JP2007269477A - Conveyed article posture controller and control method - Google Patents

Conveyed article posture controller and control method Download PDF

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JP2007269477A
JP2007269477A JP2006099625A JP2006099625A JP2007269477A JP 2007269477 A JP2007269477 A JP 2007269477A JP 2006099625 A JP2006099625 A JP 2006099625A JP 2006099625 A JP2006099625 A JP 2006099625A JP 2007269477 A JP2007269477 A JP 2007269477A
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cell
conveyed
control
belt
cells
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Yasuo Nakabayashi
泰男 中林
Hiroki Shinohara
啓樹 篠原
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Toyo Kanetsu Solutions Kk
トーヨーカネツソリューションズ株式会社
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<P>PROBLEM TO BE SOLVED: To provide a conveyed article posture control device capable of freely changing the posture of the conveyed article even in such a state that a clearance of the conveyed articles is narrow and at high speed conveyance and capable of quickly responding to a sorting direction in every conveyed article. <P>SOLUTION: The posture control device for the conveyed article in which a plurality of individually controllable cells are arranged in a flat surface-like shape is provided with a belt drive means for rotating a belt laid between a pair of conveying rollers 6 on the respective cells 5; a shaking drive means for shaking/rotating the respective cells in a horizontal direction; and a sensor 9 for detecting the conveyed article at at least one of a front side or a rear side of the belt of the respective cells. The device is characterized in that the belt drive means and the shaking drive means are independently controllably constituted according to detection output of the sensor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、物流システムにおいて物品もしくは物品を収納する搬送ケースの搬送姿勢を制御する搬送物姿勢制御装置に関する。   The present invention relates to a conveyed product attitude control device that controls the conveyance attitude of an article or a conveyance case that stores articles in a physical distribution system.
各種の物流システムにおいては、物品の保管、仕分け、ピッキング、配送等の各種物流形態がある。例えば、仕分けのための搬送方向の変更に限らず、その必要に応じて、その搬送向きや搬送位置などを変更する必要がある。   Various distribution systems include various distribution forms such as storage, sorting, picking, and delivery of articles. For example, it is necessary not only to change the transport direction for sorting, but also to change the transport direction, the transport position, and the like as necessary.
従来においては、荷物に効率良く力を伝えてスムーズに荷物を任意の方向に搬送することが可能な搬送装置及び搬送システムが提供されている。   2. Description of the Related Art Conventionally, a transport device and a transport system that can efficiently transmit force to a load and smoothly transport the load in an arbitrary direction have been provided.
これは、例えば、文献2に示す搬送装置に備えた送給部では、ツイストベースのうち送給ローラより下方にツイストギヤを配置したので、従来のツイストギヤの内側に送給ローラを配置した構成のものに比べて、ツイストギヤ及び送給ローラのそれぞれの形状の自由度が高まる。これにより、ツイストギヤの小型化を図ることが可能になり、送給部同士を従来よりも近づけて配置することができると共に、送給ローラの大型化を図ることも可能になり、荷物と送給ローラとの接触面積を増やすことも可能になる。これにより、各送給部から荷物に効率良く力を伝えてスムーズに荷物を任意の方向に搬送することが可能になる。(特許第3516343号)   This is because, for example, in the feeding unit provided in the conveying device shown in Document 2, the twist gear is arranged below the feeding roller in the twist base, so that the feeding roller is arranged inside the conventional twist gear. The degree of freedom of the shape of each of the twist gear and the feed roller is higher than that of the above. As a result, the twist gear can be reduced in size, the feeding portions can be arranged closer to each other, and the feeding roller can be increased in size, so that the load and the feeding gear can be increased. It is also possible to increase the contact area with the feed roller. As a result, it is possible to efficiently convey the force from each feeding unit to the package and smoothly transport the package in an arbitrary direction. (Patent No. 3516343)
また、文献1においては、パレット段積み商品をパレット搬送コンベアへ搬送しているときの分流と合流を高速化して、商品の搬送と仕分けの効率を高める装置が提案されている。  Further, in Document 1, there has been proposed an apparatus that increases the speed of diversion and merging when conveying pallet stacked products to a pallet conveyor, thereby increasing the efficiency of product conveyance and sorting.
この装置は、パレット段積み商品を搬送コンベアから分岐コンベアに分岐するとき、パレット段積み商品が分岐部に近づくと、分岐装置の制御ユニットは円弧状のデフレクタを上昇させるとともに複数のスキューローラの各回転テーブルを所定角度回転させ、分岐ローラをそれぞれ所定の回転速度で回転させる。分岐ローラの回転速度を制御するときに、回転中心側に近いスキューローラの分岐ローラをほとんど回転させず、回転中心より遠いスキューローラの分岐ローラを速く回転させ、パレット段積み商品を停止させずに円滑に回頭して分岐する。(特許第3228266号)   In this apparatus, when the pallet stacked product is branched from the conveyor to the branch conveyor, when the pallet stacked product approaches the branching unit, the control unit of the branching device raises the arc-shaped deflector and each of the plurality of skew rollers. The rotary table is rotated by a predetermined angle, and the branch rollers are respectively rotated at a predetermined rotation speed. When controlling the rotation speed of the branch roller, the skew roller of the skew roller near the rotation center is hardly rotated, the branch roller of the skew roller far from the rotation center is rotated quickly, and the pallet stacked product is not stopped. Turn smoothly and branch. (Japanese Patent No. 3228266)
特許第3228266号Japanese Patent No. 3228266 特許第3516343号Japanese Patent No. 3516343
特許文献1においては、回転速度と首振り角度を変えられる複数のスキューローラと駆動制御ユニットを有しているが、複数のスキューローラは中央制御装置によって制御された構成であるのでシステムが大掛かりになり汎用性が低い問題を抱えている。また、この種の中央制御の形態では、例えば、搬送物(パレット)が通過した後に、後方から搬送されてくる次の搬送物に対して仕分け向きを変えるような場合、該搬送物間の間隔が狭いときには仕分けできない事態が発生する。したがって、従来の搬送設備においては、搬送物の間隔を所定以上の間隔に設定しておく必要があった。また、搬送物の分岐点において、スキューローラの搬送物との摩擦力の不足を補うために、搬送物の向きを変える補助具としてデフレクタを用いる構成を採用している。   Patent Document 1 has a plurality of skew rollers and a drive control unit that can change the rotation speed and the swing angle. However, since the plurality of skew rollers are controlled by a central control unit, the system becomes large. It has a problem of low versatility. Further, in this type of central control, for example, when the sorting direction is changed with respect to the next transported object transported from the rear after the transported object (pallet) has passed, the interval between the transported objects When it is narrow, a situation that cannot be sorted occurs. Therefore, in the conventional transfer facility, it is necessary to set the interval of the conveyed items to a predetermined interval or more. Further, in order to compensate for the shortage of frictional force between the skew roller and the conveyed product at the branching point of the conveyed product, a configuration using a deflector as an auxiliary tool for changing the direction of the conveyed product is adopted.
