JP2009280391A - Positioning device and positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning device capable of accurately correcting the direction of an article into a predetermined direction, and a positioning method. <P>SOLUTION: The positioning device is provided with: a first belt 127L and a second belt 127R holding a container 1; a first motor for rotationally driving the first belt 127L; a second motor for rotationally driving the second belt 127R; a position detecting sensor for detecting the arrival of the container 1 into a set position; a rotational phase detecting sensor 160 detecting that the circumferential rotating phase of the container 1 that has reached a rotating position is a set phase; and a control device for rotationally driving the first motor and the second motor so that the first belt 127L and the second belt 127R move at constant speed and in mutually reverse directions when the container 1 reaches the rotating position. A space is formed to allow the first belt 127L and the second belt 127R holding the container 1, to project curving along the peripheral surface 1a of the container 1. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a technique for correcting the orientation (posture) of an article to a predetermined orientation.

  2. Description of the Related Art Conventionally, apparatuses described in Patent Document 1 to Patent Document 3 are known as apparatuses for delivering an article between a plurality of conveyors forming an article conveyance path.

The devices described in Patent Document 1 to Patent Document 3 each include a pair of endless belts such that portions facing each other in the pair of endless belts move in the same direction while holding the peripheral surface of the article between the pair of endless belts. Articles are conveyed by rotating the belt and delivered between a plurality of conveyors without being dropped.
In addition, the apparatuses described in Patent Literature 1 to Patent Literature 3 set the conveyance speed when the pair of endless belts convey while sandwiching the peripheral surface of the article to a value faster than the conveyance speed of the articles by a plurality of conveyors. It is possible to place a plurality of articles on the conveyor on the downstream side in the transport path at predetermined intervals by delivering the articles to the conveyor on the downstream side in the transport path at a certain time period. .

An apparatus for holding and conveying the peripheral surface of an article with a pair of endless belts as described above and delivering the article at a constant cycle has a portion that contacts the article when the pair of endless belts holds the article. There is a case where the article is bent along the shape of the peripheral surface of the article, and the article is dropped from the apparatus due to weakening of the force for holding the article.
In order to prevent such a situation from occurring, most of the above devices are plates that regulate the endless belt so that it does not bend on the inner peripheral surface side of a pair of endless belts that face each other (clamping portion). Shaped member (support plate).
For example, as described in Patent Document 4.

  As apparatuses that apply a mechanism for sandwiching and conveying an article between a pair of endless belts to other uses, apparatuses described in Patent Document 5 and Patent Document 6 are known.

The apparatus described in Patent Document 5 corrects the orientation of a container having a non-circular cross-sectional shape (for example, an ellipse, a rectangle, etc.) along a transport path to a predetermined orientation (posture).
The apparatus described in Patent Document 5 arranges a pair of endless belts so that the distance between the pair of endless belts is larger than the length in the minor axis direction of the cross section of the container and smaller than the length in the major axis direction of the cross section of the container. To do.
By adopting such a configuration, when the container conveyed along the conveyance path contacts the pair of endless belts, the container rotates in the circumferential direction, and the direction of the container gradually becomes the major axis direction of the cross section of the container and the conveying direction of the container. Are corrected to be substantially parallel.
However, the apparatus described in Patent Document 5 is an article having a circular cross-sectional shape, an article having a regular polygonal cross-sectional shape, or an article having a relatively isotropic cross-sectional shape (for example, an elliptical shape having a cross-sectional shape close to a circle). Etc.) has a problem that it is substantially impossible to apply.

The apparatus described in Patent Document 6 captures an article conveyed along a conveyance path with a camera, calculates the orientation (posture) of the article based on the captured image, and images the article with the camera on the conveyance path. The article is sandwiched between a pair of endless belts arranged at positions downstream from the position where the article is to be moved, and one of the pair of endless belts is stopped and the other is rotated to convey the article while rotating the article in the circumferential direction. Conveys along the path, and after the point when the previously calculated direction of the article is corrected, both the pair of endless belts are rotated in the same direction and at the same speed to convey the article in the corrected direction. To do.
However, in the apparatus described in Patent Document 6, the orientation of the article varies between the time when the article is picked up by the pair of endless belts after the article is picked up by the camera and the article is held between the pair of endless belts. There is a problem that the orientation of the article cannot be corrected with high accuracy.

  As apparatuses for correcting the orientation of an article without using a pair of endless belts, apparatuses described in Patent Document 7 and Patent Document 8 are known.

