JP2000185819A - Method of and device for delivering article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent soft articles from being damaged in such a case where the articles fed from a supply path and arranged in irregular directions, are transferred so as to be arranged in an article discharge direction. SOLUTION: An article delivering device includes an angle detecting means for detecting an angle with which the direction of an article W on a supply path 11 is turned with respect to a reference direction, and a relay device B being interposed between the supply path 11 and an article discharge part Pb, and being adapted to run, in a loop-like way, a plurality of receiving parts 83, 83 for successively receiving articles W at an article receiving position Pa on the supply path 11 and for holding them, and adapted to discharge articles W held by the receiving parts 83, 83, onto the article discharge part Pb. The receiving part 83 at the one of lines tangential to the loop-like locus, which is inclined by an angle the same as an angle detected by the angle detecting means 4, with respect to a reference direction, receives the article W whose angle is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for transferring articles such as confectionery pieces supplied from an upstream side of a supply path to a discharge section on the downstream side. Even if articles are supplied from the supply path, they can be transferred to the discharge section with the directions aligned.

[0002]

2. Description of the Related Art FIG. 13 is a perspective view of a main part for explaining a conventional article delivery apparatus. A pair of attitude control plates (12) (12) are provided near the upper surface of the supply path (11) on the upstream side for supplying articles (W) such as confectionery pieces in parallel with the traveling direction of the supply path (11). The interval between the discharge ports (13) at the downstream ends of the attitude control plates (12) (12) is substantially equal to one width of the article (W).

[0003] At the downstream part of the supply path (11), there is provided a transport path (21) running in parallel with the supply path (11), and an upstream part of the transport path (21) and the supply path (11). Above the downstream part, a suction pipe (32) is provided so as to be able to reciprocate.
In this case, the goods (W) (W) supplied from the supply channel (11)
Are adjusted in direction when they pass through the discharge ports (13) of the attitude control plates (12), (12), and are sequentially discharged to the downstream side.

[0004]

However, in the above-mentioned conventional apparatus, a soft article (W) or a fragile article (W)
Are likely to collide with these inner surfaces when passing between the attitude control plates (12), causing deformation or cracking, and defective products to be easily generated. The present invention has been made in view of the above-described point, and is directed to `` articles (W) (W) supplied in an irregular direction in a state of being placed on the supply path (11), (P _b )
Method and apparatus for aligning and transferring (Z) in order to prevent the inconvenience of damaging soft or fragile articles (W) when aligning them.

[Regarding Invention of Delivery Method of Article] <1.

[0006]

The technical means of the invention of a method for delivering and receiving articles taken to solve the above-mentioned problem is as follows: "The direction of the article (W) (W) on the supply path (11) ( Z) is provided with angle detecting means (4) for detecting the angle of rotation with respect to the reference direction, and a relay device is interposed between the supply path (11) and the article discharge section (P _b ), The relay device may include the supply path
The articles (W) (W) sequentially supplied from (11) are supplied to the supply path (1).
1) At the article receiving position (P _a ) above, a plurality of receiving sections for individually receiving and holding the articles are run in a loop, and the articles (W) (W) held by the receiving sections are transferred to the articles. Discharge part (P _b )
A tangential line that is inclined with respect to the reference direction by the same angle as the angle detected by the angle detecting means (4) among the tangential lines on the loop-shaped travel trajectory. The receiving section receives the article (W) whose angle has been detected ”.

The above technical means operates as follows. When the articles (W) are supplied in one or more rows from the supply path (11), the direction (Z) of the articles (W) (for example, the length direction and width direction of the rectangular confectionery pieces) is set in the reference direction. The angle of rotation with respect to is detected by the angle detecting means (4). Next, among the tangents on the traveling trajectory of the receiving unit, the receiving unit located at the tangential portion that is rotated with respect to the reference direction by the same angle as the rotation angle detected by the angle detecting means (4) is used. W) holds.

[0008] Then, of the tangents on the loop-like traveling locus, the tangent of the part holding the article (W) is parallel to the direction (Z) of the article. And the direction of each article (W)
When (Z) is parallel to the tangent line on the travel trajectory corresponding to each article (W), each article ejected to the article ejection section (P _b )
(W) The direction (Z) of (W) is aligned in the same direction.

[0009]

The present invention has the following specific effects. The receiving section holds the article (W) (W) in a predetermined posture, and then the article discharge section
Since the direction of the article (W) (W) is aligned by the movement to (P _b ), there is a possibility that the article (W) (W) may be damaged by colliding with the attitude control plates (12) (12). Said article compared to the conventional one
(W) The inconvenience of (W) becoming defective is reduced.

<2> In the above item 1, the receiving section at the article receiving position (P _a ) moves in the same direction at the same speed as the supply path (11). Receives the article (W) while moving in the same direction at the same speed as the supply path (11), so that the article can be reliably received even if the speed of the upstream supply device and the moving speed of the receiving section are both high. be able to.