特許文献2においては、多数のローラ群が歯車ユニットにて連結された構成であるので、装置自体が大型化してしまい、機構部分のメンテナンスが大変であること、各ローラを個別の回転速度にて制御することができないこと、さらには個別の首振り角度設定ができないだけでなく、ローラ群の迅速な首振りが難しいなどの問題を抱えており、搬送物の間隔が狭く搬送能力の高い設備には不向きである。
また、従来のコンベヤ等における搬送物の仕分けタイミングは、コンベヤの上流側における所定位置を基準として仕分け位置までの距離を基に行うのが一般的である。これは、搬送物の位置を常に把握する必要があるために、大量処理かつ多品種の搬送物を中央制御で行う場合、その制御が複雑化する問題を抱えている。特に、搬送物の間隔が狭い場合や高速搬送には問題を抱えている。
In Patent Document 2, since a large number of roller groups are connected by a gear unit, the apparatus itself becomes large and maintenance of the mechanical part is difficult, and each roller is operated at an individual rotational speed. In addition to being unable to control and setting individual swing angles, it is difficult to quickly swing the roller group. Is unsuitable.
Further, the sorting timing of the conveyed product in a conventional conveyor or the like is generally performed based on the distance to the sorting position with reference to a predetermined position on the upstream side of the conveyor. Since it is necessary to always grasp the position of the conveyed product, there is a problem that the control becomes complicated when a large amount of processed products of various types are performed by the central control. In particular, there is a problem in the case where the interval between conveyed objects is narrow and high-speed conveyance.
本発明の課題は、搬送物の間隔が狭くかつ高速搬送においても搬送物の姿勢(向き)を自在に変更したり、搬送物ごとの仕分け方向に迅速に対応できる搬送物姿勢制御装置を提供することにある。   SUMMARY OF THE INVENTION An object of the present invention is to provide a transported object posture control device that can freely change the posture (orientation) of a transported object even in a high-speed transport where the interval between transported objects is narrow and can quickly respond to the sorting direction of each transported object. There is.
本発明にかかる搬送物姿勢制御装置は、 個別に制御可能な複数のセルを平面状に配置した搬送物の姿勢制御装置であって、前記各セルには1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、前記各セルを、水平方向に首振り回転させる首振り駆動手段と、前記各セルのベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備え、前記センサの検知出力に応じて、前記ベルト駆動手段と首振り駆動手段とを独立して制御可能に構成したことを特徴とする(請求項1)   The conveyed product posture control device according to the present invention is a conveyed product posture control device in which a plurality of individually controllable cells are arranged in a plane, and each cell is spanned between a pair of conveying rollers. Belt drive means for rotating the belt, swing drive means for swinging and rotating each cell in the horizontal direction, and a sensor for detecting a transported object at least in front of or behind the belt of each cell. The belt drive means and the swing drive means can be independently controlled in accordance with the detection output of the sensor (claim 1).
