WO2015170644A1

WO2015170644A1 - Transport device

Info

Publication number: WO2015170644A1
Application number: PCT/JP2015/062809
Authority: WO
Inventors: 伊東　一夫; 橘　俊之; 義幸鬮橋; 裕隆山風
Original assignee: 伊東電機株式会社
Priority date: 2014-05-07
Filing date: 2015-04-28
Publication date: 2015-11-12
Also published as: JPWO2015170644A1; JP6635554B2

Abstract

The present invention addresses the problem of providing a transport device which, without the use of an expensive device, can easily measure an object being transported. A transport device for transporting an object in a predetermined direction is provided with: an arrival detection means for detecting that the object being transported has arrived at a specific position; a first light emitting means for emitting a light beam in the direction intersecting the transport direction at a first intersection angle; a first light receiving means for receiving the light beam from the first light emitting means; and a movement distance measurement means for detecting or calculating the distance of movement of the object being transported between a position at which the arrival of the object being transported at a specific position is detected by the arrival detection means and a position at which the blocking of the light beam by the object being transported is detected by the first light receiving means. The transport device is configured so that the width and/or the height of the object being transported is calculated from the relationship between the first intersection angle and the distance of movement of the object being transported.

Description

Transport device

The present invention relates to a transport apparatus that measures a transported object being transported. In particular, the present invention relates to a conveyance device that measures a box-shaped conveyance object such as cardboard.

2. Description of the Related Art Conventionally, a transport device that transports a transported item packed in cardboard or the like to a shelf or the like in a warehouse or the like is known. This transport apparatus has a function of measuring the size of a transported object in advance by human power and determining an optimal installation location according to the measured size in order to determine the placement place of the transported object.

However, when the operator measures the size of the conveyed product, it is troublesome and there is a possibility that the measurement is shifted. For this reason, some recent conveying apparatuses have a function of automatically detecting the size of a conveyed product and determining an optimum installation location according to the size (for example, Patent Documents 1 and 2).

Patent Document 1 describes a belt conveyor that captures an object by photographing means such as a camera and detects the size of the object by analyzing the photographed image.

JP 2012-137304 A JP 2000-171215 A

However, the belt conveyor described in Patent Document 1 requires a combination of photographing means such as a camera and expensive equipment such as software for analyzing images, resulting in an increase in equipment cost and introduction cost.
In addition, when measuring a simple-shaped transported object such as cardboard, in principle, there are no complicated undulations, so it is an excessive specification to use a transport device equipped with such equipment as a camera. I was dissatisfied.

Therefore, an object of the present invention is to provide a transport apparatus that can easily measure a transported object without using expensive equipment such as a camera.

One aspect of the present invention for solving the above problems is an arrival detection means for detecting that the conveyed object being conveyed has reached a specific position in a conveying device for conveying the conveyed object in a predetermined direction; A first light emitting means for irradiating a light beam in a direction intersecting at a first crossing angle with respect to a conveying direction, a first light receiving means for receiving a light beam from the first light emitting means, and the arrival detecting means, A movement distance measuring means for detecting or calculating a movement distance of the conveyed object between a position at which a specific position is detected and a position at which the first light receiving means detects that the conveyed object has blocked the light beam; And a transport device that calculates at least one of a width and a height of the transported object from a relationship between the first crossing angle and a moving distance of the transported object.

The “moving distance of the transported object” as used herein refers to a position from which the arrival detection means detects that the transported object has reached a specific position to a position where the first light receiving means detects that the transported object has blocked the light beam. As well as the distance from the position where the first light receiving means detects that the conveyed object has blocked the light beam to the position where the arrival detecting means detects that the conveyed object has reached a specific position.

According to this aspect, a position where it is detected that the conveyed product has reached a specific position is detected by the arrival detection means, and a position where the conveyed object blocks the light beam is detected by the first light receiving means. Then, the moving distance measuring means calculates the moving distance of the conveyed object from the distance between the specific position detected by the arrival detecting means and the light shielding position detected by the first light receiving means. Furthermore, the width direction component and / or the height direction component of the light beam blocked by the conveyed object is calculated from the first intersection angle that is the irradiation angle of the light beam emitted by the first light emitting means, and combined with the calculated moving distance of the conveyed object. By carrying out like this, at least one of the width | variety or height of the plane which made the surface which blocked the light ray of the conveyed product, or a corner | angular can be measured.
Thus, since the width or height of the transported object can be specified by the light shielding and the moving distance of the transported object, it is easy to measure the transported object during transport without using expensive equipment such as a camera. be able to. Further, according to this aspect, since the measurement is performed by the light beam, the movement of the conveyed product is not delayed by the measuring operation, and the measuring operation does not hinder the conveying operation of the conveyed product.

A preferred aspect is that at least one of the width and height of the conveyed product is calculated using a trigonometric function.

According to this aspect, the movement distance detected or calculated by the movement distance measuring means as described above and the first crossing angle with respect to the direction in which the light from the first light emitting means is conveyed can be found. Therefore, for example, by using the tangent of the first intersection angle using a trigonometric function, the length (width or height) in the direction orthogonal to the moving direction of the conveyed product can be calculated.

In a preferred aspect, the first light emitting means and the first light receiving means are arranged at a predetermined interval in a direction having at least a conveyance direction component and a height direction component, and the first intersection angle and the conveyance The height of the conveyed object is calculated from the relationship of the moving distance of the object.

According to this aspect, the conveyed product passes between the first light emitting means and the first light receiving means that are shifted in the conveying direction and the height direction. That is, one of the first light emitting unit and the first light receiving unit is positioned above the conveyed product in the height direction, and the other is positioned below the conveyed product. Therefore, since the light beam has at least a component in the height direction and a component in the transport direction, the height of the transport object is calculated from the component in the height direction at the position where the transport object contacts the light beam. Can do.

A preferred aspect includes a second light emitting means for irradiating the second light beam in a direction intersecting at a second crossing angle with respect to the transport direction, and a second light receiving means for receiving the second light beam from the second light emitting means, The second light emitting means and the second light receiving means are arranged at a predetermined interval in a direction having at least a width direction component and a transport direction component, and the movement distance measuring means is It is possible to detect or calculate the second movement distance of the conveyed object between the position where it is detected that the conveyed object has reached a specific position and the position where the second light receiving means detects that the conveyed object has blocked the light beam. And calculating the width of the transported object from the relationship between the second crossing angle of the second light beam and the second moving distance of the transported object.

According to this aspect, the conveyed product passes between the second light emitting means and the second light receiving means which are shifted in the conveying direction and the width direction. That is, one of the second light emitting means and the second light receiving means is positioned closer to one outer side than the conveyed object in the width direction, and the other is positioned closer to the outer side of the other than the conveyed object. Therefore, since the second light beam from the second light emitting means has at least a component in the width direction and a component in the transport direction, the width of the transported object is calculated from the relationship between the second movement distance and the component in the width direction. can do.

In a preferred aspect, the arrival detection means comprises a third light emitting means for irradiating a third light beam in a direction intersecting the transport direction, and a third light receiving means for receiving the third light beam from the third light emitting means. The third light receiving means detects that the transported object has blocked the third light beam from the third light emitting means, thereby detecting that the transported object has reached a specific position. .

