear the sliding surface of items without increasing the workload of the worker. [Solution] The discharge chute 50 guides articles supplied from above downwards for discharge. The discharge chute 50 has a supply port 51A into which articles are supplied from above, a discharge port 51B into which articles are discharged downwards, and a sliding surface 51C into which articles slide from the supply port 51A to the discharge port 51B. It comprises a funnel-shaped article sliding section 51 which is substantially inverted cone-shaped or substantially inverted frustoconical in shape and made of a flexible sheet-like material, and a frame 61 which contacts a part of the article sliding section 51 from the back side of the sliding surface 51C and detachably supports the article sliding section 51.

Description

Technical Field

[0001] One aspect of the present invention relates to a discharge chute.

Background Art

[0002] As a type of weighing device, a combination weighing device that measures the weight values of articles respectively input from the outside into a plurality of hoppers and performs combination weighing using the measured weight values is known. For example, in Patent Document 1 below, articles supplied from the outside are stored in a plurality of weighing hoppers, the weight values of the articles stored in each of the plurality of hoppers are measured, and a combination of weight values is selected so that the total value of the plurality of weight values respectively associated with the plurality of weighing hoppers falls within a preset target weight range. A combination weighing device is disclosed.

[0003] Also, as a type of weighing device, an article weighing device that takes out and discharges some articles from a group of articles placed on a placement part or the like is known. For example, in Patent Document 2, some articles of a group of articles are gripped by a plurality of gripping parts, the weight values of the articles gripped by each of the plurality of gripping parts are measured, and a combination of weight values is selected so that the total value of the plurality of weight values respectively associated with the plurality of gripping parts falls within a preset target weight range. An article weighing device (article discharge system) is disclosed.

[0004] In such combination weighing devices and article weighing devices, articles within the target weight range discharged from the selected weighing hopper or gripping part are discharged to a downstream process via a discharge chute.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] In such weighing devices, if material remains in the discharge chute, it becomes impossible to discharge the same amount of material as that weighed in the upstream process. In particular, highly viscous or highly moist materials tend to remain stuck to the sliding surface of the discharge chute. Therefore, it is necessary to clear the sliding surface of the material in the discharge chute at appropriate intervals. However, clearing the sliding surface requires temporarily stopping the operation of the weighing device for cleaning. If the frequency of such cleaning increases or the cleaning time lengthens, the downtime of the weighing device increases, which can reduce the processing capacity of the weighing device.

[0007] Therefore, instead of cleaning the sliding surface, it is conceivable to shorten the downtime of the weighing device by replacing a discharge chute with items stuck to it with a clear one. However, removing a rigid discharge chute fixed to a frame from a confined space is burdensome for workers due to the weight and size of the discharge chute during replacement.

[0008] Therefore, one aspect of the present invention is to provide a discharge chute that can clear the sliding surface of articles without increasing the workload of the worker. [Means for solving the problem]

[0009] (1) A discharge chute according to one aspect of the present invention is a discharge chute that guides articles supplied from above downward and discharges them, and comprises a supply port for articles supplied from above, a discharge port for discharging articles downward, and a sliding surface for sliding articles from the supply port to the discharge port, and comprises a funnel-shaped article sliding section that is substantially inverted cone-shaped or substantially inverted frustoconical in shape and made of a flexible sheet-like material, and a frame that contacts a part of the article sliding section from the back side of the sliding surface and detachably supports the article sliding section.

[0010] In this discharge chute configuration, the overall weight is lighter, and only the small item sliding section needs to be replaced, thus reducing the burden on the operator. Furthermore, the item sliding section is flexible and can be folded or bent. This makes it easy to attach the item sliding section to the frame while inserting and removing it in confined spaces. As a result, the sliding surface for items can be kept clear without significantly increasing the operator's workload.

[0011] (2) In the discharge chute described in (1) above, the article sliding section is made of a resin material, and the sliding surface of the article sliding section may be given an uneven surface finish. This configuration reduces the frictional resistance of the article to the sliding surface of the article sliding section. This reduces the likelihood of the article adhering to the sliding surface.

[0012] (3) In the discharge chute described in (1) or (2) above, the sliding surface in the article sliding section may be formed flush with the surface in the circumferential direction. In this configuration, since it is formed flush with the surface in the circumferential direction, articles will not get caught on the sliding surface of the article sliding section. This reduces the amount of articles that adhere to the sliding surface.