また、本発明にかかる搬送物姿勢制御装置は、前記ベルト駆動手段及び首振り駆動手段は各セル毎に独立して構成することによって、前記搬送物姿勢制御装置から取り外しが容易にできることを特徴とする。(請求項2)   Further, the conveyed product attitude control device according to the present invention is characterized in that the belt drive means and the swing drive means are configured independently for each cell, so that they can be easily detached from the conveyed product attitude control device. To do. (Claim 2)
また、本発明にかかる搬送物姿勢制御装置の制御方法は、1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、水平方向に首振り回転させる首振り駆動手段と、前記ベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備えたセルを、複数個平面状に配置した搬送物の姿勢制御装置の制御方法であって、前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することを特徴とする。(請求項3)   Further, the control method of the conveyed product attitude control device according to the present invention includes a belt driving unit that rotates a belt spanned between a pair of conveying rollers, a swing driving unit that swings and rotates in a horizontal direction, and the belt. A control method of a posture control device for a transported object in which a plurality of cells provided with a sensor for detecting a transported object is disposed in at least one of the front or the rear of the sensor, according to a detection output of the sensor The belt driving means and the swing driving means of each cell are controlled independently. (Claim 3)
また、本発明の搬送物姿勢制御装置の制御方法は、前記複数のセルを複数のセル群に分け、各セル群毎に、前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することを特徴とする。(請求項4)   Further, the control method of the conveyed product attitude control device of the present invention divides the plurality of cells into a plurality of cell groups, and for each cell group, according to the detection output of the sensor, The head driving means is controlled independently. (Claim 4)
また、本発明の搬送物姿勢制御装置の制御方法は、前記セル群を搬送物を仕分ける方向の方向転換曲線に略沿った区分けた群とし、方向転換曲線の内側のセル群の首振り角度を大きくし且つ前記ベルトの速度を、方向転換曲線の内側のセル群を小さくするように制御することを特徴とする。(請求項5)   Further, in the control method of the transport object attitude control device of the present invention, the cell group is a group divided substantially along the direction change curve of the direction in which the transport object is sorted, and the swing angle of the cell group inside the direction change curve is set. The belt speed is increased and controlled so as to decrease the cell group inside the direction change curve. (Claim 5)
また、本発明の搬送物姿勢制御装置の制御方法は、 前記各セルのセンサの出力によって搬送物が搬送物姿勢制御装置上に移動したことを確認した後に、全てのセルを首振り駆動手段の首振り角度を同一に制御する制御することを特徴とする。(請求項6)   Further, the control method of the transported object posture control device of the present invention is such that after confirming that the transported object has moved onto the transported object posture control device by the output of the sensor of each cell, all the cells are moved by the swing drive means. Control is performed to control the swing angle equally. (Claim 6)
請求項1の発明は、個別に制御可能な複数のセルを平面状に配置した搬送物の姿勢制御装置であって、前記各セルには1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、前記各セルを、水平方向に首振り回転させる首振り駆動手段と、前記各セルのベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備え、前記センサの検知出力に応じて、前記ベルト駆動手段と首振り駆動手段とを独立して制御可能に構成したことにより、搬送物の搬送向きや姿勢を変えることが容易にできるだけでなく、この首振りセルと同数のセンサが設けられ、該センサによって首振りセルの駆動が個別制御可能に構成されていることにより、各セル毎の制御が個別にでき、更に搬送ローラの制御はセンサによる搬送物の検出信号によるので、直接的な制御ができ迅速制御が可能となり搬送物間隔が狭い搬送や高速搬送に容易に対応することができる。   The invention according to claim 1 is an attitude control device for a conveyed product in which a plurality of individually controllable cells are arranged in a planar shape, and a belt placed between a pair of conveyance rollers is rotated in each cell. Belt driving means; swing driving means for swinging and rotating each cell in the horizontal direction; and a sensor for detecting a transported object at least in front of or behind the belt of each cell. According to the detection output, the belt driving unit and the swing driving unit can be controlled independently, so that it is not only easy to change the transport direction and posture of the transported object, but also the swing cell and Since the same number of sensors are provided, and the driving of the swinging cell can be individually controlled by the sensors, the control for each cell can be performed individually, and the transport roller is controlled by detecting the transported object by the sensor. Since by item, it is possible to easily correspond to the transferred object spacing is narrow transport and high-speed conveyance enables rapid control can direct control.
また、請求項2の発明は、前記ベルト駆動手段及び首振り駆動手段は各セル毎に独立して構成することによって、前記搬送物姿勢制御装置から取り外しが容易にできることによって、各セル単位での点検や交換が容易に実現できる。   Further, in the invention of claim 2, the belt driving means and the swing driving means are configured independently for each cell, and can be easily detached from the conveyed product attitude control device, so that each cell unit Inspection and replacement can be realized easily.
また、請求項3の発明は、1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、水平方向に首振り回転させる首振り駆動手段と、前記ベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備えたセルを、複数個平面状に配置した搬送物の姿勢制御装置の制御方法であって、前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することによって、センサによる搬送物の検出信号によるので、直接的な制御ができ迅速制御が可能となり搬送物間隔が狭い搬送や高速搬送に容易に対応することができる。   According to a third aspect of the present invention, there is provided belt driving means for rotating a belt suspended between a pair of conveying rollers, swing driving means for swinging and rotating in a horizontal direction, and at least one of front or rear of the belt. A control method of a posture control device for a conveyed object in which a plurality of cells each having a sensor for detecting a conveyed object are arranged in a plane, and according to a detection output of the sensor, a belt drive of each cell By independently controlling the means and the swing drive means, it is based on the detection signal of the conveyed object by the sensor, so direct control is possible and quick control is possible, and it is easy to handle conveyance with a narrow interval between conveyance objects and high-speed conveyance can do.
また、請求項4の発明は、前記複数のセルを複数のセル群に分け、各セル群毎に、前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することによって、搬送物の搬送向きや姿勢を制御するときに搬送物の形やサイズに対応してセルを複数の群に分けることができ、より最適な制御ができる。   According to a fourth aspect of the present invention, the plurality of cells are divided into a plurality of cell groups, and each cell group includes a belt driving unit and a swing driving unit for each cell according to the detection output of the sensor. By controlling independently, the cells can be divided into a plurality of groups corresponding to the shape and size of the conveyed product when controlling the conveying direction and posture of the conveyed item, and more optimal control can be performed.
また、請求項5の発明は、前記セル群を搬送物を仕分ける方向の方向転換曲線に略沿った区分けた群とし、方向転換曲線の内側のセル群の首振り角度を大きくし且つ前記ベルトの速度を、方向転換曲線の内側のセル群を小さくするように制御することによって、搬送物の向きを変えるときに、該搬送物が横ずれ等を生じることなく搬送ラインに沿って滑らかに向きを変更することができ、仕分けラインにおいても搬送ラインを同じ姿勢のまま搬送することができる。   According to a fifth aspect of the present invention, the cell group is a group divided substantially along a direction change curve in a direction in which a conveyed product is sorted, the swing angle of the cell group inside the direction change curve is increased, and the belt By controlling the speed to reduce the cell group inside the direction change curve, when changing the direction of the transported object, the direction of the transported object is smoothly changed along the transport line without causing a lateral shift or the like. In the sorting line, the conveying line can be conveyed in the same posture.