According to this aspect, it can be easily detected that the specific position of the conveyed product has been reached.

A preferred aspect includes a speed measuring unit that measures a transport speed of the transported object, measures a light blocking time from a position where the transported object blocks the third light beam to a position where the third light beam passes, The length of the conveyed product is calculated from the conveyance speed of the conveyed product and the light shielding time.

According to this aspect, the length of the conveyed product (the length in the conveying direction) can be easily measured.

In a preferred aspect, the speed measuring unit includes a fourth light emitting unit that irradiates a fourth light beam, and a fourth light receiving unit that receives the fourth light beam from the fourth light emitting unit, and the fourth light beam includes the fourth light beam. The third light beam is parallel to the third light beam at a predetermined interval, the first transit time from when the conveyed object blocks the third light beam to the fourth light beam, and the third light beam. The second passage time from passing through the fourth light ray to passing through the fourth light ray, respectively, according to the interval between the third light ray and the fourth light ray, the first passage time, and the second passage time. And calculating the conveyance speed of the conveyed product.

According to this aspect, it is possible to accurately detect the transport speed of the transported object between the third light beam and the fourth light beam. Therefore, the moving distance of the conveyed product can be accurately calculated, and the length and width of the conveyed product can be measured more accurately.

A preferred aspect has a transport path for transporting the transported material, and at least a part of the transport path is formed by a motor built-in roller, and the transported material is transported by rotating the motor built-in roller. Yes, having a rotational speed detection means for detecting the rotational speed of the motor of the roller with a built-in motor, and comparing the transport speed of the transported object with the rotational speed of the motor to calculate the slip amount of the transported object. is there.

According to this aspect, since the slip amount of the conveyed product is calculated, it is easy to adjust the interval between the conveyed items when conveying a plurality of conveyed items.

A preferred aspect has a transport path for transporting the transported material, and at least a part of the transport path is formed by a motor built-in roller, and the transported material is transported by rotating the motor built-in roller. And having rotation detection means for detecting the number of rotations of the motor of the roller with a built-in motor, and calculating the length of the conveyed product based on the number of rotations of the motor.

According to this aspect, the length of the conveyed product can be directly measured from the number of rotations of the motor for output control.

A preferable aspect is that the conveyed product is a box-shaped body.

The “box shape” here has a substantially hexahedral shape in appearance, and includes a hexahedron shape with rounded corners, depressions, protrusions, and the like that can be ignored.

According to this aspect, since a box-shaped transported object is transported, it is particularly effective.

In the aspect described above, it is more preferable that the conveyed product is a cube or a rectangular parallelepiped.

A preferable aspect is to convey the conveyed product in a straight line in the same posture.

寸法 According to this aspect, it is easy to calculate dimensions.

A preferred aspect is a transport device capable of performing a correction operation by transporting a first box and a second box having different widths or heights, and in the correction operation, the first box is moved by the arrival detection means. The moving distance of the first box from the position where it is detected that it has reached a specific position to the position where the first light receiving means detects that the first box has blocked the light beam, and the arrival detecting means Calculating the moving distance of the second box from the position where it is detected that the two boxes have reached a specific position to the position where the first light receiving means detects that the second box has blocked the light beam, The first intersection angle is calculated according to the following relationship (a) or (b).
(A) Relationship between the moving distance of the first box and the moving distance of the second box, and the relationship between the width of the first box and the width of the second box (b) Moving distance of the first box And the difference between the movement distance of the second box and the difference between the height of the first box and the height of the second box.

According to this aspect, since the first crossing angle is obtained by calculation by the correction operation, it is possible to correct the shift of the first crossing angle due to a change with time or the like without directly measuring the first crossing angle.

The transport device of the present invention can easily measure the transported object being transported without using expensive equipment.

It is the perspective view which showed typically the principal part of the conveying apparatus of 1st embodiment of this invention. It is a side view of the principal part of the conveying apparatus of FIG. It is a top view of the principal part of the conveying apparatus of FIG. It is a block diagram of the control apparatus with which the conveying apparatus of FIG. 1 is provided. It is explanatory drawing of the speed detection operation | movement of 1st embodiment of this invention, (a) to (d) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of the speed detection operation | movement of 1st embodiment of this invention, (a), (b) represents the change of the position of a conveyed product, respectively. It is explanatory drawing of the length detection operation | movement of 1st embodiment of this invention, (a), (b) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of the width | variety detection operation | movement of 1st embodiment of this invention, (a), (b) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of the height detection operation | movement of 1st embodiment of this invention, (a), (b) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of correction | amendment operation | movement of 1st embodiment of this invention, (a) is a figure showing immediately after the box interrupted | blocks the 1st detection light beam, (b) is immediately after the box interrupted | blocked the 2nd detection light beam. FIG. It is explanatory drawing of the width | variety detection operation | movement when a conveyed product is large, (a), (b) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of the height detection operation | movement of 2nd embodiment of this invention, (a), (b) represents the time-dependent change of the position of a conveyed product. It is explanatory drawing of the 2nd detection light beam of other embodiment of this invention. It is explanatory drawing of the 3rd detection light beam of other embodiment of this invention.

Hereinafter, the transport apparatus 1 according to the first embodiment of the present invention will be described.

The conveyance device 1 of the first embodiment conveys a box-shaped conveyance object 50 such as cardboard. One feature of the transport device 1 is that it can perform a measuring operation for measuring the transported object 50 being transported.

The conveyance apparatus 1 of 1st embodiment is the conveyance path 2, the control apparatus 3 (movement distance measurement means), and the 1st light irradiation apparatus 5 (arrival detection means, so that it can read from FIG.1, FIG.2, FIG.4. (Speed measurement means), a second light irradiation device 6, a third light irradiation device 7, and a fourth light irradiation device 8 (speed measurement means).

The transport path 2 is a travel path on which the transported object 50 travels, and is formed of a plurality of driving rollers 10, a plurality of driven rollers 11, and a frame 12.

The drive roller 10 is a roller with a built-in motor, and can be rotated at a predetermined rotation speed in accordance with a control pulse from the control device 3. In this embodiment, a brushless motor is employed, and pole detection means (rotation detection means) such as a Hall element is provided.
The drive roller 10 can rotate at a desired rotation speed and rotation speed by controlling the rotation speed of the motor in accordance with the control pulse.
The driven roller 11 is a roller that is connected to the driving roller 10 by a belt or the like and rotates following the rotation of the driving roller 10.
The

rollers

10 and 11 are both long and thin, and are arranged in parallel in the transport direction X with a predetermined interval. That is, the

rollers

10 and 11 are long, and a gap exists between the rollers 10 and 11 (rollers 11 and 11) adjacent to each other in the transport direction X.
The frame 12 prevents derailment of the conveyed product 50 from the

rollers

10 and 11.

The control device 3 is a device that can control the operation of the driving roller 10 and the

light irradiation devices

5, 6, 7, and 8. As shown in FIG. 4, the control device 3 includes a calculation unit 15, a storage unit 16, and a communication unit 17.