[0013] (4) In the discharge chute described in any one of (1) to (3) above, the article sliding section includes an upper article sliding section having a supply port and a lower article sliding section having a discharge port, and the upper end of the lower article sliding section may be positioned on the back side of the lower end of the upper article sliding section so as to overlap each other. In this configuration, the size of the article sliding section when it is removed from the frame is reduced, further improving the worker's work efficiency. Also, even when the article sliding section is made up of two members, no step is formed between the members that protrudes toward the sliding surface. This reduces the likelihood of articles adhering to the sliding surface.

[0014] (5) In the discharge chute described in any one of (1) to (4) above, the frame may be formed from a strip-shaped plate member. In this configuration, the sliding surface in the article sliding section is supported surface-wise by the frame. This reduces the undulation of the sliding surface even if the article sliding section is made of a sheet-like member.

[0015] (6) In the discharge chute described in any one of (1) to (5) above, the frame may have a frame-shaped first support portion consisting of four corners, and a second support portion extending downward from approximately the center of adjacent corners in the first support portion, in addition to supporting the article sliding portion that forms the supply port from the back. In this configuration, even if the supply port has a shape that includes corners, the sliding surface in the article sliding portion can form smooth corners. This reduces the likelihood of articles adhering to the sliding surface.

[0016] (7) In the discharge chute described in any one of (1) to (6) above, a vibration applying unit may be further provided which contacts a part of the article sliding unit from the back side of the article sliding unit and applies vibration. In this configuration, vibration can be applied to the sliding surface of the article sliding unit, so that articles do not adhere to the sliding surface, and articles that have adhered to the sliding surface can be peeled off.

[0017] (8) The discharge chute described in any one of (1) to (7) above may be supplied from a weighing device for weighing the goods. In this configuration, the discharge chute used in the weighing device can be used to clear the sliding surface of the goods without increasing the workload of the worker.

[0018] (9) In the discharge chute described in (8) above, the weighing device is a combination weighing device, and the discharge chute may be supplied with articles that approximate the target weight after being weighed in combination by the combination weighing device. In this configuration, the discharge chute used in the combination weighing device can have its sliding surface cleared without increasing the workload of the worker. [Effects of the Invention]

[0019] According to one aspect of the present invention, the sliding surface of an article can be cleared without increasing the working burden on an operator.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a front view of an article weighing device according to an embodiment. [Figure 2] FIG. 2 is a block diagram of the article weighing device of FIG. 1. [Figure 3] FIG. 3 is a perspective view of a discharge chute seen obliquely from the front. [Figure 4] FIG. 4 is a perspective view of a frame of the discharge chute seen obliquely from the front. [Figure 5] FIG. 5(A) is a perspective view of an upper article sliding portion seen from above. FIG. 5(B) is a perspective view of the upper article sliding portion seen from the front and obliquely from above. [Figure 6] FIG. 6(A) is a perspective view of a lower article sliding portion seen from above. FIG. 6(B) is a perspective view of the lower article sliding portion seen from the front and obliquely from above. [Figure 7] FIG. 7 is an explanatory diagram for explaining a method of replacing an article sliding portion. [Figure 8] FIG. 8 is a perspective view showing a schematic configuration of a weighing device according to a modified example. [Figure 9] FIG. 9 is a front view of an article weighing device according to a modified example.

Mode for Carrying Out the Invention

[0021] Hereinafter, an embodiment of a discharge chute 50 according to one aspect of the present invention will be described with reference to the drawings. In the description of the drawings, the same reference numerals are assigned to the same elements, and redundant descriptions are omitted.

[0022] First, with reference to Figures 1 and 2, the article weighing device 1 equipped with a discharge chute 50 will be described. The article weighing device 1 shown in Figure 1 removes some articles from the container (placement section) B so that the weight (mass) of some articles falls within the range of a target weight, and discharges the articles to the outside. In other words, the article weighing device 1 is a weighing device that moves articles of a predetermined target weight from a group of articles X. The articles discharged by the article weighing device 1 are, for example, packaged in bags or placed in other containers in a subsequent process of the article weighing device 1, and then shipped as goods. The articles are, for example, food products such as noodles, meat, and seafood.

[0023] The item weighing device 1 comprises an item gripping device 10, a container transfer device 30, a discharge chute 50, and a control unit 70. The item gripping device 10 and the container transfer device 30 constitute a weighing device that supplies weighed items. More specifically, the item gripping device 10 and the container transfer device 30 constitute a combined weighing device that supplies items (weighed items) that approximate a target weight through combined weighing.