また、請求項6の発明は、前記各セルのセンサの出力によって搬送物が搬送物姿勢制御装置上に移動したことを確認した後に、全てのセルを首振り駆動手段の首振り角度を同一に制御する制御することによって、狭い搬送路上でも搬送物の方向を変えずに別の方向に移動させることが可能になる。   Further, in the invention of claim 6, after confirming that the conveyed product has moved onto the conveyed product attitude control device by the output of the sensor of each cell, all the cells have the same swing angle of the swing drive means. By performing the control, it is possible to move the transported object in another direction without changing the direction of the transported object even on a narrow transport path.
図1乃至図5を用いて、本発明にかかる第1実施形態について詳細に説明する。
なお、図1は本発明の第1実施形態であってコンベヤの仕分け設備の平面図である。図2は図1に示す仕分け設備の搬送ローラの首振りセルの部分斜視図である。図3は搬送ローラのセルの要部断面の側面図である。図4は全てのセルが全て90度首振り状態を示す平面図である。図5は全てのセルが全て同じ首振り状態でない場合を示す平面図である。
The first embodiment according to the present invention will be described in detail with reference to FIGS.
FIG. 1 is a plan view of a conveyor sorting facility according to the first embodiment of the present invention. FIG. 2 is a partial perspective view of the swing cell of the transport roller of the sorting equipment shown in FIG. FIG. 3 is a side view of a cross section of the main part of the cell of the transport roller. FIG. 4 is a plan view showing a state in which all the cells are swung 90 degrees. FIG. 5 is a plan view showing a case where all the cells are not in the same swinging state.
図1において、主搬送ラインのコンベヤ2の所定の領域には、このコンベヤ2上を搬送されてくる搬送物10を、図中下側の仕分けライン19との合流部分にて仕分ける仕分け部3が設けられている。なお、仕分け部3に隣接して直進用ローラ部4が設けられている。
この仕分け部3には、搬送物10に接触可能に配置された一対の搬送ローラ6を備えた首振りセル5が複数個設けられている。
この一対の搬送ローラ6は、図2に示すように、幅広い平ベルト8が架けられブラケット7により回転自在に支持されている。
また、搬送ローラ6は一方がモータローラ等からなり適宜回転駆動されている。
また、このブラケット7は回転軸線Cを中心にして水平方向(Z方向)に回転可能に支持されている。
なお、このブラケット7には物品感知センサ9が設けられている。
In FIG. 1, in a predetermined area of the conveyor 2 of the main transport line, a sorting unit 3 for sorting the transported objects 10 transported on the conveyor 2 at the junction with the lower sorting line 19 in the figure. Is provided. A linearly moving roller unit 4 is provided adjacent to the sorting unit 3.
The sorting unit 3 is provided with a plurality of swing cells 5 including a pair of transport rollers 6 disposed so as to be in contact with the transported object 10.
As shown in FIG. 2, the pair of transport rollers 6 is supported by a bracket 7 so that a wide flat belt 8 is suspended.
Further, one of the conveying rollers 6 is a motor roller and is appropriately rotated.
The bracket 7 is supported so as to be rotatable in the horizontal direction (Z direction) about the rotation axis C.
The bracket 7 is provided with an article detection sensor 9.
このブラケット7は、図3に示すように、回転軸線Cを回転中心とするロータ21aおよび該ロータ21aに磁力を及ぼすコイル部21bを有する首振りモータ21にて構成された首振り機構によって水平方向に回転自在に支持されている。また、この首振りモータ21は仕分け部3のベース部12に取付けられている。
このように、セル5が仕分け部3のベース部12の上に取り付けられていることにより、このセル5をメンテナンスするときは、表面板18等を取り外すことにより仕分け部3の上方から作業することができ、その作業性は極めてよい。また、ベース部3への取り付けや取り外しが容易であることから、その数や配置についても自在に変えることができ、その汎用性は極めて広い。
As shown in FIG. 3, the bracket 7 is horizontally moved by a swing mechanism constituted by a swing motor 21 having a rotor 21a having a rotation axis C as a rotation center and a coil portion 21b exerting a magnetic force on the rotor 21a. Is supported rotatably. The swing motor 21 is attached to the base 12 of the sorting unit 3.
As described above, since the cell 5 is mounted on the base portion 12 of the sorting unit 3, when maintaining the cell 5, work from above the sorting unit 3 by removing the surface plate 18 and the like. The workability is extremely good. In addition, since it can be easily attached to and detached from the base portion 3, the number and arrangement thereof can be freely changed, and its versatility is extremely wide.
前述の搬送ローラ6、首振りモータ21は配線ケーブル6aや配線ケーブル11を介して電力が供給される。そして、この搬送ローラ6は回転速度が制御部20により適宜制御することができる。
また、首振りモータ21については、その首振り向き(回転向き)が制御部20にて制御される。
なお、例えば発光素子と受光素子にて構成される物品感知センサ9は物品の存在を的確に検知し、その検知信号が制御部20の所定の制御信号として利用することができる。
Electric power is supplied to the conveying roller 6 and the swing motor 21 through the wiring cable 6 a and the wiring cable 11. The rotation speed of the transport roller 6 can be appropriately controlled by the control unit 20.
Further, the swinging direction (rotation direction) of the swing motor 21 is controlled by the control unit 20.
For example, the article detection sensor 9 composed of a light emitting element and a light receiving element can accurately detect the presence of an article, and the detection signal can be used as a predetermined control signal of the control unit 20.
