Conveying device

Abstract

This invention provides a transport device that enables smooth retrieval operations using a robotic arm. [Solution] The transport system 10 is a transport device for supplying objects to be transported to a sorting transport unit 80 that sorts objects using a robot arm, and includes a sorting unit 30 that sorts and transports objects to be transported, a downstream transport device 70 which has a transport path wider than that of the sorting unit 30 and transports objects sent out from the sorting unit 30 to the downstream sorting transport unit 80 at a predetermined speed, and a control device 90 that controls the driving of the sorting unit 30 and the downstream transport device 70, and the control device 90 controls the objects to be transported to be sorted to different positions on the downstream transport device 70 via the sorting unit 30 and transported thereafter so that the objects to be transported are lined up on the transport path of the downstream transport device 70 at a distance from each other.

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] In recent years, from the perspective of environmental protection, the recycling of waste resources such as plastics has been recommended. In order to recycle waste resources, it is necessary to classify them according to the form of the waste resources, for example, whether they are bagged waste resources or waste resources such as plastic containers, and then send them to subsequent processes such as crushing. However, there are many parts of these sorting operations that have to be carried out manually, and there is a problem that the sorting operations are laborious.

[0003] Regarding this point, for example, Patent Document 1 discloses a 3D sensor that measures the shape and height of waste on a conveyor, a visible light camera that photographs the waste arranged in series on the conveyor, and a metal sensor. Based on the measurement results of the visible light camera and the metal sensor, the material of the waste is discriminated, and information regarding the center of gravity of the waste and the posture of the gripping part of the robot arm when the waste part and the robot arm grip is acquired by a discrimination device, and a waste sorting device that sorts using the robot arm based on this information is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, since the conveyed objects such as plastic containers and plastics filled in bags described above are relatively lightweight when using a robot arm, they are likely to roll on the belt conveyor during conveyance, or move with some slippage and collide with other conveyed objects existing in the front and back and remain in a state of collision during conveyance.

[0006] On the other hand, if the objects being transported are in contact with each other, it is not possible to smoothly remove them from the conveyor belt using a robotic arm. Therefore, in order to sort the objects being transported using a robotic arm, it is necessary to ensure that the objects on the conveyor belt are separated from each other beforehand.

[0007] The present invention aims to provide a transport device that enables smooth retrieval operations using a robotic arm. [Means for solving the problem]

[0008] The present invention relates to a conveying device for supplying objects to be conveyed to a sorting area using a robotic arm, and includes a first conveying unit configured to distribute and convey objects, a second conveying unit configured to have a wider conveying path than the first conveying unit, which conveys objects sent out from the first conveying unit to a downstream sorting area by conveying them at a predetermined speed, and a control unit that controls the driving of the first and second conveying units, wherein the control unit distributes the objects to be conveyed to different positions in the second conveying unit via the first conveying unit and conveys them so that the objects to be conveyed are lined up on the conveying path of the second conveying unit at a distance from each other.

[0009] In the conveying device of the present invention, the control device may be controlled so that the conveying speed of the second conveying unit is lower than that of the first conveying unit.

[0010] In the conveying device of the present invention, the first conveying unit includes a metal detection unit for detecting metal, and the control unit may control the drive of the second conveying unit to send the object to be conveyed to a metal-contaminated discharge position set at a different position from the second conveying unit when metal is detected via the metal detection unit.

[0011] In the conveying device of the present invention, the objects to be conveyed may include at least two different forms of conveyed objects, such as plastic materials in bags and resin containers. [Effects of the Invention]

[0012] According to the conveying device of the present invention, by distributing the objects to be conveyed to different locations and conveying them, it is possible to ensure spacing between the objects and send them out onto the second conveying section to be arranged. As a result, multiple objects to be conveyed can be arranged on the second conveying section at a distance from each other so as not to interfere with the sorting work by the robot arm. As a result, sorting work using the robot arm can be performed efficiently, and the workability of the retrieval work can be improved. [Brief explanation of the drawing]

[0013] [Figure 1] This is a plan view showing the overall configuration of a transport system, which is one embodiment of the present invention. [Figure 2] This is a schematic plan view illustrating the sorting method of objects to be transported by the sorting unit included in Figure 1. [Figure 3] This is a perspective view showing the configuration of the distribution unit included in Figure 1. [Figure 4] Figure 1 is a functional block diagram centered on the control device shown. [Figure 5] This is a flowchart showing the flow of transport control in the control device shown in Figure 1. [Figure 6] This figure shows the configuration of a modified version of the transport system shown in Figure 1, similar to Figure 4. [Modes for carrying out the invention]