[0024] The article gripping device 10 grips articles from a group of articles X stored in container B. The article gripping device 10 comprises a robot hand 15 having a plurality of gripping parts 20, and a hand drive unit 11 that moves the robot hand 15 in the horizontal direction. The robot hand 15 and the hand drive unit 11 are attached, for example, to the main frame 3.

[0025] In the item weighing device 1 of this embodiment, for example, a pair of robot hands 15, 15 having the same configuration are arranged side by side on the left and right. In the following description, the robot hand 15 located on the left side in the front view of Figure 1 may be referred to as the first robot hand 15A, and the robot hand 15 located on the right side in the front view may be referred to as the second robot hand 15B. However, when describing the common configuration and function, the name robot hand 15 will be used simply.

[0026] The robot hand 15 has, for example, 16 gripping parts 20 arranged in four on each side. Each gripping part 20 has, for example, a plurality of gripping claws 21, and grips an article by closing the gripping claws 21. More specifically, the plurality of gripping claws 21 are moved from a state far apart from each other to a state close to each other, thereby gripping the article by sandwiching it between the plurality of gripping claws 21. Each gripping part 20 includes a gripping member driving mechanism 22 that drives the plurality of gripping claws 21. The gripping member driving mechanism 22 drives the gripping claws 21 using, for example, a motor or fluid pressure as a driving source. The robot hand 15 has a plurality of weighing devices 17 that measure the weight of the article gripped by each gripping part 20. That is, there are 16 weighing devices 17 for the 16 gripping parts 20.

[0027] Each weighing device 17 includes a sensor unit (not shown) housed within the casing of the weighing device 17 and a weight acquisition unit 17A. The sensor unit includes, for example, a force sensor and an acceleration sensor. For example, a strain gauge load cell may be used as the force sensor. For example, a strain gauge load cell or a MEMS-type miniature acceleration sensor may be used as the acceleration sensor. The weight acquisition unit 17A acquires the weight value of the item being held by the gripping unit 20 based on the force measured by the sensor unit. Note that the weighing device 17 is not limited to a method of weighing the item based on the force measured when the gripping unit 20 moves.

[0028] In the item weighing device 1, two hand drive units 11, 11, each having the same configuration, are provided corresponding to the first robot hand 15A and the second robot hand 15B. In the following description, the hand drive unit 11 located on the left side in the front view of Figure 1, which moves the first robot hand 15A, may be referred to as the first hand drive unit 11A, and the hand drive unit 11 located on the right side in the front view, which moves the second robot hand 15B, may be referred to as the second hand drive unit 11B. However, when describing the common configuration and function, the name "hand drive unit 11" will be used simply.

[0029] The hand drive unit 11 moves the robot hand 15 horizontally along two frames 13, 13 that extend parallel to each other. The hand drive unit 11 can move the block 12 that holds the robot hand 15 forward or backward. The hand drive unit 11 includes, for example, a servo motor, an air cylinder, etc., for moving the block 12.

[0030] The container moving device 30 moves the container B on which the group of articles X is placed in the vertical and horizontal directions, respectively. Container B is the member on which the group of articles X is placed. The container moving device 30 has a base 31 on which container B is held or placed, and a base drive unit 32 that moves the base 31. The container moving device 30 is attached, for example, to the main frame 3.

[0031] The base 31 is configured to be able to move horizontally and vertically. The base drive unit 32 moves the container B, which is held or placed on the base 31, between a first position P1 located below the first robot hand 15A and a second position P2 located below the second robot hand 15B. When the container B is in the first position P1, the base drive unit 32 moves the container B upward to bring it closer to the gripping part 20 of the first robot hand 15A. This allows the gripping part 20 to grip an item from the group of items X inside the container B.

[0032] When the amount of items X contained inside container B decreases, the container B with the reduced amount of items X inside is replaced by a new container B (containing a larger amount of items X) by a person or machine.

[0033] The base drive unit 32 moves the base 31 vertically and horizontally using a motor and fluid pressure as drive sources. The base drive unit 32 has a drive box 33, a first main arm section 34A and a second main arm section 34B which can swing around two parallel first axes L1 and second axes L2 provided in the drive box 33, and a first sub-arm section 35A and a second sub-arm section 35B which are rotatably connected to the ends of the first and second main arm sections 35A and 34B, respectively. The ends of the first sub-arm section 35A and the second sub-arm section 35B are rotatably connected to the rear end of the base 31. The first main arm section 34A and the second main arm section 34B each swing to face any direction by a motor (not shown) housed in the drive box 33. The base drive unit 32 has a two-axis parallel link mechanism with these configurations.