図4は全てのセル5が仕分けライン19方向に向いた状態を示す。
この状態は、搬送物10の先端部分が仕分け部3の最上流側の物品感知センサ9が検知したとき、或いは検知してから所定時間後(搬送物10の移動速度によって適宜設定された時間)に搬送物10がセル5の上にある程度乗った状態で、制御部20の信号により全てのセル5が90度の首振り動作を行う。
このようなセル5の首振り動作によって、搬送物10は搬送方向が90度(図中において矢印A2の方向に)変わり、コンベヤ2上の向きのまま仕分けライン19上に送り出される。
FIG. 4 shows a state in which all the cells 5 are directed toward the sorting line 19.
In this state, when the article detection sensor 9 on the uppermost stream side of the sorting unit 3 detects the leading end portion of the conveyed product 10 or after a predetermined time from the detection (time appropriately set according to the moving speed of the conveyed product 10). In the state where the transported object 10 is on the cell 5 to some extent, all the cells 5 perform the swinging operation of 90 degrees by the signal of the control unit 20.
By such a swinging operation of the cell 5, the conveyance direction of the conveyed product 10 is changed by 90 degrees (in the direction of the arrow A <b> 2 in the drawing), and is sent out onto the sorting line 19 while maintaining the direction on the conveyor 2.
また、搬送物10が仕分けライン19上に送り出されると同時に、何れのセル5の物品検知センサ9においても搬送物10を検出できなくなることで、全てのセル5を元の向き(図1の状態)に戻す動作を行う。このように、セル5が元の向き(図1の状態)になることにより、次に搬送されてくる搬送物10に極めて迅速に対応することができる。   Further, at the same time when the conveyed product 10 is sent out to the sorting line 19, the article detection sensor 9 of any cell 5 cannot detect the conveyed product 10, so that all the cells 5 are returned to the original orientation (the state of FIG. 1). To return to (). As described above, when the cell 5 is in the original direction (the state shown in FIG. 1), it is possible to cope with the transported object 10 transported next very quickly.
図5においては、セル5を4つの群に区分けして制御する場合について説明する。
なお、この4つの群は、図中において最下側でかつ最上流側のセル5の回転中心(P)を中心にした円弧の接線にほぼ沿った第1セル群S1(4個)、第2セル群S2(11個)、第3セル群S3(10個)、第4セル群S4(2個)とする。
In FIG. 5, the case where the cell 5 is divided into four groups and controlled will be described.
Note that these four groups are the first cell group S1 (four cells), substantially along the tangent line of the arc centered on the rotation center (P) of the cell 5 at the lowest and most upstream side in the figure. A two-cell group S2 (11), a third cell group S3 (10), and a fourth cell group S4 (2) are assumed.
図5に示す状態は、搬送物10の先端部分が仕分け部3の最上流側の物品感知センサ9が検知したときに、搬送物10を仕分ける方向の方向転換曲線(Pを中心とした矢印Yにて示す曲線)に略沿った上記各群毎に、方向転換曲線の内側のセル群の首振り角度が大きく設定された状態である。
また、搬送ローラ6の回転速度(搬送速度)は、第1セル群S1よりも第2セル群S2が速く、第2セル群S2よりも第3セル群S3が速く、第3セル群S3よりも第4セル群S4が速く設定されている。また、隣り合うセル群における回転速度の速度差は、搬送物10が仕分けライン19に送り出されたときに、その向きが90度回転しているように適宜設定されている。
The state shown in FIG. 5 is the direction change curve (the arrow Y centered at P) in the direction of sorting the transported object 10 when the article detection sensor 9 on the uppermost stream side of the sorting unit 3 detects the tip of the transported object 10. Is a state in which the swing angle of the cell group on the inner side of the direction change curve is set to be large for each of the groups substantially along the curve shown in FIG.
The rotation speed (conveyance speed) of the transport roller 6 is faster in the second cell group S2 than in the first cell group S1, faster in the third cell group S3 than in the second cell group S2, and higher than in the third cell group S3. The fourth cell group S4 is set faster. The speed difference between the rotation speeds of the adjacent cell groups is appropriately set so that the direction of the transported object 10 is rotated by 90 degrees when the conveyed product 10 is sent to the sorting line 19.
このようなセル5の首振り動作によって、搬送物10はコンベヤ2上の向きとは90度回転した状態で仕分けライン19上に送り出される。
また、搬送物10が仕分けライン19上に送り出されると、何れのセル5の物品検知センサ9においても搬送物10を検出できなくなる。この物品検知センサ9における無検知の信号で、全てのセル5を元の向き(図1の状態)に戻す動作を行う。このように、搬送物10が通過し終わると直ぐにセル5が元の向き(図1の状態)になることにより、次に搬送されてくる搬送物10に極めて迅速に対応することができ、搬送速度の向上、物品間隔の短縮でき、高速大量搬送を可能とする。
By such a swinging operation of the cell 5, the conveyed product 10 is sent out onto the sorting line 19 while being rotated 90 degrees from the direction on the conveyor 2.
Further, when the conveyed product 10 is sent out on the sorting line 19, the conveyed product 10 cannot be detected by the article detection sensor 9 of any cell 5. An operation of returning all the cells 5 to the original direction (the state shown in FIG. 1) is performed by a non-detection signal in the article detection sensor 9. In this way, as soon as the transported object 10 finishes passing, the cell 5 becomes the original orientation (the state shown in FIG. 1), so that the transported object 10 to be transported next can be handled very quickly. The speed can be improved, the interval between articles can be shortened, and high-speed and large-volume conveyance is possible.