<Item 3> In the above item 1 or 2, the article discharging section (P _b ) may be placed on a transport path (21) running at the same speed in the same direction as the moving direction of the receiving section. Is located, '' the transport path (21), which is the article discharge section (P _b ), travels in the same direction and at the same speed as the receiving section, so the speed of the transport path (21) and the moving speed of the receiving section Even if both are at high speed, the goods (W) can be reliably transferred. <Item 4> In the above item 1 or 2, the item "the article discharge section
(P _b ) is located on the tray in a stopped state ”, the box can be packed in a box by directly storing the tray in a packaging box. [Regarding invention of article delivery device] <5>

[0012]

The technical means adopted by the invention of the delivery apparatus for executing the delivery direction of the article is as follows: "The direction (Z) of the article (W) (W) on the supply path (11) ) Is an angle detecting means for detecting an angle of rotation with respect to the reference direction (4)
And the supply path (11) and the article discharge section (P _b )
The relay device interposes the articles (W) (W) sequentially supplied from the supply path (11) with the supply path.
(11) At the article receiving position (P _a ) above, a plurality of receiving sections for individually receiving and holding the articles are run in a loop, and the articles (W) (W) held by the receiving sections are Material discharge section (P
_b ), the tangents on the loop-shaped travel locus which are inclined with respect to the reference direction by the same angle as the angle detected by the angle detecting means (4). Means for moving a specific receiving section is provided, and the article (W) whose angle has been detected is received by the specific receiving section. "

[0013] In this case, the relay device is provided with the above-mentioned delivery method.
The same operation as described in the invention is performed, and the same operation is obtained.
Can be <Section 6> In the above-mentioned section 5, the condition that "the relay device is
Goods receiving position (P_a) And the article discharge section (P_b)
A loop member that can be freely formed, and the loop member
A plurality of receiving sections attached thereto, and the article receiving position (P_a)
A receiving motor that sets the speed of the loop member at
The article discharge section (P_bSet the speed of the loop member in
Discharge side motor, and the reception side motor and the discharge side motor.
The goods receiving position (P_a) And the goods discharge section (P _bBefore it occurs
Tension that absorbs fluctuations in the degree of deflection of the loop member
A discharge motor or a reception motor.
By increasing or decreasing the rotation speed of the receiver,
Keep the number of receiving units in the goods receiving state within a certain range
The following operation and effect are achieved.

For example, if an article (W) (W) which is defective due to deformation or chipping is removed from the supply path (11) before reaching the article receiving position (P _a ), The receiving frequency of the article (W) (W) at the receiving position (P _a ) decreases, and the number of receiving units in the article receiving state of the receiving unit group is likely to change. However, in such a case, by reducing the rotation speed of the discharge side motor to reduce the speed of the loop member in the article discharge section (P _b ), it is possible to reduce the frequency of article discharge to the article discharge section, thereby The number of receiving sections in the article receiving state can be controlled so as to fall within a certain range. Conversely, if the receiving frequency of the article (W) (W) at the article receiving position (P _a ) increases, the receiving motor in the article receiving state is increased by increasing the rotation speed of the discharge motor. The number of copies can be kept within a certain range, and when the frequency of discharging the articles at the article discharging section (P _b ) changes, the rotation speed of the receiving motor is increased or decreased to obtain the article receiving state. Can be kept within a certain range.

As described above, when the above technical means is employed, the number of receiving units in the receiving state among the receiving unit group can be kept within a certain range, and the number of receiving units can be controlled regardless of the change in the frequency of receiving or discharging articles. However, it is possible to avoid an excessive increase in the number of articles in the article receiving state, in other words, an inconvenience of insufficient number of article receiving units in the non-receiving state.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described together with the illustrated example. As shown in FIGS. 1 and 2, in front of the downstream end of the supply path (11), a transport path (21) running in a direction perpendicular to the supply path (11) is formed. ), An image processing device (40) faces from above, and a relay device is provided between the supply path (11) and the transport path (21).
(B) is interposed. The article (W) (W) is the relay device (B)
The suction tube (83) (83) is a suction unit provided as a receiving unit, and the suction tube (83) (83) is connected via a flexible hose (91) (91). To the suction device (9).
Hereinafter, details of each unit will be described. [About supply path (11)] Supply path (11) in the form of a belt conveyor
Are driven by a supply servomotor (14) shown in FIG. 2, and the rotation amount and the rotation speed of the supply servomotor (14) are controlled by a control device (not shown). [Regarding Image Processing Apparatus (40)] The image processing apparatus (40) disposed above the traveling area of the supply path (11) is provided with a photographing device (40) for photographing an article (W) on the supply path (11). 41) and an arithmetic unit (42) for analyzing the image, and the arithmetic unit (42) can obtain data necessary for correcting the attitude of the article (W). Specifically, as shown in FIG. 3, the long side direction which is the direction (Z) of the article (W) on the supply path (11) is the width direction of the supply path (11) as a reference direction (in FIG. (Corresponding to the X-axis direction) and the rotation angle θ rotating from the center and the center position (geometric center of gravity) of the article (W) are calculated.