[0014] A conveying device, which is one embodiment of the present invention, will be described with reference to the drawings. In the following description, the X direction indicates the horizontal direction substantially parallel to the conveying direction, the X direction indicates the depth direction, the Y direction indicates the width direction, and the Z direction indicates the vertical direction. Figure 1 is a diagram showing the schematic configuration of a conveying system (conveying device) 10, which is one embodiment of the present invention. As shown in Figure 1, the conveying system 10 consists of an upstream conveying device 20 located on the front side, and an upstream conveying device 50 and a downstream conveying device 70 located parallel to the conveying device 20 on the back side. It has the function of sending multiple types of conveying objects of different shapes, such as bagged waste containing plastics and hollow plastic containers that do not contain any contents, to a downstream sorting conveying unit (sorting area) 80 in a staggered arrangement that keeps them separate from each other without sticking together.

[0015] The upstream conveying devices 20 and 50 are supplied one by one at predetermined intervals (for example, 3 or 5 seconds) from a supply device (not shown) installed on the upstream side, as indicated by the white arrows in Figure 1. These supply devices include waste in bags containing plastics and other materials, and hollow plastic containers that do not contain any contents (for example, poly tanks).

[0016] Since the upstream conveying device 20 and the upstream conveying device 50 have the same configuration, the following description will mainly focus on the upstream conveying device 20, and the description of the upstream conveying device 50 will be omitted as appropriate.

[0017] As shown in Figure 1, the upstream conveying device 20 consists of a chute 21 that sends objects to be conveyed from the upstream side to the downstream side using the difference in elevation, an intermediate conveying unit 24 that sends objects to be conveyed from the conveying path 21R of the chute 21 to the downstream side, and a distribution unit (first conveying unit) 30 that distributes and sends objects to be conveyed from the intermediate conveying unit 24 to the downstream conveying device (second conveying unit) 70.

[0018] Shooter 21 has a function of sending out the object to be conveyed downstream while sliding it on a conveying path 21R which has a substantially U-shaped cross-section and is inclined such that the vertical position on the inlet side located upstream of the conveying path is high and the discharge port side (i.e., the side of the intermediate conveying unit 24) located downstream is low. In plan view, the conveying path 21R of the shooter 21 is formed in a substantially trapezoidal shape where the width on the inlet side is wide and the width on the discharge port side is narrow, and guide plates 21A and 21B are erected on both ends of the conveying path 21R. This prevents the object to be conveyed from falling off when guiding it to the downstream intermediate conveying unit 24.

[0019] Also, a metal detection sensor 22 is installed directly below the conveying path 21R in the shooter 21, and it also has a function of detecting whether a metal member is mixed in the object to be conveyed. Further, a first passage detection unit 23 for detecting the passage of the object to be conveyed is provided at a portion slightly downstream from the central portion of the conveying path 21R in the shooter 21. This first passage detection unit 23 is constituted by, for example, a transmissive photoelectric sensor or a reflective photoelectric sensor, and has a role of detecting the object to be conveyed passing through the conveying path 21R in the shooter 21.

[0020] FIG. 2 is an enlarged view showing a portion from the intermediate conveying unit 24 included in FIG. 1 to the downstream conveying device 70. In FIG. 2, bags of waste C1, C2, C3,... (hereinafter, appropriately referred to as "waste C" when there is no need for particular distinction) filled with plastics and hollow plastic containers D1, D2 (hereinafter, appropriately referred to as "plastic container D" when there is no need for particular distinction) among the objects to be conveyed on the endless belt 73 of the downstream conveying device 70 are shown respectively. Also, in FIG. 2, virtual lines L1 and L2 are shown as one-dot chain lines respectively. The area in front of the virtual line L1 is an area where the objects to be conveyed sent to the first unloading position PF line up, and the inner area between the virtual line L1 and the virtual line L2 is an area where the objects to be conveyed sent to the second unloading position PR line up.