上述のように方向転換曲線の内側のセル群を小さくするように制御することにより、搬送物の向きを変えるときに、この搬送物10の横ずれが生じることなく仕分けライン19に沿って滑らかに向きを変更することができる。また、上記各セル群の首振り角度や搬送ローラ6の回転速度を適宜変えることにより、仕分けた後の搬送物10の向きを所望に設定することができる。
すなわち、例えば、セル群を図5に示す以外の群に分けるとともに各セル群ごとに首振り向き並びに搬送ローラの回転速度を相違するように制御することで、仕分け時以外に搬送中の搬送物10の搬送向きや姿勢を自在に制御することも可能である。
By controlling the cell group inside the direction change curve to be small as described above, when the direction of the transported object is changed, the transported object 10 is smoothly oriented along the sorting line 19 without causing a lateral shift. Can be changed. Moreover, the direction of the conveyed product 10 after sorting can be set as desired by appropriately changing the swing angle of each cell group and the rotation speed of the conveying roller 6.
That is, for example, by dividing the cell group into groups other than those shown in FIG. 5 and controlling the swinging direction and the rotation speed of the transport roller for each cell group, the transported object 10 being transported at times other than sorting. It is also possible to freely control the transport direction and posture of the machine.
図6に示す第2実施形態は、一対の搬送ローラ60に複数の本の丸ベルト68を掛け渡した首振りセル50を示す。なお、図示以外の構造については前掲の第1実施形態にて示したとものと同じ符号を付して説明を省略する。
本実施形態のように、搬送ローラ60に丸ベルト68を掛け渡した構成の場合、例えば搬送物10の底面が平坦でないとき、各ベルト68ごとに個別に対応して搬送物底面に柔軟に接触することができる。したがって、搬送物10の底面の平坦性を選ぶことなくより広範囲な物品に対して保持を確実にすることができ、搬送ローラの回転力を搬送物10に伝えることができ、搬送物10の姿勢制御を迅速・確実に行うことが可能となる。
The second embodiment shown in FIG. 6 shows a swing cell 50 in which a plurality of round belts 68 are stretched around a pair of transport rollers 60. In addition, about structures other than illustration, the same code | symbol as what was shown in 1st Embodiment of the above-mentioned is attached | subjected, and description is abbreviate | omitted.
In the case of the configuration in which the round belt 68 is stretched around the transport roller 60 as in the present embodiment, for example, when the bottom surface of the transported object 10 is not flat, the belt 68 is flexibly brought into contact with the bottom surface of the transported object individually for each belt 68. can do. Therefore, it is possible to reliably hold a wider range of articles without selecting the flatness of the bottom surface of the conveyed product 10, and to transmit the rotational force of the conveying roller to the conveyed product 10. Control can be performed quickly and reliably.
図7に示す第3実施形態は、一対の搬送ローラ80に複数のVベルト88を掛け渡したものを示す。なお、図示以外の構造については前掲の第1実施形態にて示したとものと同じ構成については同じ符号を付して説明を省略する。
搬送ローラ80にVベルト88を掛け渡した構成の場合、前記の第2実施形態と同様に例えば搬送物10の底面が平坦でないとき、各Vベルト88ごとに個別に対応して搬送物底面に柔軟に接触することができる。またVベルト88の場合では、このVベルト88に対してベルト横方向の力が作用した場合、Vベルト88はその捩れが発生しにくいので、搬送物10の底面の平坦性を選ぶことが無いだけでなく、丸ベルトの場合よりもより物品保持を確実にすることができ、搬送ローラの回転力を搬送物10に伝えることができ、搬送物10の姿勢制御を迅速・確実に行うことが可能となる。
The third embodiment shown in FIG. 7 shows a configuration in which a plurality of V belts 88 are stretched around a pair of conveying rollers 80. In addition, about the structure other than illustration, the same code | symbol is attached | subjected about the same structure as what was shown in above-mentioned 1st Embodiment, and description is abbreviate | omitted.
In the case of the configuration in which the V-belt 88 is stretched around the conveying roller 80, for example, when the bottom surface of the conveyed product 10 is not flat, as in the second embodiment, each V belt 88 individually corresponds to the bottom surface of the conveyed product. Can contact flexibly. In the case of the V-belt 88, when a belt lateral force acts on the V-belt 88, the V-belt 88 is not easily twisted, so that the flatness of the bottom surface of the conveyed product 10 is not selected. In addition to the case of a round belt, the article can be held more securely, the rotational force of the conveying roller can be transmitted to the conveyed object 10, and the posture control of the conveyed object 10 can be performed quickly and reliably. It becomes possible.
その他の変形例としては、上記第1,2,3実施形態のごとく仕分け方向が直角で片側仕分けに限るものではない。例えば図8に示すように、主搬送ライン2から左右両側斜め前方(A3方向およびB4方向)に仕分ける、所謂Y字両側仕分けにも適用することができる。
本実施形態の場合、特に、前記第2実施形態においてセル5を4つの群に区分けして制御する場合と同様な制御を行う場合について説明する。
As another modification, the sorting direction is a right angle as in the first, second, and third embodiments, and is not limited to one-side sorting. For example, as shown in FIG. 8, the present invention can also be applied to so-called Y-shaped both-side sorting from the main transport line 2 to the left and right diagonally forward (A3 direction and B4 direction).
In the case of this embodiment, the case where the same control as the case where the cell 5 is divided into four groups and controlled in the second embodiment will be described.