FIG. 3 shows a rectangular article by the photographing means (41).
(W) shows an image obtained by photographing, and the article image (Wa) has an inclination of the rotation angle θ with respect to the X-axis direction (width direction of the supply path (11)) of the entire image. ing. The image data shown in FIG. 3 is transmitted to the arithmetic unit (42),
(42) is when the article image (Wa) moving in the traveling direction of the supply path (11) (corresponding to the Y-axis direction in FIG. 3) is photographed by the photographing means (41) (side (11b) ) Image of supply route sandwiched between (11c)
(11a), the article image (Wa) completely appears in (11a)), the Y-axis direction of the center G of the article image (Wa) with respect to the image center O (supply path (1
Deviation G _X deviation G _Y and X-axis direction corresponds) to the running direction of the 1) (corresponding to the width direction of the feed channel (11)), further computes the rotation angle theta.

For example, as shown in FIG. 3, when the article (W) is rectangular, the coordinates of the points C and D of two adjacent corners of the article image (Wa) are respectively (X ₃ , Y ₃ ) and When (X ₄ , Y ₄ ) is obtained, it is obtained by the following equation. Rotation angle θ = tan ⁻¹ ((Y ₃ −Y ₄ ) / (X ₃ −X ₄ )) Also, the coordinate G _Y in the Y-axis direction of the center G is obtained by, for example, the following equation. G _Y = (Y ₃ −Y ₁ ) / 2 where Y ₃ and Y ₁ are the point C corresponding to the maximum corner in the Y-axis direction and the point A corresponding to the minimum corner in the Y-axis direction. These are the respective coordinates.

Further, a coordinate G _X of the center G in the X-axis direction is obtained by, for example, the following equation. G _X = (X ₂ −X ₄ ) / 2 where X ₂ and X ₄ are a point B corresponding to the corner having the maximum coordinate in the X-axis direction and a point D corresponding to the minimum corner in the X-axis direction. These are the respective coordinates. Processing unit (42) calculates the rotation angle θ and, G _Y and G _X to the image center O as the origin of the article image with respect to the X-axis as a reference direction this way (Wa).

In the present embodiment, the arithmetic unit (42) for executing the above-mentioned arithmetic operation and the above-mentioned photographing means (41) correspond to the above-mentioned angle detecting means (4). When the article (W) is a biscuit or the like having a complicated shape such as an animal, a reference pattern having the shape of the animal and facing a reference direction is stored in a storage device, and the article image (Wa) is stored. Can be calculated as the rotation angle θ by calculating the angle required to rotate until the position matches the reference pattern. [Relay device (B)] The article image (W
The relay device (B) for transferring a) to the transport path (21) will be described.

As shown in FIGS. 1 and 2, a movable plate (51) disposed above the supply path (11) and downstream of the image processing apparatus (40) and formed in a cross shape as a whole. Is guided by the lower ends of a pair of guides (44) and (44) hanging down from a fixed top plate (43) so as to be movable in the width direction of the supply path (11) (the X-axis direction described above). I have. Therefore, groove members (46) (46) having a C-shaped cross section fixed to the upper surface of the movable plate (51) are provided on the rail portions (45) (45) at the lower ends of the guides (44) (44) in FIG. Is slidably fitted to the paper surface in the front-rear direction.

As shown in FIG. 1, the movable plate (51)
Is moved in the X-axis direction which is the width direction of the supply path (11) by a positioning servomotor (61). Therefore, the output end of the lot (53) is rotatably connected to the movable plate (51) by the support shaft (52). The input end of the lot (53) is rotatably connected to a crank plate (55) via a support shaft (56), and the rotary shaft (50 A chain (63) is hung between a sprocket (57) mounted on the sprocket (57) and a sprocket (62) fixed to the rotating shaft of the positioning servomotor (61).

As shown in FIGS. 2 and 4, on the lower side of the movable plate (51), there are moving nuts (102) for feed screws (16) (16) parallel to the running direction of the supply path (11). A slide plate (17) attached via the (103) is provided, and the slide plate (17) has a first driving sprocket driven by a receiving servomotor (65) as a receiving motor. (25) and an auxiliary sprocket (26) in the vicinity thereof are rotatably mounted via shafts (100) and (101). Also, the above feed screws (16) (1
Sprocket (15) fixed to one end of 6) and movable plate
A transmission chain (19) is hung between the sprockets (10) fixed to the output shaft of the feed servo motor (18) on the (51), whereby the feed servo motor (18) feeds. The slide plate (17) is reciprocated along the supply path (11) by rotating the screw (16).