[0034] The base 31 is movable while maintaining a horizontal posture to a first position P1, a position closer to the first robot hand 15A than the first position P1, a second position P2, and a position closer to the second robot hand 15B than the second position P2. However, the configuration is not limited to the above, and the base drive unit 32 may have a left-right movement mechanism for moving the base 31 in the left-right direction and a vertical movement mechanism for moving the base 31 in the vertical direction. The position of the container B can also be adjusted by such a two-axis drive mechanism.

[0035] The base drive unit 32 raises the base 31 on which the container B is placed or held, bringing the container B and the group of articles X closer to the robot hand 15. The base drive unit 32 lowers the base 31 on which the container B is placed or held, moving the container B and the group of articles X away from the robot hand 15. The base drive unit 32 inserts the gripping claws 21 into the group of articles X contained in (placed on) the container B, and then separates the gripping claws 21 that have gripped the articles from the container B.

[0036] The discharge chute 50 guides the articles supplied from above downwards for discharge. The article weighing device 1 of this embodiment is provided with two discharge chutes 50, 50. The two discharge chutes 50, 50 are, for example, identical in size and shape and are arranged side by side. In the following description, the discharge chute 50 located on the left side in the front view of Figure 1 may be referred to as the first discharge chute 50A, and the discharge chute 50 located on the right side in the front view may be referred to as the second discharge chute 50B. However, there may be only one discharge chute 50, and even when two discharge chutes 50, 50 are provided, the name "discharge chute 50" is simply used when describing common configurations and functions.

[0037] The discharge chute 50 is a funnel-shaped member that is roughly conical or frustoconical in shape. The discharge chute 50 is positioned below the robot hand 15. Specifically, the first discharge chute 50A is positioned below the first robot hand 15A, and the second discharge chute 50B is positioned below the second robot hand 15B. The first position P1 of the container B is located between the first robot hand 15A and the first discharge chute 50A, and the second position P2 of the container B is located between the second robot hand 15B and the second discharge chute 50B. The upper end of the discharge chute 50 may be roughly square and the lower end may be roughly circular, or the upper end may be roughly circular and the lower end may be roughly square.

[0038] The first discharge chute 50A receives the item that the gripping part 20 of the first robot hand 15A releases its grip on and discharges (drops) when the container B is in the second position P2, and discharges it outside the item weighing device 1. Similarly, the second discharge chute 50B receives the item that the gripping part 20 of the second robot hand 15B releases its grip on and discharges (drops) when the container B is in the first position P1, and discharges it outside the item weighing device 1.

[0039] Furthermore, the item weighing device 1 of this embodiment has a distinctive feature in the configuration of its discharge chute 50 (first discharge chute 50A and second discharge chute 50B). This feature will be described in detail later.

[0040] The control unit 70 controls the operation of various components of the item weighing device 1. The control unit 70 is configured as a computer device including a processor such as a CPU, memory such as ROM and RAM, storage and communication devices. The control unit 70 has a first control unit 71 and a second control unit 72.

[0041] The first control unit 71 performs a combination calculation based on the weight values ​​of the items gripped by the gripping units 20. The combination calculation is a process of finding a combination of weight values ​​in which the sum of the weight values ​​of the items gripped by each of the gripping units 20 equals the target weight. The first control unit 71 first acquires each weight value. Next, based on the result of the combination calculation, the first control unit 71 selects the gripping unit 20 corresponding to the combination of weight values ​​that equals the target weight. The first control unit 71 then performs control to release the grip of the selected gripping unit 20 and discharge the item. The first control unit 71 releases the grip of the item from the gripping unit 20 above the discharge chute 50, causing the item to fall into the discharge chute 50.

[0042] The target weight range is a predetermined range of weights that includes the target weight (target weight or ideal weight). For example, the lower limit of the target weight range is the target weight, and the upper limit of the target weight range is 110% or 105% of the target weight.

[0043] The second control unit 72 switches between a gripping state in which the gripping unit 20 grips an article and a discharge state in which the gripped article is discharged. The second control unit 72 moves the hand drive unit 11 and the base drive unit 32 to bring the gripping unit 20 closer to the container B. The second control unit 72 controls the gripping member drive mechanism 22 to put the gripping unit 20 into a gripping state and causes some of the articles of the article group X placed in the container B to be gripped by the gripping claws 21 of each gripping unit 20. The second control unit 72 controls the gripping member drive mechanism 22 to release the grip of the article by the gripping unit 20, thereby discharging (dropping) the article into the discharge chute 50.