[0021] As shown in FIG. 2, the intermediate transfer unit 24 is a belt conveyor including an endless belt 26 wound between a driving roller 24A and a driven roller 24B, and has a role of transferring an object to be transferred to the downstream side of the transfer path via the endless belt 26 as the driving roller 24A rotates. Guide plates 27A and 27B are erected on both ends of the endless belt 26 to prevent the object to be transferred from dropping out of the transfer path in the intermediate transfer unit 24.

[0022] Also, a second passage detection unit 25 for detecting the passage of the object to be transferred is provided at the central portion in the transfer path of the intermediate transfer unit 24. This second passage detection unit 25 is also, for example, constituted by a photoelectric sensor, and is a sensor for temporarily stopping the transfer in the intermediate transfer unit 24 when the passage of the object to be transferred is detected before the rotational movement in the downstream sorting unit 30 is completed.

[0023] The sorting unit 30 is a sorting device that alternately sorts and sends out an object to be transferred sent from the upstream intermediate transfer unit 24 to the front-side first unloading position PF (see FIG. 1) and the back-side second unloading position PR (see FIG. 1).

[0024] Here, FIG. 3 is a perspective view showing the configuration of the sorting unit 30. As shown in FIG. 3, the sorting unit 30 has an endless conveyor 31 for conveying an object to be transferred. The endless conveyor 31 is a belt conveyor including an endless belt 35 wound between a driving roller 32 and a driven roller 33, similar to the intermediate transfer unit 24, and is rotatably supported via a built-in rotation mechanism.

[0025] The endless conveyor 31 is positioned to travel on arc-shaped guide rails GL1 and GL2 installed on the floor surface via multiple casters 36A and 36B. The endless conveyor 31 has an air cylinder (not shown) built into it, and as the cylinder extends and retracts, the casters 36A and 36B travel on the guide rails GL1 and GL2, causing the endless conveyor 31 to rotate. This rotates the endless conveyor 31 to a position where the objects to be conveyed are alternately transported to the first discharge position PF (see Figure 1) on the near side and the second discharge position PR (see Figure 1) on the far side of the downstream conveying device 70.

[0026] This allows the objects to be transported to be distributed to the front and back sides, resulting in a staggered arrangement of the transported objects and allowing for wider spacing between them. As a result, even if the transported objects slip or roll slightly on the endless belt 73, it is possible to prevent the transported objects from sticking together and lining up on the downstream transport device 70.

[0027] As shown in Figure 3, guide plates 37A and 37B are erected on both sides of the endless belt 35 of the endless conveyor 31. This prevents the conveyed object from deviating from the conveying path and falling.

[0028] Furthermore, if metal is detected via the metal detection sensor 22 (see Figure 1) installed on the upstream side, the endless conveyor body 31 of the sorting unit 30 rotates to a position where it conveys the object to a metal contamination discharge position PO located outside the downstream conveying device 70, instead of the first discharge position PF on the front side and the second discharge position PR on the back side. A container for accommodating the object to be conveyed is pre-installed at the metal contamination discharge position PO. This prevents non-recyclable metals from being mixed into subsequent processes.

[0029] As shown in Figure 2, the downstream conveying device 70 has the role of gradually conveying the objects to be conveyed from the upstream distribution unit 30 to the downstream side, thereby arranging them in a spaced-out manner so that they do not stick together. The downstream conveying device 70 is equipped with an endless belt 73 stretched between the drive roller 71 and the driven roller 72. The endless belt 73 is wide in order to receive the objects to be conveyed from the upstream distribution unit 30, distributing them to the first discharge position PF on the near side and the second discharge position PR on the far side. Guide plates 74A and 74B are erected on both ends of the endless belt 73 of the downstream conveying device 70. This helps to prevent the objects to be conveyed from falling.

[0030] Furthermore, the downstream conveying device 70 is equipped with a leading detection sensor 78 at the downstream end of the conveying path. This allows for the detection of the conveyed object located at the furthest downstream end of the downstream conveying device 70.

[0031] In this embodiment, as shown in Figure 2, the system is configured such that when up to six objects to be transported are lined up alternately on the endless belt 73 of the downstream transport device 70 via the distribution unit 30, the downstreammost object to be transported is detected via the leading detection sensor 78.

[0032] In this embodiment, the chute 21, intermediate transport unit 24, distribution unit 30, and downstream transport device 70 are arranged in this order such that the vertical position of the transport path (i.e., the transport path 21R of the chute 21, the endless belt 35, and the endless belt 73) that transports the objects to be transported decreases in that order. This allows the objects to be transported to move smoothly from the upstream side to the downstream side of the transport path.