Also, the supply path extends from both sides of the movable plate (51).
Sliders (67) and (68) are slidably attached to the horizontal arms (511) and (512) protruding in the width direction of (11). Projecting arms (70) (71) protruding from the sides of these sliders (67) (68)
Is slidably fitted on the horizontal rod (72),
Compression springs (76) (77) are interposed between the fixed cylinders (74) (75) externally fitted to the horizontal rod (72) and the protruding arms (70) (71). Thus, the sliders (67) and (68) including the movable sprockets (27) and (28) are urged by the compression springs (76) and (77), and the horizontal arms (511) and (511) of the movable plate (51) Along the line (512). Further, limit switches (99a) and (99b) are provided to regulate both ends of the movement range of the slider (67), and these limit switches (99a) and (99b) are provided at both ends in the longitudinal direction of the slider (67). Outputs an ON signal when abuts on. In the present embodiment, the movable sprockets (27) and (28), the sliders (67) and (68) to which these are attached, and the compression springs (76) and (78) correspond to the tension device described above.

A second drive sprocket (78) on the article discharge side and an auxiliary sprocket (79) in the vicinity of the second drive sprocket (78) are arranged near the linear conveyance path (21). A fixed sprocket (73) is provided near the upstream end of the sprocket.
The second drive sprocket (78) is driven by a discharge servomotor (64) as a discharge motor as shown in FIGS. 1 and 2, and the second drive sprocket (78) →
Auxiliary sprocket (79) → Movable sprocket (28) → Auxiliary sprocket (26) → First driving sprocket (25) → Movable sprocket (27) → Loop member that can be bent and deformed along the path connected to the fixed sprocket (73) A relay chain (81) is hung, and suction cylinders (83) (83) for sucking and holding an article (W) are attached to the relay chain (81) at a constant pitch. The relay chain (81) is connected to the second drive sprocket (7
8) and the fixed sprocket (73) travel linearly, whereby the suction tubes (83) (83) located in the linear region travel along the transport path (21). ing. In this device, the traveling speed of the relay chain (81) at the article receiving position (P _a ) is set by the receiving side servo motor (65) for the first driving sprocket (25), and is set at the article discharge section (P _b ). Relay chain (8
The traveling speed of 1) is set by the discharge side servo motor (64) for the second drive sprocket (78). [Suction device (9)] As shown in FIG.
The middle part in the axial direction of 3) is formed in an elastic bellows shape, and all the adsorption cylinders (83) (83) are flexible hoses (91) (91).
The air suction port (230) of the vacuum switching device (92) is connected to a decompression device (90) via the vacuum switching device (92).

Next, the structure of the vacuum switching device (92) will be described with reference to FIGS. FIG. 6 shows VI-V of FIG.
FIG. 7 is a cross-sectional view taken along a line I, and FIG. The flexible hose (91) connected to the suction tube (83) is attached to the rotating body (370) in the state shown in FIGS. 5 and 6, and the fixed pipe (430) is connected to the slide pipe (450). Fixed pipe (430) and slide pipe (450) are long holes
The pin (490) is connected to the (470) with the pin (490) inserted therethrough, so that it can be moved up and down by the thickness of an air partition (250) described later.

The bellows-shaped adsorption cylinder (83) can be contracted by sucking air by the pressure reducing device (90) through the air suction port (230) shown in FIG. Article (W) at the lower end of adsorption cylinder (83) by suction of air
Can be adsorbed. In the section where adsorption is not required, specifically, as shown in FIG.
(21) is moved clockwise (in the running direction of the relay chain (81)) from the article discharge section (P _b ) to the article on the supply path (11).
In the section up to the article receiving position (P _a ) for sucking and holding (W), the suction tube (83) may be kept in an extended state. For this reason, as shown in FIG. An air divider (25) that slides over the shutter (410)
0).

As shown in FIG. 5, the air partition plate (250) is driven by a servomotor (270) via a shaft (290), a worm wheel (330) and a worm gear (310). I have. Suction cylinder (83) that has reached the goods receiving position (P _a )
The end of the flexible hose (91) corresponding to the air switching plate (250)
When the closed state is changed from the closed state to the open state, the inside of the suction tube (83) is in a negative pressure state, and the article (W) is suction-held by the suction tube (83) at a predetermined timing.

As shown in FIG. 7, the air partition plate (250) has a length of several pitches from a position slightly deviated in the anti-rotation direction from a position corresponding to the article receiving position (P _a ). Long hole
(250a) is formed, and the flexible hose (9
One end of 1) is kept in a half-open state. To keep one end of the flexible hose (91) in a half-open state with the long hole (250a),
As shown in FIG. 2, the suction tube (83) is in an extended state (see the suction tube (83a)) before reaching the supply path (11), but the article receiving position on the supply path (11) (see FIG. 2). When approaching P _a ), it is held in a slightly contracted state (see suction cylinder (83b)) and then extended again at the article receiving position (P _a ) (see suction cylinder (83c)). Thus, the suction cylinder (83) is contracted near the upstream of the article receiving position (P _a ) for sucking and holding the article (W) so that the lower end of the suction cylinder (83) comes into contact with the article (W). Thus, the inconvenience of changing the position of the article (W) can be avoided. [About the transport path (21)] Articles discharged from the suction tube (83)
As shown in FIGS. 1, 2 and 8, a conveying path (21) for receiving (W) includes a conveying chain (20) on which a large number of pushing rods (190) (190) are attached at a constant pitch. These pushing rods (190) (1
And a guide (170) having a U-shaped cross-section formed in the bottom wall, and the pitch of the pushing rod (190) is set to that of the suction cylinders (83) and (83). It matches the arrangement pitch.