[0044] Next, the discharge chute 50 (first discharge chute 50A and second discharge chute 50B) will be described in detail. As shown in Figures 3, 4, 5(A), 5(B), 6(A), and 6(B), the discharge chute 50 comprises an article sliding section 51 and a frame 61. The article sliding section 51 has a funnel shape when supported by the frame 61. The article sliding section 51 has a supply port 51A into which articles are supplied from above, a discharge port 51B into which articles are discharged downwards, and a sliding surface 51C into which articles slide from the supply port 51A to the discharge port 51B. The sliding surface 51C is textured. The article sliding section 51 is formed from a flexible sheet-like member made of a resin material such as polyester or polyolefin.

[0045] The article sliding section 51 of this embodiment is formed from two members: an upper article sliding section 52 (see Figures 5(A) and 5(B)) having a supply port 51A, a connection port 52C, and a sliding surface 51C, and a lower article sliding section 53 (see Figures 6(A) and 6(B)) having a connection port 53C, a discharge port 51B, and a sliding surface 51C. The upper article sliding section 52 and the lower article sliding section 53 are joined together, for example, by welding the ends of a strip-shaped member in the longitudinal direction, and are formed to become a funnel-shaped member that is approximately inverted cone-shaped or approximately inverted frustoconical when attached to the frame 61 (when viewed from the horizontal direction). The sliding surface 51C side of the portion where the ends are welded together is seamlessly processed. That is, the sliding surfaces 51C of the upper article sliding section 52 and the lower article sliding section 53 are formed flush in the circumferential direction. Furthermore, the aforementioned textured surface is also applied to the sliding surface 51C of the welded portion.

[0046] The upper end of the lower article sliding section 53 is positioned on the back side of the lower end 52B of the upper article sliding section 52 (the back side when the sliding surface 51C side of the upper article sliding section 52 is considered the front side), so that they overlap each other. As a result, the connection port 52C of the upper article sliding section 52 and the connection port 53D of the lower article sliding section 53 are connected (in communication). The upper article sliding section 52 has a fixing portion 51D formed therein for fixing the article sliding section 51 to the frame 61, which will be described later. Similarly, the lower article sliding section 53 has a fixing portion 51D formed therein for fixing the article sliding section 51 to the frame 61, which will be described later. The procedure for fixing the upper article sliding section 52 and the lower article sliding section 53 to the frame 61 will be described in detail later.

[0047] The frame 61 contacts a portion of the article sliding section 51 from the back side of the sliding surface 51C and detachably supports the article sliding section 51. The frame 61 is formed from a strip-shaped plate member. Examples of materials for forming the plate member include stainless steel. The frame 61 has a first frame section (first support section) 62, a second frame section 63, a third frame section 64, four vertically extending sections (second support sections) 65, and four mounting sections 67.

[0048] The first frame portion (first support portion) 62 supports the upper end portion 52A of the upper article sliding portion 52 that forms the supply port 51A from the back side. When viewed from above, the first frame portion 62 is formed in a frame shape including four corner portions 62A. When viewed from above, the first frame portion 62 of this embodiment is a frame portion with a substantially rectangular shape, and the four corner portions are chamfered in an R-chamfer shape. The second frame portion 63 supports the upper end portion 53A of the lower article sliding portion 53 that forms the discharge port 51B from the back side. The back side here refers to the side opposite to the sliding surface 51C.

[0049] The second frame portion 63 is formed in a frame shape including four corner portions 63A when viewed from above. In this embodiment, the second frame portion 63 is a substantially rectangular frame when viewed from above, and the four corner portions are chamfered in an R-chamfered manner. The third frame portion 64 supports the lower end portion 53B of the lower article sliding portion 53 that forms the discharge port 51B from the back side. The back side here refers to the side opposite to the sliding surface 51C. The third frame portion 64 is formed in a round frame shape when viewed from above.