The calculation unit 15 is a part that performs calculation processing based on a program or the like stored in the storage unit 16.
The storage unit 16 stores information on the preset program, the control pulse of the driving roller 10, the rotational speed of the driving roller 10, and the detection light beams S1, S2, S3, and S4 from the

light irradiation devices

5, 6, 7, and 8. It is a part which memorizes.
The communication unit 17 is a part that is connected to the driving roller 10 and the

generation units

20, 25, 30, and 35 and the

light receiving units

21, 26, 31, and 36 of the

light irradiation devices

5, 6, 7, and 8 by wireless or wired. is there.

The 1st light irradiation apparatus 5 is a photoelectric sensor, and is formed from the 1st generation | occurrence | production part 20 (3rd light emission means) and the 1st light-receiving part 21 (3rd light reception means) as FIG. 1, FIG. 3 shows. Has been.
The first generation unit 20 is a part that generates the first detection light beam S1 (third light beam), and can irradiate the first light reception unit 21 with the first detection light beam S1 continuously or intermittently.
Here, “intermittent irradiation” includes not only irradiation with an irregular period but also irradiation with a constant period.
In the present embodiment, the second generation unit 25 can continuously irradiate while the conveyed product 50 is being conveyed.
Moreover, as the 1st generation | occurrence | production part 20, if it has a function as a light source, it will not specifically limit, For example, an LED light source, a laser light source, etc. can be used.
In the present embodiment, an LED light source is used as the first generator 20.

The first light receiving unit 21 is a part that receives the first detection light beam S 1 (third light beam) generated by the first generation unit 20. The first light receiving unit 21 can detect whether or not the first detection light beam S1 is received.
And the 1st light-receiving part 21 is connected to the communication part 17 of the control apparatus 3 by radio | wireless or wire communication, The information regarding the presence or absence of light reception of 1st detection light beam S1 can be transmitted to the control apparatus 3.

The 2nd light irradiation apparatus 6 is a photoelectric sensor, and is formed from the 2nd generation | occurrence | production part 25 (2nd light emission means) and the 2nd light reception part 26 (2nd light reception means).
The second generation unit 25 is a part that generates the second detection light beam S2 (second light beam, light beam), and can continuously or intermittently irradiate the second light reception unit 26 with the second detection light beam S2. .
In the present embodiment, the second generation unit 25 can continuously irradiate while the conveyed product 50 is being conveyed.
Moreover, as the 2nd generation | occurrence | production part 25, if it has a function as a light source, it will not specifically limit, For example, an LED light source, a laser light source, etc. can be used.
In the present embodiment, an LED light source is used as the second generation unit 25.

The second light receiving unit 26 is a part that receives the second detection light beam S 2 generated by the second generation unit 25. The second light receiving unit 26 can detect whether or not the second detection light beam S2 is received. The second light receiving unit 26 is connected to the communication unit 17 of the control device 3 wirelessly or by wire, and can transmit information related to whether or not the second detection light beam S2 is received to the control device 3.

The 3rd light irradiation apparatus 7 is a photoelectric sensor, and is formed from the 3rd generation | occurrence | production part 30 (1st light emission means) and the 3rd light reception part 31 (1st light reception means) as FIG. 2 shows. .
The third generation unit 30 is a part that generates a third detection light beam S3 (light beam), and can irradiate the third light detection unit 31 with the third detection light beam S3 continuously or intermittently.
In the present embodiment, the third generation unit 30 can continuously irradiate while the conveyed product 50 is being conveyed.
Moreover, as the 3rd generation | occurrence | production part 30, if it has a function as a light source, it will not specifically limit, For example, an LED light source, a laser light source, etc. can be used.
In the present embodiment, an LED light source is used as the third generation unit 30.

The third light receiving part 31 is a part that receives the third detection light beam S3 generated by the third generation part 30. The third light receiving unit 31 can detect whether or not the third detection light beam S3 is received. The third light receiving unit 31 is connected to the communication unit 17 of the control device 3 wirelessly or by wire, and can transmit information related to whether or not the third detection light beam S3 is received to the control device 3.

The 4th light irradiation apparatus 8 is a photoelectric sensor, and is formed from the 4th generation | occurrence | production part 35 (4th light emission means) and the 4th light reception part 36 (4th light reception means) as FIG. 1 shows. .
The fourth generation unit 35 is a part that generates a fourth detection light beam S4 (fourth light beam), and can continuously or intermittently irradiate the fourth light reception unit 36 with the fourth detection light beam S4.
In the present embodiment, the fourth generation unit 35 can continuously irradiate while the conveyed product 50 is being conveyed.
The fourth generator 35 is not particularly limited as long as it has a function as a light source. For example, an LED light source or a laser light source can be used.
In the present embodiment, an LED light source is used as the fourth generation unit 35.

The fourth light receiving unit 36 is a part that receives the fourth detection light beam S4 generated by the fourth generation unit 35. The fourth light receiving unit 36 can detect whether or not the fourth detection light beam S4 is received. And the 4th light-receiving part 36 is connected to the communication part 17 of the control apparatus 3 by radio | wireless or wired, and can transmit the information regarding the presence or absence of light reception of 4th detection light beam S4 to the control apparatus 3.

Subsequently, the positional relationship of each member of the transport apparatus 1 will be described.

As shown in FIG. 1, the first generation unit 20 and the first light receiving unit 21 are separated from each other and are disposed so as to face each other across the

rollers

10 and 11 in the width direction Y. That is, the first generation unit 20 and the first light receiving unit 21 are located on both outer sides of the transport path 2 in the width direction Y.
Further, the first generator 20 and the first light receiver 21 are arranged in a straight line in the longitudinal direction of the

rollers

10 and 11.

The second generating unit 25 and the second light receiving unit 26 are spaced apart from each other across the conveyance path 2 in the width direction Y, and are disposed at positions facing each other in a direction intersecting the longitudinal direction of the

rollers

10 and 11. ing. That is, the second generation unit 25 and the second light receiving unit 26 are located on both outer sides of the transport path 2 in the width direction Y.
Moreover, the 2nd generating part 25 and the 2nd light-receiving part 26 are distribute | arranged to the position shifted in the conveyance direction X (parallel direction of the rollers 10 and 11), and are distribute | arranged so that the conveyed product 50 may pass between them. Yes.

As shown in FIG. 2, the third generation unit 30 and the third light receiving unit 31 are separated in the height direction Z across the conveyance path 2 and intersect the longitudinal direction of the

rollers

10 and 11. It is arranged at a position opposite to the direction.
In addition, the third generation unit 30 is located below the

rollers

10 and 11 in the height direction Z and is installed at a position lower than the bottom surface of the conveyed product 50.
The third light receiving unit 31 is located above the

rollers

10 and 11 and is installed at a position higher than the top surface of the conveyed product 50.
The third generation unit 30 and the third light receiving unit 31 are arranged at positions shifted in the conveyance direction X, and the conveyance object 50 is arranged between them.