[0030] Then, re transferred to the adsorption column (83) is pusher rod (190) is article discharge portion when it reaches the article discharge portion (P _b) (P _b) from the predetermined position of the rear (the guide (170) Transport chain (2) so as to reach the rear end of the
The traveling speed of 0) and the feed speed of the relay chain (81) by the discharge side servo motor (64) are made to match. Thus, articles (W) and (W) can be supplied to the transport path (21) at a constant pitch. [Control Device (95)] As shown in FIG. 9, an electric component such as an image processing device (40) serving as an angle detecting means (4) is electrically connected to the control device (95) for controlling the above-mentioned components. ing.

The control device (95) processes data such as the rotation angle θ of each article (W) and the deviations G _X and G _{Y of the} centers described above, which are transmitted from the image processing device (40). If the article (W) is sucked and held by the suction cylinder (83) at any part of the outer periphery of the first drive sprocket (25), the direction (Z) (long side direction) of the article (W) is changed to the article discharge section (P _{In step b} ), it is determined whether or not the moving direction coincides with the traveling direction of the transport path (21), and each unit is controlled so that the article (W) can be sucked by the suction tube (83). That is, if the article (W) is held by the suction tube (83) so that the long side of the article (W) is parallel to the tangent line on the running trajectory of the relay chain (81), the length of the article (W) The side can be made to coincide with the traveling direction of the transport path (21). For this reason, in the present embodiment, the first drive sprocket
A tangent line on the outer circumference of (25) (the relay chain (81)
Of the trajectory of the feed path), the same angle as the rotation angle θ of the article (W) detected by the image processing device (40) with respect to the reference direction (X-axis direction, which is the width direction of the supply path (11)). The article (W) is sucked and held by the suction tube (83) at the inclined tangential line.

Specifically, a specific suction cylinder (83) for sucking and holding the article (W) is selected as follows. As shown in FIG. 10, the rotation in which the direction (Z) (the long side direction in the present embodiment) of the specific article (W ₁ ) is inclined from the width direction (X-axis direction) of the supply path (11) which is the reference direction. The angle θ ₁ is equal to the rotation angle θ ₁ ′ between the short side of the article (W ₁ ) and the running direction R (Y-axis direction) of the supply path (11). Therefore, when the article (W ₁ ) is held by the suction tube (83a) located at the rotation angle θ ₁ of the outer periphery of the first driving sprocket (25) with respect to the traveling direction R (Y-axis direction) of the supply path (11), The short side of the article (W ₁ ) is in the running direction R of the supply path (11).
It is inclined by the rotation angle theta ₁ with respect to (Y-axis direction).
In other words, the adsorption column (83) (83) running out of the tangent on the trajectory, the reference direction (X axis direction) adsorption column of the tangent of the portion which is inclined by the same angle as the previously described rotation angle theta ₁ with respect to the ( 83a) in goods
When (W ₁ ) is received, the tangent line at the part holding the article (W ₁ ) on the traveling locus and the long side of the article (W ₁ ) become parallel. Therefore, the article (W) adsorbed and held by the adsorption cylinder (83a)
₁ ) reaches the article discharge section (P _b ) of the transport path (21),
The direction of the long side corresponding to the direction (Z) of the article (W ₁ ) coincides with the traveling direction of the transport path (21). Therefore, the above processing is performed for other articles (W ₂ ) (W
_{When the same} operation is performed for ₃ ), articles (W ₁ ), (W ₂ ), and (W ₃ ) having different postures on the supply path (11) are transferred to the transport path (21) in a state where the postures are aligned in the same direction. Can be replaced.

FIG. 11 shows the detection of the rotation angle θ of the article (W).
The first microcomputer (96) that stores this
Of the operation of the control device (95)
It is a chart. When the operation starts, step (ST1)
Sets the variable I to "1". Next, step (ST
2) In goods (W_I) Invaded the monitoring area of the image processing device (40)
Judge whether or not it has entered the monitoring area.
3) In goods (W_I) Center deviation G_XI, G _YIAnd rotation angle θ_I
 Is calculated. Note that these center shifts G_XI, G_YIAnd times
Roll angle θ_I Is the image of the photographing means (41) as shown in FIG.
The center G of the article image (Wa) is displaced from the center O in the X-axis and Y-axis directions.
Distance G_X , G_Y , And the rotation angle of the article image (Wa)
corresponds to θ.