[0050] The vertical extensions 65 extend downward from approximately the center of adjacent corners 62A in the first frame section 62 to the third frame section 64. The vertical extensions 65 intersect with the first frame section 62, the second frame section 63, and the third frame section 64, and each intersection is fastened to the others by fastening members such as bolts. The mounting portion 67 is attached to the vertical extensions 65. The mounting portion 67 is attached to the vertical extensions 65 slightly above the intersection with the second frame section 63. The mounting portion 67 is locked to, for example, the main frame 3. As a result, the frame 61 and, consequently, the discharge chute 50 (the upper article sliding portion 52 and the lower article sliding portion 53 attached to the frame 61) are fixed to the main frame 3.

[0051] Next, we will explain a replacement method for removing an item sliding section 51 with items or other objects attached to its sliding surface 51C, and installing a clear item sliding section 51 with no items or other objects attached to its sliding surface 51C. First, we will explain how to remove the item sliding section 51 from the frame 61. When removing the item sliding section 51 from the frame 61, remove it starting with the upper item sliding section 52.

[0052] The upper article sliding section 52 has its fixing section 51D attached to the first frame section 62. Specifically, the fixing section 51D protruding from the upper end portion 52A of the upper article sliding section 52, as shown in Figures 5(A) and 5(B), is bent towards the back side of the first frame section 62 (the back side when the surface in contact with the sliding surface 51C at the upper end portion 52A is considered the front side), and as shown in Figure 7(1), the upper end portion 52A, the first frame section 62, and the fixing section 51D are fixed by being sandwiched together by a clip 69 or the like. Therefore, the worker can remove the upper article sliding section 52 from the frame 61 by removing the clip 69. Figure 7(2) shows the state after the upper article sliding section 52 has been removed from the frame 61.

[0053] The lower article sliding section 53 has its fixing section 51D attached to the second frame section 63. Specifically, the fixing section 51D protruding from the upper end portion 53A of the lower article sliding section 53, as shown in Figures 6(A) and 6(B), is bent towards the back side of the second frame section 63 (the back side when the surface in contact with the sliding surface 51C at the upper end portion 53A is considered the front side), and as shown in Figure 7(2), the upper end portion 53A, the second frame section 63, and the fixing section 51D are fixed by being sandwiched together by a clip 69 or the like. Therefore, the worker can remove the lower article sliding section 53 from the frame 61 by removing the clip 69. Figure 7(3) shows the state after the upper article sliding section 52 and the lower article sliding section 53 have been removed from the frame 61. The article sliding section 51 is removed from the frame 61 in this manner.

[0054] Next, the method for attaching the article sliding section 51 to the frame 61 will be described. When attaching the article sliding section 51 to the frame 61, the worker attaches it to the frame 61 from the lower article sliding section 53, in the opposite way to when removing the article sliding section 51 from the frame 61. Specifically, the worker positions the lower article sliding section 53 inside the frame 61 as shown in Figure 7(3). Next, the worker bends the fixing section 51D protruding from the upper end portion 53A of the lower article sliding section 53, as shown in Figures 6(A) and 6(B), to the back side of the second frame portion 63, and then clamps the upper end portion 53A, the second frame portion 63, and the fixing section 51D together with a clip 69 or the like, as shown in Figure 7(2). This allows the worker to attach the lower article sliding section 53 to the frame 61.

[0055] Next, the worker attaches the upper article sliding section 52 to the frame 61. Specifically, the worker positions the upper article sliding section 52 inside the frame 61 in the state shown in Figure 7(2). Next, the worker bends the fixing section 51D protruding from the upper end portion 52A of the upper article sliding section 52, as shown in Figures 5(A) and 5(B), to the back side of the first frame portion 62, and then clamps the upper end portion 52A, the first frame portion 62, and the fixing section 51D together with a clip 69 or the like, as shown in Figure 7(1). This allows the worker to attach the upper article sliding section 52 to the frame 61. In this way, the article sliding section 51 is attached to the frame 61.

[0056] The effects and advantages of the discharge chute 50 of the above embodiment will now be explained. In the discharge chute 50 of the above embodiment, the burden on the worker is reduced because only the article sliding section 51, which is lighter in weight and smaller in size than the entire discharge chute 50, can be replaced. In addition, the article sliding section 51 (upper article sliding section 52 and lower article sliding section 53) is flexible and can be folded or bent. This makes it easy to attach the article sliding section 51 to the frame 61 while inserting and removing the article sliding section 51 in a narrow space. As a result, the sliding surface 51C of the article can be cleared without increasing the workload on the worker.

[0057] Furthermore, for example, it is conceivable to lay multiple parts that are less likely to adhere to items along the circumferential direction of the sliding surface of a conventional discharge chute. In such a configuration, attaching and detaching the multiple parts would be time-consuming, but in the discharge chute 50 of this embodiment, the parts are not divided in the circumferential direction, resulting in excellent workability for replacement.