As shown in FIG. 1, the fourth generation unit 35 and the fourth light receiving unit 36 are spaced apart from each other across the

rollers

10 and 11 in the width direction Y, and are disposed so as to face each other. That is, the fourth generation unit 35 and the fourth light receiving unit 36 are located on both outer sides of the transport path 2 in the width direction Y.
The fourth generation unit 35 and the fourth light receiving unit 36 are arranged in a straight line in the longitudinal direction of the

rollers

10 and 11. That is, the fourth generation unit 35 and the fourth light receiving unit 36 are parallel in the longitudinal direction of the

rollers

10 and 11.

Further, as shown in FIG. 3, the first generator 20, the second generator 25, and the fourth generator 35 are all arranged on one side of the transport path 2, and the first light receiver 21, The light receiving unit 26 and the fourth light receiving unit 36 are both arranged on the opposite side of the transport path 2.

Further, the fourth generator 35 and the fourth light receiver 36 are located downstream of the first generator 20 and the first light receiver 21 in the moving direction X of the conveyed product 50.
The second generator 25 is positioned downstream of the fourth generator 35 in the moving direction X of the conveyed product 50, and the second light receiver 26 is positioned upstream of the first light receiver 21. Yes.

Subsequently, the positional relationship of light rays from each light irradiation device will be described.

As can be read from FIGS. 2 and 3, the first detection light beam S 1 emitted from the first generation unit 20 travels straight in the horizontal direction and in a direction intersecting the transport direction X of the transported object 50. Light is received by the first light receiving unit 21.
In the present embodiment, the first detection light beam S 1 irradiated from the first generation unit 20 travels straight in a direction orthogonal to the moving direction of the conveyed product 50 and is received by the first light receiving unit 21.
In other words, the first detection light beam S 1 travels straight in the longitudinal direction of the

rollers

10 and 11 and is irradiated so as to pass above the transport path 2. That is, the irradiation direction of the first detection light beam S1 has at least a width direction component, and in the present embodiment, the irradiation direction of the first detection light beam S1 has only a width direction component.

As can be read from FIGS. 2 and 3, the second detection light beam S 2 irradiated from the second generation unit 25 is in the horizontal direction and has a specific angle θ (the second angle with respect to the transport direction X of the transported object 50). In the direction intersecting at the (intersection angle), it travels straight above the conveyance path 2 and is received by the second light receiving unit 26. In other words, the light receiving angle of the second detection light beam S2 of the second light receiving unit 26 (incident angle to the opening of the second light receiving unit 26) is a specific angle θ.
The specific angle θ is preferably not less than 20 degrees and not more than 45 degrees from the viewpoint of accurately calculating the moving distance of the conveyed product 50.
If the specific angle θ is too small, there may be a measurement error in measuring depending on the shape and size of the conveyed product 50. If the specific angle θ is too large, the moving distance of the conveyed product 50 is too short, and the moving distance of the conveyed object 50 may not be accurately calculated.

From another viewpoint, the second detection light beam S2 is irradiated so as to intersect the longitudinal direction of the

rollers

10 and 11 at the second intersection angle θ.
That is, the irradiation direction of the second detection light beam S2 has at least a width direction component and a transport direction component. In the present embodiment, the irradiation direction of the second detection light beam S2 includes only the width direction component and the transport direction component. .

As shown in FIG. 2, the third detection light beam S 3 emitted from the third generation unit 30 has a vertical component and a specific angle δ (first crossing angle) with respect to the moving direction X of the conveyed product 50. ) In the direction intersecting at the top of the transport path 2 and received by the third light receiving unit 31. In other words, the light receiving angle of the third detection light beam S3 of the third light receiving unit 31 (incident angle to the opening of the third light receiving unit 31) is a specific angle δ.
The specific angle δ is preferably not less than 20 degrees and not more than 45 degrees from the viewpoint of accurately calculating the moving distance of the conveyed product 50.
If the specific angle δ is too small, there may be a measurement error in measuring depending on the shape and size of the conveyed product 50. If the specific angle δ is too large, the travel distance of the transported object 50 is too short, and the travel distance of the transported object 50 may not be accurately calculated.
From another viewpoint, the third detection light beam S3 is irradiated so as to intersect the horizontal direction at the first intersection angle δ. That is, the irradiation direction of the third detection light beam S3 has at least a conveyance direction component and a height direction component. In the present embodiment, the irradiation direction of the third detection light beam S3 includes only the conveyance direction component and the height direction component. Consists of.

4th detection light beam S4 irradiated from the 4th generation | occurrence | production part 35 is irradiated so that it may become a horizontal direction and parallel to 1st detection light beam S1 so that it may read from FIG. 2, FIG. That is, the fourth detection light beam S 4 is irradiated so as to travel straight in the longitudinal direction of the

rollers

10 and 11 and pass above the transport path 2. That is, the irradiation direction of the fourth detection light beam S4 has at least a width direction component, like the first detection light beam S1, and in the present embodiment, the irradiation direction of the fourth detection light beam S4 has only the width direction component.

The first detection light beam S1, the second detection light beam S2, and the fourth detection light beam S4 are irradiated so as to pass on the same horizontal plane as can be seen from FIG. That is, the heights of the first detection light beam S1, the second detection light beam S2, and the fourth detection light beam S4 from the transport path 2 are all equal.

The first detection light beam S1, the second detection light beam S2, and the fourth detection light beam S4 are all in the width direction of the conveyance path 2 when the conveyance path 2 is viewed in plan view as shown in FIG. Respectively intersect with a plane W passing through the end face.
A first intersection 22 that is an intersection of the first detection light beam S1 and a plane W that passes through one end face of the conveyance path 2, and a fourth intersection 37 that is an intersection of the fourth detection light beam S4 and the plane W. The interval A1 is larger than the length of the conveyed product 50.
An interval B1 between the second intersecting portion 27 that is an intersecting portion of the second detection light beam S2 and the plane W and the first intersecting portion 22 is larger than an interval A1 between the first intersecting portion 22 and the fourth intersecting portion 37. .
As described above, since the second detection light beam S2 is incident on the transport path 2 at the intersection angle θ, the intersection angle between the end surface of the transport path 2 and the second detection light beam S2 at the second intersection 27 is also a specific angle θ. Become.

The third detection light beam S3 intersects the plane H through which the first detection light beam S1, the second detection light beam S2, and the fourth detection light beam S4 pass when the conveyance path 2 is viewed from the side as shown in FIG. ing.
An interval C1 between the first intersecting portion 22 and the third intersecting portion 32 that is an intersecting portion of the third detection light beam S3 and the plane H is larger than the length of the conveyed product 50.
As described above, since the third detection light beam S3 is incident on the transport path 2 at the intersection angle δ, the intersection angle between the plane H at the third intersection portion 32 and the third detection light beam S3 also becomes a specific angle δ.

Here, the transport device 1 of the present embodiment transports the transported object 50 by the

rollers

10 and 11 in a state where the

light irradiation devices

5, 6, 7, and 8 are driven. And as above-mentioned, the conveying apparatus 1 of this embodiment is characterized by the ability to perform the measurement operation | movement with respect to the conveyed product 50 in this conveyance.

This measuring operation is performed for the speed detection operation, the length detection operation, the width detection operation, and the height detection operation, respectively, and is performed simultaneously on the transported object 50 being transported.