Next, the distance L between the photographing means (41) and the side of the supply path (11) (corresponding to the distance between the side (11b) of the supply path image (11a) and the image center O in FIG. 3). to have) and using the above-mentioned G _XI, calculates the deviation X _I of the center of the X-axis direction of the article from the side (V) of the supply passage (11) shown in FIG. 10 (W _I) (step (ST4 )
). Next, a step (ST5) is executed to rotate the rotation center (P) of the first driving sprocket (25) in order to adsorb the article (W _I ).
It calculates the sprocket moving distance S _I with the sides (V) needs to move in the width direction of the supply path (see FIG. 1) (11). That is, from FIG. 10, the sprocket movement distance S _I = X _I
Since it is known that −a · sin θ _I is obtained, the sprocket movement distance S _I is calculated. Here, a is the radius of the first driving sprocket (25). Also, as shown in FIG.
Article receiving position (P _a ) at which article (W _I ) is to be adsorbed and held (this article receiving position (P _a ) is not constant for each article (W) (W))
Then, the distance Y _I between the detection position of the article (W _I ) at the time of photographing by the photographing means (41) is calculated. That is, Y _I = Y ₀ + a · cos
to calculate the θ _I. Where Y ₀ is the first drive sprocket
(25) and the rotation center (P) of the first driving sprocket (25) when the feed servo motor (18) is moved to the upstream end of the moving area in the running direction of the supply path (11). This is the distance of the center G of the article (W _I ) when photographed by the means (41) in the Y-axis direction (in the running direction of the supply path (11)). It should be noted that Y ₀ is the Y of the rotation center (P) of the first drive sprocket (25) moved to the upstream end and the center (corresponding to the image center O) of the photographing means (41) in plan view. This is the sum of the axial distance and the above-mentioned G _YI .

Next, after increasing the value of the variable I by 1 in step (ST6), the instruction is returned to the step (ST2). Thus, the above-mentioned S ₁ -S _I , Y ₁ -Y are stored in the table in the memory of the first microcomputer (96).
_I , θ _{1 to} θ _I are sequentially stored. On the other hand, the article (W
When you are repeating the steps of the step (ST2) ~ step (ST6) for computing the rotation angle theta _I, etc. _I), the adsorption column (8
It monitors that a suction completion signal indicating that the article (W) has been sucked in step 3) is output from a second microcomputer (97), which will be described later. The aforementioned S ₁ , Y ₁ , θ ₁ stored in the table in the memory of the computer (96) are stored in the second microcomputer (9).
7) (Step (ST8)). Then, step (S
In T9), again stores the data of S ₂ to S _I to the memory that stores data S ₁ ~S _I-1. Similarly, Y ₁ to
Each memory stores a Y _I-1 of the data Y ₂ to Y _I
Are stored again, and the data of θ ₂ to θ _I are stored again in each memory storing the data of θ _{1 to} θ _I-1 . Then, after the value of the variable I is reduced by 1 in step (ST10), the instruction is returned to the step (ST2).

FIG. 12 shows a first microcomputer (96).
FIG. 9 is a flowchart showing control commands stored in a second microcomputer (97) for processing data such as the rotation angles θ ₁ and S ₁ output from the second microcomputer (97) for controlling the receiving servomotor (65) and the like. When the flowchart is executed, the specific suction cylinder (8) is placed at the article receiving position (P _a ).
3) is moved, and the article (W) is sucked and held.

In step (ST8) of FIG. 11 described above, S ₁ ,
When the data of Y ₁ and θ ₁ (the _first data in the table) are output, these data are read into the second microcomputer (97), and the read data is stored again as S, Y, θ (FIG. Twelve steps (ST30) (ST31)). Next, by rotating the crank plate (55) by the positioning servo motor (61), the movable plate (51) is connected to the supply path (11) in the lot (53) attached to the crank plate (55). Width direction (X
(In the axial direction), whereby the rotation center (P) of the first driving sprocket (25) and the supply path are
The distance of the side (V) of (11) is set as the sprocket movement distance S (step (ST32)). Also, receiving servo motor
By rotating the (65), the suction tube (83) to hold the article (W) corresponding to the data of S, Y, and θ (FIG. 1)
When the article (W ₁ ) is sucked and held at 0, the suction cylinder (83a)) is rotated from the origin θ _{0 in the} circumferential direction by a rotation angle θ (θ ₁ when the article (W ₁ ) is sucked and held in FIG. 10). Move circumferentially to the site. Next, the travel distance traveled by the supply path (11) from the time when the article (W) to be suction-held is detected by the photographing means (41) (determined based on the rotation amount of the supply servomotor (14)) There is monitored by Y step to become (Y ₁ If for attracting and holding at 10 article of _{(W 1)) (ST34)} . Then, when the traveling distance becomes Y, the suction cylinder (83) located at the tangential portion parallel to the long side of the article (W) among the tangents on the outer periphery of the first drive sprocket (25) (the article in FIG. When holding (W ₁ ) by suction
(83a)), the article (W) faces from below.