[0058] In the above embodiment, the article sliding section 51 of the discharge chute 50 is formed from a resin material, and the sliding surface 51C of the article sliding section 51 is given an uneven surface. This reduces the frictional resistance of the article against the sliding surface 51C of the article sliding section 51. This reduces the likelihood of the article adhering to the sliding surface 51C.

[0059] In the above embodiment, the sliding surface 51C of the article sliding section 51 of the discharge chute 50 is formed flush with the surface in the circumferential direction. As a result, since the sliding surface 51C is formed flush with the surface in the circumferential direction, articles will not get caught on the sliding surface 51C of the article sliding section 51. This reduces the amount of articles that adhere to the sliding surface 51C.

[0060] In the above embodiment, the article sliding section 51 of the discharge chute 50 is formed by an upper article sliding section 52 and a lower article sliding section 53. This reduces the size of the article sliding section 51 when it is removed from the frame 61, further improving the worker's work efficiency. Furthermore, the upper end portion 53A of the lower article sliding section 53 is positioned on the back side of the lower end portion 52B of the upper article sliding section 52, so that they overlap each other. As a result, even when the article sliding section 51 is composed of two members, no step is formed between the members that protrudes toward the sliding surface 51C. This reduces the amount of articles that adhere to the sliding surface 51C.

[0061] In the above embodiment, the frame 61 of the discharge chute 50 is formed from a strip-shaped plate member. As a result, the back side of the sliding surface 51C in the article sliding section 51 is supported surfacely by the frame 61. This reduces the undulation of the sliding surface 51C even if the article sliding section 51 is made of a sheet-like material.

[0062] Even if the frame 61 of the discharge chute 50 in the above embodiment has a shape such that the supply port 51A has a corner portion 62A, the sliding surface 51C in the article sliding section 51 can have a smooth corner portion 62A. This reduces the amount of article that adheres to the sliding surface 51C.

[0063] In the above embodiment, the discharge chute 50 is weighed in combination by a combined weighing device consisting of an article gripping device 10 and a container transfer device 30, and articles approximately the target weight are supplied. As a result, the discharge chute 50 used in the combined weighing device consisting of the article gripping device 10 and the container transfer device 30 can have its sliding surface 51C of the articles cleared without increasing the workload of the operator.

[0064] Although one embodiment has been described above, one aspect of the present invention is not limited to the above embodiment. Various modifications are possible without departing from the spirit of the invention.

[0065] In the above embodiment, an example was given in which the discharge chute 50 according to one aspect of the present invention is provided in the article weighing device 1, but it may also be provided in the combination weighing device 100 as shown in Figure 8. The combination weighing device 100 is a device that calculates the combined weight of articles. The combination weighing device 100 comprises a distributed feeder 101, a plurality of radial feeders 103, a plurality of pool hoppers 105 and a plurality of weighing hoppers 107 that constitute the weighing device, a discharge chute 50, a weighing unit 111 and a control unit 113.

[0066] The weighing unit 111 is a load cell that supports each of the multiple weighing hoppers 107. When an item is temporarily stored in each weighing hopper 107, the weighing unit 111 weighs (acquires) the weight value of each weighing hopper (a weighing value corresponding to the mass of the item). The control unit 113 stores the weighing value measured by the weighing unit 111 in association with the weighing hopper 107 that stores the item corresponding to that weighing value. From the multiple weighing values ​​of each item measured by the weighing unit 111 and associated with each weighing hopper 107, the control unit 113 selects a combination of items such that the sum equals the target weight value. Then, the control unit 113 discharges the items from the weighing hopper 107 of the calculated combination into the discharge chute 50. The configuration of the discharge chute 50 is the same as that of the above embodiment, so a detailed explanation is omitted here.

[0067] Even when a discharge chute 50 is used in such a combination weighing device 100, the sliding surface 51C of the items can be cleared without increasing the workload of the worker.

[0068] In addition to the configurations of the above embodiments and modified examples, a vibration-applying unit 80 may be provided, as shown in Figures 2 and 8, which contacts a part of the article sliding unit 51 from the back side of the article sliding unit 51 and applies vibration. An example of the vibration-applying unit 80 is a rotating plate that contacts the back side of the article sliding unit 51 and rotates by a drive unit such as a motor (actuator). Another example of the vibration-applying unit 80 is a contact part attached to a linear motion mechanism (cylinder, etc.) or a cam mechanism driven by a drive unit such as a motor (actuator). With such a configuration, vibration can be applied to the sliding surface 51C of the article sliding unit 51, thereby suppressing the adhesion of articles to the sliding surface 51C, and also allowing articles that have adhered to the sliding surface 51C to be peeled off.