Hereinafter, although the measuring operation of the conveyance apparatus 1 of 1st embodiment is demonstrated, in order to understand easily, each operation | movement is demonstrated separately.
Note that the storage unit 16 of the control device 3 previously includes an interval A1 between the first intersection 22 and the fourth intersection 37, an interval B1 between the first intersection 22 and the second intersection 27, and the first intersection 22. And the third intersection 32, the intersection angle θ of the second detection beam S2, the intersection angle δ of the third detection beam S3, and the height from the plane I passing through the top surfaces of the

rollers

10 and 11 to the plane H. H1 is stored.
Further, the conveyed product 50 to be conveyed is conveyed while being brought closer to the end surface (plane W) on the first generation unit 20 side of the conveyance path 2. That is, the conveyed product 50 is conveyed in a straight line in a state of the same posture in the conveyance direction X without shifting in the width direction Y during conveyance.

First, the speed detection operation for detecting the transport speed of the transported object 50 will be described.

This speed detection operation is performed in a normal conveyance process, and is performed in the process in which the conveyed product 50 is conveyed in one direction by the

rollers

10 and 11.
Specifically, the transported object 50 is transported, and when the transported object 50 reaches the passing position of the first detection light beam S1 irradiated from the first generation unit 20 as shown in FIG. One detection light beam S1 is blocked. For this reason, the first light receiving unit 21 cannot detect the first detection light beam S 1 or the received light amount becomes small.
And the 1st light-receiving part 21 detects that the conveyed product 50 reached | attained the passage position of 1st detection light beam S1 by the reduction | decrease of this received light quantity, and transmits the detection signal (ON signal) to the control apparatus 3. .
At this time, in the control device 3, when receiving the detection signal (ON signal) from the first light receiving unit 21, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 reaches the passing position).

Thereafter, when the transported object 50 advances and the transported object 50 passes through the first detection light beam S1 as shown in FIG. 5B, the first detection light beam S1 is not blocked by the transported object 50, and thus the first light receiving unit 21. The amount of received light of the first detection light beam S1 is recovered.
And the 1st light-receiving part 21 detects that the conveyed product 50 passed 1st detection light beam S1 by the recovery | restoration of this received light quantity, and transmits the detection signal (OFF signal) to the control apparatus 3. FIG.
In the control device 3, when the detection signal (OFF signal) is received from the first light receiving unit 21, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 passes the line of the first detection light beam S 1). .

After that, the conveyed product 50 further advances, and when the conveyed product 50 reaches the passing position of the fourth detection light beam S4 irradiated from the fourth generation unit 35 as shown in FIG. The light beam S4 is blocked. For this reason, the fourth light receiving unit 36 cannot detect the fourth detection light beam S4 or the amount of received light becomes small.
And the 4th light-receiving part 36 detects that the conveyed product 50 reached | attained the passage position of 4th detection light beam S4 by the reduction | decrease of this received light quantity, and transmits the detection signal (ON signal) to the control apparatus 3. .
At this time, in the control device 3, when receiving the detection signal (ON signal) from the fourth light receiving unit 36, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 reaches the passing position).

Thereafter, the conveyed object 50 further advances, and when the conveyed object 50 passes through the fourth detection light beam S4 as shown in FIG. 5D, the fourth detection light beam S4 is not blocked by the conveyed object 50. The amount of received light of the fourth detection light beam S4 at 36 is recovered.
The fourth light receiving unit 36 detects that the conveyed product 50 has passed the fourth detection light beam S 4 by the recovery of the amount of received light, and transmits the detection signal (OFF signal) to the control device 3.
In the control device 3, when the detection signal (OFF signal) is received from the fourth light receiving unit 36, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 passes through the line of the fourth detection light beam S 4). .

In the calculation unit 15, the first light receiving unit 21 detects the blocking of the first detection light beam S 1 by the transported object 50 as shown in FIG. 6A based on the information stored in the storage unit 16 by the above operation. Then, an elapsed time T1 (first passage time) from when the fourth light receiving unit 36 detects blocking of the fourth detection light beam S4 by the conveyed object 50 is calculated.
Then, the distance A1 in the transport direction X between the first detection light beam S1 and the fourth detection light beam S4 measured in advance (the interval between the first intersection portion 22 and the fourth intersection portion 37) is divided by the elapsed time T1, The speed V1 (= A1 / T1) is calculated.

In addition, as shown in FIG. 6B, the calculation unit 15 detects that the amount of light received by the first light receiving unit 21 has been recovered and the transported object 50 has passed through the first detection light beam S1. An elapsed time T2 (second passage time) until it is detected that the amount of light received by the light receiving unit 36 is recovered and the conveyed product 50 has passed the fourth detection light beam S4 is calculated.
The distance A1 (the distance from the first intersection 22 to the fourth intersection 37) in the transport direction X between the first detection beam S1 and the fourth detection beam S4 is divided by the elapsed time T2 to obtain a velocity V2 (= A1 / T2) is calculated.
Then, the average speed Va is calculated from the speed V1 and the speed V2 calculated by the above calculation. That is, the speed V1 and the speed V2 are added and divided by the addition number 2 to calculate the average speed Va (= (V1 + V2) / 2).

Subsequently, a length detection operation for detecting the length of the conveyed product 50 will be described.

This length detection operation is performed in the normal conveyance process, similar to the speed detection operation described above, and is performed in the process in which the conveyed product 50 is conveyed in one direction by the

rollers

10 and 11.
Specifically, when the transported object 50 is transported and the transported object 50 reaches the passing position of the first detection light beam S1 irradiated from the first generating unit 20 as shown in FIG. Detects that the conveyed product 50 has reached the passage position of the first detection light beam S 1 and transmits the detection signal (ON signal) to the control device 3.
At this time, in the control device 3, when receiving the detection signal (ON signal) from the first light receiving unit 21, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 reaches the passing position).

Thereafter, as shown in FIG. 7B, when the transported object 50 is further transported and the transported object 50 passes the first detection light beam S1, the first light receiving unit 21 causes the transported object 50 to transmit the first detection light beam S1. The passage is detected and the detection signal (OFF signal) is transmitted to the control device 3.
At this time, when the control device 3 receives the detection signal (OFF signal) from the first light receiving unit 21, the storage unit 16 indicates the time when the transmission is received (the time when the conveyed product 50 passes the line of the first detection light beam S 1). Remember.

Then, based on the information stored in the storage unit 16, the calculation unit 15 detects the light blocking of the first detection light beam S1 by the first light receiving unit 21 shown in FIG. ) To calculate the elapsed time T3 (light shielding time) until the first light receiving unit 21 detects the recovery of the first detection light beam S1.
Then, the length Q1 (= Va × T3) (length in the moving direction) of the conveyed product 50 is calculated by multiplying the average speed Va calculated by the speed detection operation described above by the elapsed time T3.

Subsequently, the width detection operation for detecting the width of the conveyed product 50 will be described.