Therefore, when the running distance becomes Y, the feed servo motor (18) is operated to feed the feed screw (16).
To move the first drive sprocket (25) attached to the slide plate (17) in the traveling direction of the supply path (11) at the same speed as the supply path (11).
While maintaining the relative speed between (W) and the lower end of the suction tube (83) at "0", the vacuum switching device (92) is operated to adsorb the article (W) to the suction tube (83). For example, when the article (W ₁ ) is held by suction in FIG. 10, the article (W ₁ ) is sucked and held by the suction tube (83a). That is, as shown in FIG. 6, the air partition plate (250) is moved so that the end of the flexible hose (91a) corresponding to the suction tube (83a) is opened. ) Is placed in a negative pressure state, and the article (W ₁ ) is suction-held by the suction tube (83a).

As a result, the direction (Z) (long side direction) of the article (W) sucked and held by the suction tube (83) becomes parallel to the tangent on the traveling locus of the suction tube (83) (83). The article (W) is transferred to the transport path (21).
When the article (W) arrives at the upper article discharge section (P _b ), the long side of the article (W) coincides with the traveling direction of the transport path (21). Therefore, the articles (W) and (W) are discharged to the transport path (21) in a state where the long sides of the articles (W) and (W) are oriented in the same direction (in a state where the postures are aligned).

When each article (W) is adsorbed on the adsorption cylinder (83), the first microcomputer (97) sends the first article (W) to the first microcomputer (97).
The step (ST36) of FIG. 12 for outputting a suction completion signal to the microcomputer (96) is executed. Also, the speed of the relay chain (81) located between the fixed sprocket (73) and the second driving sprocket (78) and the speed of the transfer chain (2
0) so that the discharge side servo motor (6
4), whereby the articles (W) and (W) are moved at the same speed as the traveling speed of the transport path (21).
It is discharged between the pushing rods (190) and (190) of (21).

In addition, defective or defective articles (W) (W)
Is supplied from the supply path (11), it is removed from the supply path (11) by a defective product removing device (not shown). As a result, the articles on the outer periphery of the first drive sprocket (25) are removed. The frequency of receiving articles (W) (W) at the receiving position (P _a ) may decrease. Then, the first driving sprocket (2) is rotated by the second driving sprocket (78) rotating at a constant speed.
5) → Movable sprocket (27) → Fixed sprocket (73) → Relay chain (8) connected to the second drive sprocket (78)
1) is pulled, whereby the movable sprocket (27) moves toward the movable sprocket (28) while sliding on the horizontal arm (511) together with the slider (67) (in this case, the compression spring (76) Is compressed). When the slider (67) comes into contact with the limit switch (99b), the limit switch
The conveying path (21) and the discharge side servomotor (64) are decelerated in synchronization with the ON signal of (99b), whereby the first driving sprocket (25) to the second driving sprocket (78)
To prevent the number of the adsorption cylinders (83) and (83) from being excessively reduced in the path leading to. In addition, by performing such control, the fluctuation of the degree of deformation of the relay chain (81) caused when the frequency of receiving the articles (W) (W) is reduced is absorbed by the movement of the movable sprockets (27) and (28). Is done. Conversely, the receiving frequency of the articles (W) (W) supplied from the supply path (11) increases, or the second drive sprocket (78) is synchronized with the decrease in the speed of the transport path (21). ), The first drive sprocket (25) → movable sprocket (27)
→ The fixed sprocket (73) → the relay chain (81) in the area connected to the second drive sprocket (78) tends to become loose. Then, the movable sprocket (27) moves toward the distal end of the horizontal arm (511) together with the slider (67). And the slider (6
7) comes into contact with the limit switch (99a), the transport path (21) and the discharge side servomotor (64) are synchronized with the ON signal of the limit switch (99a), and the speed is increased or the supply path ( Decrease the speed of 11). As a result, the number of suction cylinders (83) and (83) in the path connected to the first driving sprocket (25) → the movable sprocket (27) → the fixed sprocket (73) → the second driving sprocket (78) is excessively increased. To prevent
Thus, even if the article receiving frequency of the suction cylinders (83) and (83) changes, the number of suction cylinders (83) and (83) in the article receiving state among the suction cylinders (83) and (38) is constant. It is controlled to be within the range. [Others] In the above embodiment, the article (W) (W)
But the tray is held in a stopped state in the article discharge section (P _b ), and the articles (W) are stored in the tray in the stopped state.
(W) may be sequentially stacked. In the above embodiment, the article (W) (W) is adsorbed onto the adsorption cylinder (83) (8).
Although the suction is held in step 3), a gripping means for loosely holding the articles (W) and (W) may be attached to the relay chain (81) at a constant pitch. In the above embodiment, the limit switch (99a) (99
b) judge the ON signal output by and determine the suction cylinder (83) (8
3) The control was performed to keep the number of suction cylinders (83) and (83) in the goods receiving state within a certain range, but the suction cylinders (83) and (83) moved the goods at the goods receiving position (P _a ). From the total number of items received
By subtracting the total number discharged in (P _b ), the number of suction cylinders (83) (83) in the article receiving state is calculated, and the number of suction cylinders (83) (83) in the article receiving state is calculated. The discharge side servo motor (64) and the reception side servo motor (6
The rotation speed of 5) may be increased or decreased.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of a partially cutaway part of an article delivery device illustrating an embodiment of the present invention.