[0033] As shown in Figure 1, the sorting and conveying unit 80 includes a wide endless belt 83 stretched endlessly between a drive roller 81 and a driven roller 82, and guide plates 84A and 84B erected on both ends of the endless belt 83. The sorting and conveying unit 80 serves as a table (sorting area) for transporting objects placed on the endless belt 83 using a robot arm (not shown) by various picking methods such as picking up, lifting, and pushing them out. Furthermore, the vertical position of the endless belt 83 of the sorting and conveying unit 80 is the same as the vertical position of the endless belt 73 of the downstream conveying device 70, or the endless belt 73 is positioned slightly lower. This allows for a smooth transfer of objects from the downstream conveying device 70 to the sorting and conveying unit 80.

[0034] Here, using discrimination means such as captured images taken of the objects to be transported on the endless belt 83 of the sorting and transporting unit 80, the external and material characteristics of the objects to be transported are identified, and according to the type of identified characteristics, the objects are transported by a robot arm to a pre-set collection location.

[0035] Furthermore, the endless belt 83 is set to have approximately the same width as the endless belt 73 of the downstream conveying device 70.

[0036] Figure 4 is a functional block diagram centered on the control device 90 shown in Figure 1. As shown in Figure 4, the transport system 10 includes a control device (control unit) 90 that comprehensively controls the operation of the entire system. The control device 90 controls the transport drive of the intermediate transport unit 24, the sorting unit 30, and the downstream transport device 70, as well as the rotational drive of the sorting unit 30.

[0037] Specifically, when the intermediate transport unit 24, the sorting unit 30, and the downstream transport device 70 are being transported, the control device 90 detects an object to be transported via the first passage detection unit 23 of the chute 21, and rotates the endless transport body 31 of the sorting unit 30 so that the transport direction of the endless transport body 31 alternately faces the first discharge position PF and the second discharge position PR for a predetermined time. Furthermore, if metal is detected via the metal detection sensor 22, the control device 90 rotates the endless transport body 31 so that the transport direction faces the metal contamination discharge position PO instead of the first discharge position PF and the second discharge position PR for a predetermined time. This makes it possible to exclude transported objects containing metals that cannot be recycled from the transport path.

[0038] Furthermore, the predetermined time is set based on the time required for the transport object detected by the first passage detection unit 23 to be sent via the sorting unit 30 to the first discharge position PF, the second discharge position PR, and the metal contamination discharge position PO.

[0039] Furthermore, in this embodiment, the control device 90 controls the rotation of the distribution unit 30 so that it rotates to one of the first discharge position PF, the second discharge position PR, or the metal contamination discharge position PO for a predetermined time, and then returns to the standby position N (see Figure 1), which is set midway between the first discharge position PF and the second discharge position PR.

[0040] The transport speeds of the objects to be transported in the intermediate transport unit 24 and the sorting unit 30 are set such that the intermediate transport unit 24 is slower than the sorting unit 30. More specifically, it is preferable to set the transport speed of the intermediate transport unit 24 to be at least half the transport speed of the sorting unit 30 and at least two-thirds the transport speed of the sorting unit 30. This reduces the speed difference in transport speed when the objects to be transported move from the intermediate transport unit 24 to the sorting unit 30, and prevents the objects to be transported from rolling or sliding on the endless belt 35.

[0041] On the other hand, the transport speed of the objects to be transported in the downstream transport device 70 is set to be lower than the transport speed of the distribution unit 30 directly upstream. More specifically, if the transport speed of the distribution unit 30 is V1 and the transport speed of the downstream transport device 70 is V2, it is preferable to set the speed ratio to be in the range of V1:V2=6:1 to V1:V2=10:1. Here, if the endless belt 73 of the downstream transport device 70 is stopped when the objects to be transported move from the distribution unit 30 to the downstream transport device 70, the objects to be transported will be more likely to roll on the endless belt 73 when moving to the downstream transport device 70. Therefore, in this embodiment, the endless belt 73 of the downstream transport device 70 is driven at a low speed to suppress the rolling of the objects to be transported on the endless belt 73. In addition, by driving the endless belt 73 of the downstream transport device 70 at a low speed, it becomes possible to sequentially arrange the objects to be transported on the endless belt 73 of the downstream transport device 70 without them sticking together.