This width detection operation is performed in the normal conveyance process, similar to the speed detection operation described above, and is performed in the process in which the conveyed product 50 is conveyed in one direction by the

rollers

After that, as shown in FIG. 8B, when the transported object 50 is further transported and the transported object 50 reaches the passage position of the second detection light beam S2 irradiated from the second generation unit 25, the second detection light beam S2 is reached. Will be blocked. For this reason, the second detection light beam S2 cannot be detected by the second light receiving unit 26, or the amount of received light is reduced.
The second light receiving unit 26 detects that the conveyed product 50 has reached the passing position of the second detection light beam S 2 due to the decrease in the amount of received light, and transmits the detection signal (ON signal) to the control device 3.
At this time, in the control device 3, when the detection signal (ON signal) is received from the second light receiving unit 26, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 reaches the passing position).

And the calculating part 15 is based on the information memorize | stored in the memory | storage part 16, and after the 1st light-receiving part 21 detects shielding of the 1st detection light beam S1, the 2nd light-receiving part 26 detects the 2nd detection light beam S2. An elapsed time T4 until the light shielding is detected is calculated.
Further, by multiplying the average speed Va calculated by the above-described speed detection operation by the elapsed time T4, the passage length D1 (= Va × T4) from the first detection light beam S1 (the moving distance of the transported object 50, the first (Two movement distance) is calculated.
And the moving distance D1 of the conveyed product 50 is subtracted from the preset distance B1 between the first intersection 22 of the first detection light beam S1 and the second intersection 27 of the second detection light beam S2, and the second intersection 27 A distance E1 (= B1-D1) from the leading end surface of the conveyed product 50 in the conveying direction X is calculated.
A width direction component is calculated from the relationship between the distance E1 thus obtained and the intersection angle θ of the second detection light beam S2, and the width of the conveyed product 50 is calculated.
Specifically, the width Q2 (= E1 × tan θ) of the conveyed product 50 is calculated by multiplying the distance E1 and the tangent (tan θ) of the intersection angle θ using a trigonometric function.

Subsequently, a height detection operation for detecting the height of the conveyed product 50 will be described.

This height detection operation is performed in the normal conveyance process, similar to the speed detection operation described above, and is performed in the process in which the conveyed product 50 is conveyed in one direction by the

rollers

After that, as shown in FIG. 9B, when the transported object 50 is further transported and the transported object 50 reaches the passage position of the third detection light beam S3 irradiated from the third generation unit 30, the third detection light beam S3. The third detection light beam S3 cannot be detected by the third light receiving unit 31, or the amount of received light is reduced.
The third light receiving unit 31 detects that the conveyed product 50 has reached the passage position of the third detection light beam S3 due to the decrease in the amount of received light, and transmits the detection signal (ON signal) to the control device 3.
At this time, in the control device 3, when the detection signal (ON signal) is received from the third light receiving unit 31, the storage unit 16 stores the time when the transmission is received (the time when the conveyed product 50 reaches the passing position).

Based on the information stored in the storage unit 16, the calculation unit 15 detects the light blocking of the first detection light beam S1 after the first light receiving unit 21 detects the light blocking of the third detection light beam S3. The elapsed time T5 until detection is calculated.
Further, by multiplying the average speed Va calculated by the above-described speed detection operation by this elapsed time T5, the passage length F1 (= Va × T5) (movement distance of the conveyed product 50) from the first detection light beam S1 is obtained. calculate.
Then, the moving distance F1 of the conveyed product 50 is subtracted from a preset distance C1 between the first intersecting portion 22 of the first detection light beam S1 and the third intersecting portion 32 of the third detection light beam S3. A distance G1 (= C1-F1) from the leading end surface of the conveyed product 50 in the conveying direction X is calculated.
Furthermore, a height direction component is calculated from the relationship between the distance G1 thus determined and the intersection angle δ of the third detection light beam S3, and the height Q3 of the conveyed product 50 is calculated.
Specifically, by using a trigonometric function, multiplying the distance G1 by the tangent (tan δ) of the intersection angle δ, and further adding the height H1 of the plane H from the plane I, the height Q3 of the conveyed product 50 is obtained. (= G1 × tan δ + H1) is calculated.

As described above, in the transport device 1 according to the present embodiment, the length of the transported object 50 being transported is determined by the length detection operation, the width of the transported object 50 is detected by the width detection operation, and the height detection operation. Thus, the height of the conveyed product 50 can be calculated respectively.
Moreover, since the measurement of the conveyed product 50 is automatically possible with a conveyance operation | movement, it is not necessary to measure by human power and can measure easily.
Further, since measurement is performed by the detection light beams S1, S2, S3, and S4 from each of the

generators

20, 25, 30, and 35, expensive equipment such as a camera is not required, and measurement can be performed at a lower cost than in the past. it can.

Further, in the transport device 1 of the present embodiment, since the transport speed of the transported object 50 can be accurately detected by the speed detection operation, more accurate measurement is possible.

Furthermore, the transport device 1 of the present embodiment calculates the rotational speed of the motor from the control pulse to the motor built in the drive roller 10 and the rotational speed of the motor by the control device 3 (rotational speed detection means). And the slip amount of the conveyed product 50 in the conveyance path 2 can also be detected by comparing the conveyance speed calculated by the speed detection operation with the rotation speed of the motor. By doing so, even when a plurality of transported objects 50 are transported, the interval of the transported objects 50 can be adjusted accurately.

By the way, as described above, the transport device 1 according to the present embodiment uses the irradiation angles of the detection light beams S2 and S3 with respect to the moving direction when calculating the width and the height. Therefore, it is necessary to set the irradiation angle of the detection light beams S2 and S3 to an accurate angle.
However, when used for a long time, the irradiation angles of the detection light beams S2 and S3 may be shifted due to vibration of the conveyed product 50 or the like. Moreover, the position of each

light irradiation apparatus

5,6,7,8 may also shift | deviate.

Therefore, the transport apparatus 1 can also perform the following correction operation to confirm a deviation between the preset angle and distance and the actually measured angle and distance. With respect to this point, a case where the second detection light beam S2 is corrected will be described with reference to FIG. In addition, although the conveying apparatus 1 can also correct | amend 3rd detection light beam S3, since correction and description overlap with 2nd detection light beam S2, description is abbreviate | omitted.

First, prepare two types of boxes with different widths. That is, a first box M1 having a width of Mmm and a second box N1 having a width of Nmm are prepared (Mmm> Nmm). Both the boxes M1 and N1 are boxes whose widths are measured in advance, and are cubic boxes.

The boxes M1 and N1 are respectively conveyed by the

rollers

10 and 11, and the distances Lm and Ln from the position of the first detection light beam S1 (first intersection 22) to the second detection light beam S2 are determined for the boxes M1 and N1.
Specifically, after the first light receiving unit 21 detects that the first detection light beam S1 is blocked by the boxes M1 and N1, the second light reception unit 26 detects the second detection light beam S2 by the boxes M1 and N1. Elapsed time Tm, Tn until it is detected that is blocked is calculated.
Further, by multiplying the average velocities Vm, Vn of the boxes M1, N1 calculated by the speed detection operation by the elapsed times Tm, Tn, the passage length Lm (= Vm × Tm), Ln from the first detection light beam S1 is obtained. (= Vn × Tn) is calculated.
Then, the passage length Lm of the first box M1 is subtracted from the passage length Ln of the second box N1, and the position where the second box N1 blocks the second detection light beam S2 and the first box M1 is the second detection light beam. An interval R (= Ln−Lm) from the position where S2 is blocked is calculated.