FIG. 2 is a partially cut-away side view of the article delivery device illustrating an embodiment of the present invention.

FIG. 3 is an article image of an article (W) projected on the image processing device (40).
Diagram showing (Wa)

FIG. 4 is a schematic plan view of a partially cutaway part of the article delivery device illustrating an embodiment of the present invention.

FIG. 5 is a plan view of a vacuum switching device (92).

FIG. 6 is an enlarged side view of a main part of a vacuum switching device (92).

FIG. 7 is a plan view of an arrangement portion of an air partition plate (250).

FIG. 8 is a side view of the vicinity of an article discharge section (P _b ).

FIG. 9 is a diagram showing a connection relationship between a control device (95) and each electric component.

FIG. 10 is a schematic diagram illustrating the relationship between articles (W) and (W) on a supply path (11) and adsorption cylinders (83) and (83) that adsorb and hold the articles (W) and (W).

FIG. 11 is a flowchart illustrating a control program stored in a first microcomputer (96).

FIG. 12 is a flowchart illustrating a control program stored in a second microcomputer (97).

FIG. 13 is an explanatory view of a conventional example.

[Explanation of symbols]

(4) ・ ・ ・ Angle detection means (11) ・ ・ ・ Supply path (P _a ) ・ ・ ・ Article receiving position (P _b ) ・ ・ ・ Article discharge part (W) ・ ・ ・ Article

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F072 AA12 GA02 GA10 GC04 GE02 GF02 JA05 JA09 KA02 KA07 KA31 KA32 KC01 KC07 KC10 KD03 KD09 KD12 KD28 3F081 AA47 BA01 BC01 BD08 BD17 BD18 BE04 BF23 CA05 CA08 CC08 CC08EA08 EA15 FB01 FB02

Claims (6)

[Claims] An article (W) (W) supplied in an irregular direction while being placed on a supply path (11) is transferred to an article discharge section on the downstream side.
(P _b ) In the method of delivering an article in which the direction (Z) is aligned and transferred to (P _b ), the direction (Z) of the article (W) (W) on the supply path (11) is relative to a reference direction. Angle detecting means for detecting a rotating angle
(4), and a relay device is interposed between the supply path (11) and the article discharge section (P _b ) .The relay apparatus is configured to supply the articles (1) sequentially supplied from the supply path (11). A plurality of receiving sections for receiving and holding (W) (W) individually at the article receiving position (P _a ) on the supply path (11) are run in a loop and held by the receiving section. Goods
(W) is a device for discharging (W) to the article discharge portion (P _b ), and among the tangents on the loop-shaped traveling locus, the same angle as the angle detected by the angle detecting means (4) is used. An article delivery method for receiving an article (W) whose angle has been detected at a receiving section located at a tangent portion inclined with respect to a reference direction. 2. The article delivery method according to claim 1, wherein the receiving section at the article receiving position (P _a ) is configured to receive an article moving in the same direction at the same speed as the supply path (11). Delivery method. 3. The article delivery method according to claim 1, wherein the article discharging section (P _b ) travels at the same speed in the same direction as the moving direction of the receiving section. (21) Delivery method of the goods located above. 4. An article delivery method according to claim 1, wherein said article discharge section ( _Pb ) is located on a tray in a stopped state. 5. An article (W) (W) supplied in an irregular direction while being placed on a supply path (11) is removed from a downstream article discharge section.
(P _b ) In the article delivery device that aligns and transfers the direction (Z) to (P _b ), the direction (Z) of the article (W) (W) on the supply path (11) rotates with respect to a reference direction. Angle detection means for detecting the angle
(4), and a relay device is interposed between the supply path (11) and the article discharge section (P _b ) .The relay apparatus is configured to supply the articles (1) sequentially supplied from the supply path (11). A plurality of receiving sections for receiving and holding (W) (W) individually at the article receiving position (P _a ) on the supply path (11) are run in a loop and held by the receiving section. Goods
(W) is a device for discharging (W) to the article discharge portion (P _b ), and among the tangents on the loop-shaped traveling locus, the same angle as the angle detected by the angle detecting means (4) is used. An article delivery device which includes means for moving a specific receiving section at a tangent line inclined with respect to a reference direction, and receives the angle-detected article (W) at the specific receiving section. 6. The article delivery device according to claim 5, wherein
The relay device may be configured such that the article receiving position (P_a) And the article discharge section (P_bCycle)
A bendable loop member; and a plurality of the receivers attached to the loop member at a constant pitch.
And the article receiving position (P_aSet the speed of the loop member in)
Receiving motor, and the article discharge section (P_bSet the speed of the loop member in
The receiving motor based on the speed difference between the receiving motor and the discharging motor.
(P_a) And the goods discharge section (P _b)
A tension device that absorbs fluctuations in the degree, and increases the rotation speed of the discharge side motor or the reception side motor.
By reducing the number of items received,
That control the number of receivers in a state to be within a certain range
Delivery device.