本実施形態の場合、仕分け部3よりも搬送ラインの上流側に例えばバーコード読み取り部90が設けられており、このバーコード読み取り部90によって搬送物10に設けられたバーコード91により仕分け方向が識別できる。したがって、このバーコード読み取り部90にて仕分け方向が読み取られた後、搬送物10Aの先端部分が仕分け部3の最上流側の物品感知センサ9(図2参照)が検知されると、搬送物10Aを、例えば左方向へ仕分ける方向の方向転換曲線(P1を中心とした矢印X方向にて示す曲線)に略沿った上記各群毎に、方向転換曲線の内側のセル群の首振り角度が大きく向き、合わせて、搬送ローラ6の回転速度が、第1セル群S1よりも第2セル群S2が速く、第2セル群S2よりも第3セル群S3が速く、第3セル群S3よりも第4セル群S4が速く動く。これにより、搬送物10Aは仕分けライン19Aの仕分け方向A3の方向に向きを変えて搬送される。
また、搬送物10Bを右方向(矢印B4の方向)へ仕分ける方向の方向転換曲線(P2を中心とした矢印Z方向にて示す曲線)に略沿った別のセル群(P1を中心とする場合とはセル群配列の向きが異なった例えば、S1b、S2b、S3b、S4b)を設定しておき、この場合も方向転換曲線Zの内側のセル群の首振り角度が大きく設定され且つ搬送ローラ6の回転速度も別途適宜設定されている。
そして、搬送物10Bが仕分け部3に到達したときは、左方向の仕分けとは逆になるように各セル群(S1b、S2b、S3b、S4b)が動作して所定のB4方向の仕分けが行われる。
In the case of this embodiment, for example, a barcode reading unit 90 is provided on the upstream side of the conveying line from the sorting unit 3, and the sorting direction is determined by the barcode 91 provided on the conveyed product 10 by the barcode reading unit 90. Can be identified. Therefore, after the sorting direction is read by the bar code reading unit 90, when the article detection sensor 9 (see FIG. 2) on the most upstream side of the sorting unit 3 detects the leading end portion of the conveyed product 10A, the conveyed product For each of the above groups substantially along a direction change curve (curve indicated by the arrow X direction centered on P1) for sorting 10A to the left, for example, the swing angle of the cell group inside the direction change curve is The rotation speed of the conveyance roller 6 is larger than that of the first cell group S1, the second cell group S2 is faster than the first cell group S1, the third cell group S3 is faster than the second cell group S2, and the third cell group S3 is larger. The fourth cell group S4 moves fast. As a result, the conveyed product 10A is conveyed while changing its direction in the sorting direction A3 of the sorting line 19A.
In addition, another cell group (centered on P1) substantially along a direction change curve (curve indicated by the arrow Z direction centered on P2) for sorting the conveyed product 10B in the right direction (the direction of arrow B4). And, for example, S1b, S2b, S3b, and S4b) are set. In this case, too, the swing angle of the cell group inside the direction change curve Z is set large and the transport roller 6 is set. The rotation speed is also set appropriately.
When the transported object 10B reaches the sorting unit 3, each cell group (S1b, S2b, S3b, S4b) operates to perform sorting in the predetermined B4 direction so as to be opposite to the sorting in the left direction. Is called.
上記各実施形態は、物品感知センサが搬送ローラの上流側の位置に設けられた構成について説明したが、本発明はこの構成に何ら限定されるものではなく、物品感知センサが搬送ローラの下流側の位置に設けられた構成或いは搬送ローラの前後に設けられた構成を採用することができる。
また、本発明においては、物品感知センサは必ずしもセルに設けられた構成でなくてもよく、各セルの近傍に配置された構成であってもよい。
In each of the above embodiments, the configuration in which the article detection sensor is provided at the upstream position of the conveyance roller has been described. However, the present invention is not limited to this configuration, and the article detection sensor is on the downstream side of the conveyance roller. It is possible to adopt a configuration provided at the position or a configuration provided before and after the conveying roller.
In the present invention, the article detection sensor does not necessarily have to be provided in the cell, and may be provided in the vicinity of each cell.
請求項1〜6に記載の発明は、搬送物の仕分け等のタイミングは仕分け領域に設けられた物品感知センサの信号を基に行われるので、動作タイミングの誤差がほとんど無くすことができ、搬送物の間隔が狭くかつ高速搬送においてもその搬送物の姿勢(向き)を自在に変えることができ、搬送物ごとの仕分け方向に迅速に対応できる搬送物姿勢制御装置を実現することができるので、産業上の利用可能性は極めて大きい。   According to the first to sixth aspects of the present invention, since the timing of sorting the transported object is performed based on the signal of the article detection sensor provided in the sorting area, the error of the operation timing can be almost eliminated, and the transported object Since the distance between the two is narrow and the posture (orientation) of the conveyed product can be changed freely even in high-speed conveyance, and a conveyed product attitude control device that can quickly respond to the sorting direction of each conveyed product can be realized. The above applicability is enormous.
本発明の第1実施形態であってコンベヤの仕分け設備の平面図である。It is 1st Embodiment of this invention, and is a top view of the sorting equipment of a conveyor. 図1に示す仕分け設備の搬送ローラのセルの部分斜視図である。It is a fragmentary perspective view of the cell of the conveyance roller of the sorting equipment shown in FIG. 第1実施形態における搬送ローラのセルの要部断面の側面図である。It is a side view of the principal part cross section of the cell of the conveyance roller in 1st Embodiment. 第1実施形態における全てのセルが全て90度首振り状態を示す平面図である。It is a top view in which all the cells in a 1st embodiment show a 90 degree swing state. 第1実施形態における全てのセルが全て同じ首振り状態でない場合を示す平面図である。It is a top view which shows the case where all the cells in 1st Embodiment are not all the same swinging states. 第2実施形態におけるセルの要部断面の側面図である。It is a side view of the principal part cross section of the cell in 2nd Embodiment. 第3実施形態におけるセルの要部断面の側面図である。It is a side view of the principal part cross section of the cell in 3rd Embodiment. 第4実施形態における要部の平面図である。It is a top view of the important section in a 4th embodiment.