In a separate process, the width N of the second box N1 is subtracted from the width M of the first box M1, and a difference S (= MN) between the widths of the first box M1 and the second box N1 is calculated.
Then, an intersection angle θ (= tan ⁻¹ S ÷ R) of the second detection light beam S2 is calculated from the interval R and the difference S between the widths.
Thus, since the crossing angle θ can be calculated by actual measurement, the deviation between the crossing angle θ stored in the storage unit 16 and used for calculation in the measuring operation and the actually measured crossing angle θ obtained by the correction operation is confirmed. The actual crossing angle θ can be corrected.

Moreover, since the actually measured intersection angle θ can be calculated as described above, the distance B1 from the first intersection 22 to the second intersection 27 can be calculated. Therefore, a deviation between the distance B1 used for calculation in the measuring operation and the actually measured distance B1 obtained by the correction operation can be confirmed.
Specifically, by dividing the width N of the second box N1 by the tangent (tan θ) of the intersection angle θ, the distance between the second intersection 27 and the position where the second box N1 blocks the second detection light beam S2. P (= N / tan θ) is calculated. Then, by adding the passage length Lm, the interval R, and the interval P of the first box M1, the distance B1 (= Lm + R + P) from the first intersection 22 to the second intersection 27 can be calculated by actual measurement. .
Thus, since the distance B1 from the first intersection 22 to the second intersection 27 can be calculated by actual measurement, the difference between the distance B1 stored in the storage unit 16 and used for calculation and the actual distance B1 is calculated. It can be confirmed and corrected to the actually measured position.
In the present embodiment, the storage unit 16 overwrites or newly stores the intersection angle θ and the distance B1 calculated by the correction operation, and uses the intersection angle θ and the distance B1 calculated by the correction operation in the subsequent measuring operation. use.

In the above description, when the second detection light beam S2 is corrected, the correction operation is performed using two types of boxes having different widths. However, when the third detection light beam S3 is corrected, The correction operation is performed using two types of boxes having different heights.

By the way, in the width detection operation, the first light receiving unit 21 detects the blocking of the first detection light beam S1 by the conveyed object 50, and then the second light receiving unit 26 detects the light blocking of the second detection light beam S2 by the conveyed object 50. However, depending on the crossing angle θ of the second detection light beam S2 (the light reception angle θ of the second light receiving unit 26) and the width of the transported object 50, the second detection light beam S2 is more upstream than the first detection light beam S1. There may be a case where the conveyed product 50 is shielded from light.
In such a case, as shown in FIG. 11, an elapsed time T5 from when it is detected that the conveyed product 50 has blocked the second detection light beam S2 until it is detected that the transfer object 50 has blocked the first detection light beam S1 is calculated. The moving distance D2 is obtained from the elapsed time T5 and the average speed Va. In other cases, the width Q2 of the conveyed product 50 is calculated in the same manner.
Similarly, in the height detection operation, depending on the crossing angle δ of the third detection light beam S3 (the light reception angle δ of the third light receiving unit 31) and the size of the conveyed product 50, the height detection operation may be performed upstream of the first detection light beam S1. There may be a case where the conveyance object 50 blocks the third detection light beam S3.
In such a case as well, an elapsed time from when it is detected that the conveyed object 50 blocks the third detection light beam S3 until it is detected that the conveyed object 50 blocks the first detection light beam S1 is calculated, and this elapsed time and the average speed Va are calculated. The travel distance is obtained from In other cases, the height Q3 of the conveyed product 50 is calculated in the same manner.

Subsequently, the transfer device of the second embodiment will be described. In addition, the thing similar to 2nd embodiment attaches | subjects the same number, and abbreviate | omits description.

The conveyance device of the second embodiment differs in the calculation method of the height detection operation among the measuring operations of the first embodiment.
Specifically, first, the first intersecting portion 22 of the first detection light beam S1 and the third detection light beam S3 and the plane I shown in FIG. The distance C2 from the fifth intersection 81 is stored.
As in the first embodiment, the calculation unit 15 has elapsed from when the first light receiving unit 21 detects the shielding of the first detection light beam S1 until the third light receiving unit 31 detects the light shielding of the third detection light beam S3. Time T6 is calculated. Further, by multiplying the average speed Va by this elapsed time T6, a passage length F1 (= Va × T6) (movement distance of the conveyed product 50) from the first detection light beam S1 is calculated.
Then, the moving distance F1 of the conveyed product 50 is subtracted from the distance C2 between the first intersecting portion 22 and the fifth intersecting portion 81 in advance, and the distance G2 from the fifth intersecting portion 81 to the leading end surface in the conveying direction X of the conveyed product 50. (= C2-F1) is calculated.
Further, the height direction component is calculated from the relationship between the distance G2 thus determined and the intersection angle δ of the third detection light beam S3, and the height Q3 of the conveyed product 50 is calculated.
Specifically, the height Q3 (= G2 × tan δ) of the conveyed product 50 is calculated by multiplying the distance G2 by the tangent (tan δ) of the intersection angle δ using a trigonometric function.

In the above-described embodiment, the first detection light beam S1 irradiated from the first generation unit 20 is irradiated in the longitudinal direction of the

rollers

10 and 11, but the present invention is not limited to this, and the conveyed product What is necessary is that irradiation can be performed in a direction intersecting with the 50 conveyance directions X.

In the above-described embodiment, the travel distance D1 until the transported object 50 blocks the second detection light beam S2 from the first intersection 22 is determined from the average speed and the elapsed time of the transported object 50, but the present invention is limited to this. It is not something. For example, the moving distance D 1 until the conveyed product 50 blocks the second detection light beam S 2 from the first intersection 22 may be obtained from the control pulse of the drive motor built in the drive roller 10. That is, the moving time of the conveyed product 50 may be replaced with a motor pulse (control pulse).
Similarly, the moving distance F 1 from the first intersection 22 to the third detection light beam S 3 may be obtained from the control pulse of the drive motor built in the drive roller 10.
Specifically, as in the first embodiment, when the driving roller 10 is a roller with a built-in motor and employs a brushless motor, a pole detection means (for example, a Hall element) built in the brushless motor. ) (Rotation detecting means) may detect the number of rotations and detect the distance. In addition, a rotary encoder may be attached to the outer periphery of the motor or the motor built-in roller to detect the rotational speed and detect the movement distance F1.

In the above-described embodiment, it is detected that the conveyed product 50 has reached the first intersection 22 by blocking the first detection light beam S1, but the present invention is not limited to this. For example, you may detect that the conveyed product 50 reached the 1st cross | intersection part 22 using contact sensors, such as a limit switch, and a non-contact sensor.
Further, a large number of sensors may be arranged below the conveyance path 2 to detect that the conveyed product 50 has reached the reference position based on the detected position of the detected sensor.

In the above-described embodiment, the transported object 50 to be transported is moved closer to the plane W side and transported, but the present invention is not limited to this. For example, the conveyed product 50 to be conveyed may be narrowed to a plane passing through the end surface on the first light receiving unit 21 side of the conveying path 2, or if the conveyed product 50 is not shifted in the direction orthogonal to the conveying direction X, You may convey so that the center of the path | route 2 may be passed.