[0069] In the above embodiment and its modifications, an example was given of a configuration in which the gripping part 20 grips an article by moving the base 31 to bring the container B closer to the robot hand 15. However, a different configuration may be adopted in which the gripping part 20 grips an article by moving (for example, lowering) the robot hand 15 or the gripping part 20 to bring it closer to the container B. In that case, the robot hand 15 or the gripping part 20 is provided with an appropriate known moving mechanism. Also, by moving (for example, raising) the robot hand 15 or the gripping part 20, the gripping claws 21 that are gripping the article can be separated from the container B.

[0070] In the above embodiments and modifications, examples were given in which two discharge chutes 50 (first discharge chute 50A, second discharge chute 50B) are provided, but the invention is not limited to this, and only one discharge chute 50 may be provided. In that case, the upper opening of the single discharge chute 50 should be set to a size and position that encompasses the entirety of the first position P1 and the second position P2 in a plan view. Furthermore, as shown in Figure 9, in addition to the two discharge chutes 50 (first discharge chute 50A, second discharge chute 50B) of the above embodiments, a collection chute 50C may be provided located below the two discharge chutes 50.

[0071] In the above embodiments and modifications, examples were given in which two robot hands 15 (first robot hand 15A and second robot hand 15B) are provided, but only one robot hand 15 may be provided.

[0072] Each gripping section 20 may have three, four, or five gripping claws 21. Each gripping claw may have six or more gripping claws 21. Increasing the number of claws allows for gripping heavier items and combining them for weighing.

[0073] The item transfer system does not need to perform combined weighing. In the item transfer system, a weight calculation unit that calculates the weight of an item gripped by a gripping unit is not provided, and the weight of the item may be calculated after it has been transferred. [Explanation of Symbols]

[0074] 1...Item weighing device, 50...Discharge chute, 50A...First discharge chute, 50B...Second discharge chute, 50C...Collection chute (discharge chute), 51...Item sliding section, 51A...Supply port, 51C...Sliding surface, 52...Upper item sliding section (item sliding section), 53...Lower item sliding section (item sliding section), 61...Frame, 62...First frame section (first support section), 65...Upper and lower extending section (second support section), 80...Vibration application section, 100...Combined weighing device, B...Container (placement section), X...Group of items.

Claims

1. A discharge chute that guides and discharges items supplied from above, A funnel-shaped article sliding section, formed from a flexible sheet-like material, has a supply port from which the article is supplied from above, a discharge port from which the article is discharged downward, and a sliding surface for sliding the article from the supply port to the discharge port, and is substantially inverted cone-shaped or substantially inverted frustoconical in shape. A discharge chute comprising: a frame that contacts a part of the article sliding portion from the back side of the sliding surface and detachably supports the article sliding portion.

2. The article sliding portion is formed from a resin material. The discharge chute according to claim 1, wherein the sliding surface in the article sliding section is subjected to a textured finish.

3. The discharge chute according to claim 1 or 2, wherein the sliding surface in the article sliding section is formed flush with the circumferential surface.

4. The article sliding section includes an upper article sliding section having the supply port and a lower article sliding section having the discharge port, The discharge chute according to claim 1, wherein the upper end of the lower article sliding section is positioned on the back side of the lower end of the upper article sliding section and is arranged to overlap with each other.

5. The discharge chute according to claim 1 or 2, wherein the frame is formed of a strip-shaped plate member.

6. The frame supports the article sliding portion that forms the supply opening from the back side, and also has a frame-shaped first support portion consisting of four corners, The discharge chute according to claim 1 or 2, further comprising a second support portion extending downward from approximately the center of adjacent corners in the first support portion.

7. The discharge chute according to claim 1 or 2, further comprising a vibration applying unit that contacts a part of the article sliding unit from the back side of the article sliding unit to apply vibration.

8. A discharge chute according to claim 1 or 2, supplied from a weighing device for weighing the aforementioned article.

9. The aforementioned weighing device is a combination weighing device, The discharge chute according to claim 8, wherein the articles are weighed in combination by the combination weighing device and supplied with an amount approximating the target weight.

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