[0042] Furthermore, when the control device 90 detects an object to be transported via the leading detection sensor 78 of the downstream transport device 70, it determines whether the downstream sorting transport unit 80 is in a state where it can accept the object, in other words, whether the picking operation using the robot arm in the sorting transport unit 80 has been completed and no objects to be transported remain. If the downstream sorting transport unit 80 is in a state where it can accept the object, in other words, if the picking operation in the sorting transport unit 80 has been completed and no objects to be transported remain, the control device 90 drives the sorting transport unit 80 together with the downstream transport device 70 to transport the object to be transported to the sorting transport unit 80. On the other hand, if the downstream sorting transport unit 80 is not in a state where it can accept the object, the control device 90 temporarily stops the transport of the intermediate transport unit 24, the sorting unit 30, and the downstream transport device 70.

[0043] Next, the flow of sorting control processing during transport operation in the control device 90 will be explained using Figure 5. Figure 5 is a flowchart showing the flow of sorting control of transported objects in the control device 90. As shown in Figure 5, the control device 90 executes transport drive for the intermediate transport unit 24, the sorting unit 30, and the downstream transport device 70, and then executes sorting control of transported objects. More specifically, if a transported object is detected via the first passage detection unit 23 of the chute 21 (step S1: YES), and metal is detected via the metal detection sensor 22 of the chute 21 (step S2: YES), the control device 90 rotates the sorting unit 30 so that its transport direction faces the metal contamination discharge position PO (step S4).

[0044] Furthermore, if the control device 90 detects an object to be transported via the first passage detection unit 23 of the chute 21 (step S1: YES) and no metal is detected via the metal detection sensor 22 of the chute 21 (step S2: NO), it rotates the endless transport body 31 in the sorting unit 30 for a predetermined time so that the transport direction of the endless transport body 31 faces either the first discharge position PF on the front side or the second discharge position PR on the back side from the standby position N (step S3).

[0045] Here, in step S3, the control device 90 rotates the distribution unit 30 to the opposite side of the previous rotational displacement so that the objects to be conveyed are arranged alternately on the endless belt 73 of the downstream conveying device 70, in other words, arranged in a staggered pattern. More specifically, if the previous distribution position was the first discharge position PF, the control device 90 rotates the endless conveying body 31 so that the conveying direction of the distribution unit 30 faces the second discharge position PR on the opposite side, and conversely, if the previous distribution position was the second discharge position PR, the control device 90 rotates the endless conveying body 31 in the distribution unit 30 so that the conveying direction of the endless conveying body 31 faces the first discharge position PF on the opposite side.

[0046] Furthermore, if the previous rotational displacement was at the discharge position PO when metal contamination occurred, the control device 90 only needs to rotate the distribution unit 30 to either the first discharge position PF or the second discharge position PR.

[0047] If the control device 90 does not detect an object to be transported via the leading detection sensor 78 (step S5: NO), it proceeds to the process of step S1. On the other hand, if the control device 90 detects an object to be transported via the leading detection sensor 78 (step S5: YES), it terminates the series of sorting control processes for the objects to be transported.

[0048] When the sorting control process described above is completed, if the sorting and transporting unit 80 located downstream of the transport path is in a state where it can accept the objects to be transported, the control device 90 continues to drive the transporting device 70 and also drives the sorting and transporting unit 80 to transport the objects to be transported to the sorting and transporting unit 80.

[0049] On the other hand, if the sorting and transporting unit 80 is not in a state to accept the objects to be transported when the sorting control process described above is completed, the control device 90 temporarily stops the transport drive of the intermediate transporting unit 24, the sorting unit 30, and the downstream transporting device 70. Then, after waiting for the sorting and transporting unit 80 to be in a state to accept the objects to be transported, the control device 90 restarts the transport drive of the downstream transporting device 70 and also drives the transport drive of the sorting and transporting unit 80 to transport the objects to be transported to the sorting and transporting unit 80.

[0050] In this embodiment, as described above, if the sorting and transporting unit 80 is not in a state to accept the transported objects at the time the sorting control process is completed, the control device 90 temporarily stops the transport drive of the intermediate transporting unit 24, the sorting unit 30, and the downstream transporting device 70. However, for example, the drive of the intermediate transporting unit 24 and the sorting unit 30 may be stopped after a predetermined time (for example, 10 seconds) has elapsed since the transport drive of the downstream transporting device 70 was stopped.