In the above-described embodiment, in the width direction Y, the first generation unit 20, the second generation unit 25, and the fourth generation unit 35 are installed on one side of the conveyance path 2, and the first light reception unit 21 and the second light reception unit are disposed on the opposite side. Although the unit 26 and the fourth light receiving unit 36 are provided, the present invention is not limited to this. For example, if the first generating unit 20 and the first light receiving unit 21, the second generating unit 25 and the second light receiving unit 26, and the fourth generating unit 35 and the fourth light receiving unit 36 are in pairs, respectively, The positional relationship does not matter.

In the above-described embodiment, in the height direction Z, the third generation unit 30 is provided below the transport path 2 and the third light receiving unit 31 is provided above the transport path 2, but the present invention is limited to this. is not. For example, the third generation unit 30 may be provided above the transport path 2 and the third light receiving unit 31 may be provided below the transport path 2.

In the above-described embodiment, the irradiation direction of the second detection light beam S2 is composed of the conveyance direction component and the width direction component, but the present invention is not limited to this, and the second detection light beam S2 The irradiation direction only needs to have at least a conveyance direction component and a width direction component. That is, as shown in FIG. 13, it may have a height direction component in addition to the conveyance direction component and the width direction component.

In the above embodiment, the irradiation direction of the third detection light beam S3 is composed of the conveyance direction component and the height direction component, but the present invention is not limited to this, and the third detection light beam S3. The irradiation direction may have at least a conveyance direction component and a height direction component. That is, as shown in FIG. 14, it may have a width direction component in addition to the conveyance direction component and the height direction component.

1,80 Conveying device 3 Control device (moving distance measuring means, rotational speed detecting means)
5 First light irradiation device (arrival detection means, speed measurement means)
8 Fourth light irradiation device (speed measurement means)
20 1st generation | occurrence | production part (3rd light emission means)
21 1st light emission part (3rd light-receiving means)
25 Second generator (second light emitting means, first light emitting means)
26 Second light emitting part (second light receiving means, first light receiving means)
30 3rd generation part (1st light emission means)
31 3rd light emission part (1st light-receiving means)
25 Fourth generation part (fourth light emitting means)
26 4th light emission part (4th light-receiving means)
D1 passage length (second travel distance, travel distance)
F1 passage length (travel distance)
S1 First detection beam (third beam)
S2 Second detection beam (second beam, beam)
S3 Third detection beam (ray)
S4 Fourth detection beam (fourth beam)

Claims

In a transport device that transports a transported object in a predetermined direction,
Arrival detection means for detecting that the conveyed object being conveyed has reached a specific position;
First light emitting means for irradiating light in a direction intersecting at a first crossing angle with respect to the transport direction;
First light receiving means for receiving light from the first light emitting means;
The movement distance of the conveyed object between a position where the arrival detection means detects that the conveyed object has reached a specific position and a position where the first light receiving means detects that the conveyed object blocks the light beam. A moving distance measuring means for detecting or calculating,
At least one of the width and the height of the transported object is calculated from the relationship between the first intersection angle and the travel distance of the transported object.
The transport apparatus according to claim 1, wherein at least one of the width and the height of the transported object is calculated using a trigonometric function.
The first light emitting means and the first light receiving means are disposed at a predetermined interval in a direction having at least a conveyance direction component and a height direction component,
The transport apparatus according to claim 1, wherein a height of the transported object is calculated from a relationship between the first intersection angle and a moving distance of the transported object.
Second light emitting means for irradiating the second light beam in a direction intersecting at a second crossing angle with respect to the transport direction;
A second light receiving means for receiving a second light beam from the second light emitting means;
The second light emitting means and the second light receiving means are arranged at a predetermined interval in a direction having at least a width direction component and a conveyance direction component,
The movement distance measuring means is between a position where the arrival detection means detects that the transported object has reached a specific position and a position where the second light receiving means detects that the transported object has blocked the light beam. It is possible to detect or calculate the second movement distance of the transported object,
The transport apparatus according to claim 3, wherein a width of the transported object is calculated from a relationship between a second intersection angle of the second light rays and a second moving distance of the transported object.
The arrival detection means comprises a third light emitting means for irradiating a third light beam in a direction intersecting the transport direction, and a third light receiving means for receiving the third light beam from the third light emitting means,
The third light receiving means detects that the conveyed object has blocked a third light beam from the third light emitting means, and detects that the conveyed object has reached a specific position. 5. The transfer device according to any one of 1 to 4.
Having a speed measuring means for measuring the transport speed of the transported object;
Measure the light blocking time from the position where the transported object blocks the third light beam to the position where the third light beam passes,
The transport apparatus according to claim 5, wherein a length of the transported object is calculated from a transport speed of the transported object and the light shielding time.
The speed measuring means includes a fourth light emitting means for irradiating a fourth light ray, and a fourth light receiving means for receiving the fourth light ray from the fourth light emitting means,
The fourth light ray is parallel to the third light ray with a predetermined interval in the conveying direction,
A first passage time from the time when the transported object blocks the third light beam until the fourth light beam is blocked, and a second passage time from the passage of the third light beam to the passage of the fourth light beam, respectively. Measure and
The transport device according to claim 6, wherein a transport speed of the transport object is calculated based on an interval between the third light beam and the fourth light beam, the first passage time, and the second passage time. .
A conveyance path for conveying the conveyance object;
At least a part of the transport path is formed by a motor built-in roller, and the transported material is transported by the rotation of the motor built-in roller,
Rotation speed detection means for detecting the rotation speed of the motor of the motor built-in roller,
The transport apparatus according to claim 6 or 7, wherein a slip amount of the transported object is calculated by comparing a transport speed of the transported object and a rotation speed of the motor.
A conveyance path for conveying the conveyance object;
At least a part of the transport path is formed by a motor built-in roller, and the transported material is transported by the rotation of the motor built-in roller,
Having rotation detection means for detecting the rotation speed of the motor of the motor built-in roller;
The transport apparatus according to claim 5, wherein a length of the transported object is calculated based on a rotation speed of a motor.
10. The transport apparatus according to claim 1, wherein the transported object is a box-shaped body.
The transport apparatus according to any one of claims 1 to 10, wherein the transport object is transported on a straight line in the same posture.
A transport device capable of performing a correction operation by transporting a first box and a second box having different widths or heights,
In the correction operation, from the position where the arrival detection means detects that the first box has reached a specific position to the position where the first light receiving means detects that the first box has blocked the light beam. The position at which the first light receiving means detects that the second box has blocked the light beam from the movement distance of the first box and the position at which the second box has reached a specific position by the arrival detection means. The moving distance of the second box up to is calculated, and the first intersection angle is calculated according to the following relationship (a) or (b): The conveying apparatus as described.
(A) Relationship between the moving distance of the first box and the moving distance of the second box, and the relationship between the width of the first box and the width of the second box (b) Moving distance of the first box And the difference between the movement distance of the second box and the difference between the height of the first box and the height of the second box.