符号の説明Explanation of symbols
1 搬送物姿勢制御装置
2 主搬送ライン
3 仕分け部
5 セル
6 搬送ローラ
7 ブラケット
8 平ベルト
9 センサ
10 搬送物
20 制御部
DESCRIPTION OF SYMBOLS 1 Conveyed material attitude | position control apparatus 2 Main conveying line 3 Sorting part 5 Cell 6 Conveying roller 7 Bracket 8 Flat belt 9 Sensor 10 Conveyed object 20 Control part

Claims (6)

  1. 個別に制御可能な複数のセルを平面状に配置した搬送物の姿勢制御装置であって、
    前記各セルには1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、
    前記各セルを、水平方向に首振り回転させる首振り駆動手段と、
    前記各セルのベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備え、
    前記センサの検知出力に応じて、前記ベルト駆動手段と首振り駆動手段とを独立して制御可能に構成したことを特徴とする搬送物姿勢制御装置。
    A posture control device for a transported object in which a plurality of individually controllable cells are arranged in a plane,
    Each cell has a belt driving means for rotating a belt spanned between a pair of conveying rollers;
    A swing driving means for swinging and rotating each of the cells in the horizontal direction;
    A sensor for detecting a conveyed product in at least one of the front and rear of the belt of each cell,
    The conveyed product attitude control device, wherein the belt driving means and the swing driving means can be controlled independently according to the detection output of the sensor.
  2. 前記ベルト駆動手段及び首振り駆動手段は各セル毎に独立して構成することによって、前記搬送物姿勢制御装置から取り外しが容易にできることを特徴とする請求項1に記載の搬送物姿勢制御装置。   The transport object posture control apparatus according to claim 1, wherein the belt drive means and the swing drive means can be easily detached from the transport object posture control apparatus by being configured independently for each cell.
  3. 1対の搬送ローラ間に架けられたベルトを回転させるベルト駆動手段と、水平方向に首振り回転させる首振り駆動手段と、前記ベルトの前方又は後方の少なくとも1方に搬送物を検知するセンサとを備えたセルを、複数個平面状に配置した搬送物の姿勢制御装置の制御方法であって、
    前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することを特徴とする搬送物姿勢制御装置の制御方法。
    Belt driving means for rotating a belt spanned between a pair of conveying rollers, swing driving means for swinging and rotating in a horizontal direction, and a sensor for detecting a conveyed object at least in front of or behind the belt; A control method of a posture control device for a transported object in which a plurality of cells are arranged in a plane,
    A control method for a conveyed product attitude control device, wherein the belt driving means and the swing driving means of each cell are controlled independently according to the detection output of the sensor.
  4. 前記複数のセルを複数のセル群に分け、各セル群毎に、前記センサの検知出力に応じて、前記各セルのベルト駆動手段と首振り駆動手段とを独立して制御することを特徴とする請求項3に記載の搬送物姿勢制御装置の制御方法。   The plurality of cells are divided into a plurality of cell groups, and for each cell group, the belt driving means and the swing driving means of each cell are independently controlled according to the detection output of the sensor. The control method of the conveyed product attitude | position control apparatus of Claim 3 to do.
  5. 前記セル群を搬送物を仕分ける方向の方向転換曲線に略沿った区分けた群とし、方向転換曲線の内側のセル群の首振り角度を大きくし且つ前記ベルトの速度を、方向転換曲線の内側のセル群を小さくするように制御することを特徴とする請求項4に記載の搬送物姿勢制御装置の制御方法。   The cell group is a group divided substantially along the direction change curve of the direction for sorting the conveyance object, the swing angle of the cell group inside the direction change curve is increased, and the speed of the belt is set inside the direction change curve. The control method of the conveyed product attitude | position control apparatus of Claim 4 which controls so that a cell group may be made small.
  6. 前記各セルのセンサの出力によって搬送物が搬送物姿勢制御装置上に移動したことを確認した後に、全てのセルを首振り駆動手段の首振り角度を同一に制御することを特徴とする請求項3に記載の搬送物姿勢制御装置の制御方法。

    The oscillating angle of the oscillating driving means is controlled to be the same for all the cells after confirming that the conveyed product has moved onto the conveyed product attitude control device by the output of the sensor of each cell. The control method of the conveyed product attitude | position control apparatus of 3.

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CN101857141A (en) * 2009-04-07 2010-10-13 株式会社Ihi Conveying direction converter and levitation transportation system
GB2506209A (en) * 2012-09-25 2014-03-26 Paul Fradgley Disc roller conveyor system
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JPH05229637A (en) * 1992-02-20 1993-09-07 L I C:Kk Feed device for disc body
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JPH05229637A (en) * 1992-02-20 1993-09-07 L I C:Kk Feed device for disc body
JPH06219522A (en) * 1993-01-22 1994-08-09 Tomio Imamura Roller conveyor
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CN101857141A (en) * 2009-04-07 2010-10-13 株式会社Ihi Conveying direction converter and levitation transportation system
CN101857141B (en) * 2009-04-07 2012-10-10 株式会社Ihi Conveying direction converter and suspension conveying system
GB2506209A (en) * 2012-09-25 2014-03-26 Paul Fradgley Disc roller conveyor system
WO2016208736A1 (en) * 2015-06-25 2016-12-29 伊東電機株式会社 Conveyance device, planar conveyance apparatus, and conveyance unit
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KR102114433B1 (en) * 2018-11-27 2020-05-25 주식회사 가치소프트 Belt sorter having an inclined plane

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