[0051] In other words, in the process of step S5, the control device 90 may temporarily suspend the transport drive of the downstream transport device 70 when the object to be transported is detected via the leading detection sensor 78, and then temporarily suspend the transport drive of the intermediate transport unit 24 and the sorting unit 30, as well as the rotation drive of the sorting unit 30, after waiting for a predetermined time to elapse.

[0052] This allows the remaining objects to be transported to be sent to the downstream transport device 70 before both units 24 and 30 are stopped, in case any objects remain upstream of the transport path when the downstream transport device 70 stops. As a result, the accumulation of objects to be transported in the intermediate transport unit 24 and the distribution unit 30 can be suppressed.

[0053] According to the transport system 10 of this embodiment, since the objects to be transported can be distributed to different locations and transported, the objects to be transported can be sent out and arranged on the transport path of the downstream transport device 70 at a distance from each other. As a result, multiple objects (up to 12 in this embodiment) can be arranged on the downstream transport device 70 at a distance from each other without interfering with the sorting work of the robot arm. As a result, the objects to be transported can be sent to the sorting transport unit 80 at a distance from each other, enabling the sorting work by the robot arm to be performed efficiently and smoothly.

[0054] Figure 6 shows the configuration of a modified transport system 100 of the transport system 10 of the above embodiment. In the following description, the same components as the transport system 10 of the above embodiment will be omitted from the description as appropriate, and only the components that differ in configuration will be described.

[0055] The transport system 100 has the same configuration as the transport system 10 described above, except that it is equipped with a rear-end detection sensor 110 at the upstream end of the transport path. This rear-end detection sensor 110 is a sensor for detecting whether or not an object to be transported is present at the first discharge position PF or the second discharge position PR, and is located at the upstream end of the transport path in the downstream transport device 70. As shown in Figure 6, the control device 90 may drive the intermediate transport unit 24 and the distribution unit 30 to transport until a preset time has elapsed if an object to be transported is detected via the front detection sensor 78 but no object to be transported is detected via the rear-end detection sensor 110 at the same time.

[0056] This makes it possible to add and load objects to the downstream portion of the endless belt 73 if there are no objects to be transported on the downstream side of the endless belt 73, provided that objects remain on the upstream intermediate transport unit 24 or distribution unit 30.

[0057] The present invention can be implemented in various forms with improvements, modifications, or alterations based on the knowledge of those skilled in the art, without departing from its spirit. Furthermore, the invention may be implemented in a form in which any of its defining features is replaced with other technologies, as long as the same function or effect is achieved. [Explanation of Symbols]

[0058] 10 Conveying Systems 20 Upstream conveying device 21 Shooters 21R Conveyor Route 22 Metal detection sensors 23 First passage detection unit 24 Intermediate transport unit 25 Second passage detection unit 26 Endless belt 30 Distribution Unit (First Conveyor Unit) 31. Endless conveyor 35 Endless belt 50 Upstream conveying device 70 Downstream conveying device (second conveying section) 78 Front detection sensor 80 Sorting and conveying units 90 Control device (control unit) PF 1st unloading position PR 2nd unloading position PO Discharge position when metal is mixed in N Standby position S1-S5 Steps

Claims

1. A conveying device for supplying objects to be transported to a sorting area using a robotic arm, A first transport unit configured to sort and transport objects to be transported, A second conveying unit has a wider conveying path than the first conveying unit and conveys the objects to be conveyed from the first conveying unit to the sorting area downstream by conveying them at a predetermined speed. A control unit that controls the driving of the first transport unit and the second transport unit, Includes, The conveying device is characterized in that the control unit distributes the objects to be conveyed to different positions in the second conveying unit via the first conveying unit, thereby controlling the objects to be conveyed to be arranged on the conveying path of the second conveying unit at a distance from each other.

2. The control unit controls the transport speed of the second transport unit to be lower than that of the first transport unit. The conveying device according to claim 1.

3. The first transport unit includes a metal detection unit for detecting metal, When the control unit detects metal via the metal detection unit, it controls the drive of the second transport unit to send the object to be transported to a location set at a different position from the second transport unit, which is the location of the metal-contaminated object to be discharged. The conveying device according to claim 1.

4. The objects to be transported include at least two different forms of transported objects, such as plastic materials in bags and resin containers. The conveying device according to claim 1.

Images