The devices described in Patent Document 7 and Patent Document 8 both have three rollers in contact with the peripheral surface of the article to regulate the movement of the article, and rotate the at least one of the rollers to rotate the article. While rotating, it corrects the direction of the article.
However, the devices described in Patent Document 7 and Patent Document 8 have a problem that it is difficult to accurately correct the orientation of the article when the outer diameter of the article varies.
In other words, in order for the devices described in Patent Document 7 and Patent Document 8 to correct the orientation of the article with high accuracy, it is important that the center of rotation of the article whose movement is restricted by the roller is not shaken (aligned). However, if the outer diameter of the article fluctuates, the rotation center of the article is fixed by finely adjusting the position of the roller when regulating the movement of the article, or by replacing the roller according to the outer diameter of the article. Since it must be held in position, there is a problem that a series of operations becomes complicated.
Japanese Patent No. 3553459 Japanese Utility Model Publication No. 3-130223 JP 2002-114365 A JP 2006-76723 A JP 2005-306458 A JP-A-11-240617 JP 2000-85950 A JP 2002-60049 A

  The present invention has been made in view of the above situation, and provides a positioning device and a positioning method capable of correcting the direction of an article to a predetermined direction with high accuracy.

  The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

That is, in claim 1,
The article can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the article having the peripheral surface, and the outer peripheral part has a thickness direction. A first belt and a second belt which are endless belts that can be elastically deformed;
A first motor for rotationally driving the first belt;
A second motor for rotationally driving the second belt;
A position detection sensor for detecting that the article sandwiched between the first belt and the second belt has reached a preset position;
Based on the rotation phase detection mark attached to the peripheral surface or the upper surface of the article, the conveyance path is located at the same position as the set position or more than the set position while being sandwiched between the first belt and the second belt A rotational phase detection sensor that detects that the rotational phase in the circumferential direction of the article that has reached a rotational position set in advance at a position on the downstream side is a preset set phase;
Until the position detection sensor detects that the article has arrived at the set position, the first belt and the second belt have the outer peripheral surfaces facing each other so that both of them move in a predetermined transport direction. The setting calculated based on a preset outer diameter of the article after the position detection sensor detects that the article has reached the set position by rotating the one motor and the second motor. The first motor and the second motor are rotationally driven so that the article is conveyed in the conveyance direction by a distance from the position to the rotation position, and the article in the circumferential direction of the article is reached after the article reaches the rotation position Until the rotational phase detection sensor detects that the rotational phase has become the set phase, the outer peripheral surfaces of the first belt and the second belt face each other. A controller but rotationally driving said first motor and said second motor to move a constant velocity and in opposite directions,
Comprising
When the article is sandwiched between the first belt and the second belt, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are curved and project along the peripheral surface of the article. A space capable of being formed is formed.

In claim 2,
The controller is
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, both the portions of the first belt and the second belt that have outer peripheral surfaces facing each other are transported in a predetermined manner. The first motor and the second motor are rotationally driven so as to move in the direction at a constant speed.

In claim 3,
The controller is
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, portions of the first belt and the second belt that have outer peripheral surfaces facing each other are preset. The first motor is configured such that the rotational phase in the circumferential direction of the article becomes a preset final set phase by moving in the opposite directions to each other at a constant amount of movement calculated based on the outer diameter of the article. And rotating the second motor.

In claim 4,
The controller is
After the rotational phase in the circumferential direction of the article becomes the final set phase, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are moved at a constant speed in a predetermined conveying direction. The first motor and the second motor are rotationally driven.

In claim 5,
The rotational phase detection sensor is
An image sensor that captures an image of the article to generate a captured image;
Using the rotational phase detection mark of the article in the captured image generated by the imaging device and the rotational phase detection mark of the article in a preset reference image, the captured image and the reference image Determining whether or not the rotational phase in the circumferential direction of the article is a preset setting phase by performing pattern matching between, and a determination unit that outputs a result of the determination;
It consists of the matching sensor which comprises.

In claim 6,
In the first belt and the second belt, a belt interval adjusting mechanism that adjusts an interval between portions of the outer peripheral surfaces facing each other is provided.

In claim 7,
The belt interval adjusting mechanism is
The first belt and the second belt are moved closer to or away from the reference line that is equidistant from the first belt and the second belt by the same distance.

In claim 8,
An affixing device that affixes a label to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. It has.

In claim 9,
A bar that reads a barcode attached to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. A code reading device is provided.

In claim 10,
When the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase, an identification image generated by capturing an image of the article An article identification device for identifying the article based on the article is provided.

In claim 11,
The article can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the article having the peripheral surface, and the outer peripheral part has a thickness direction. A first belt and a second belt which are endless belts that can be elastically deformed;
A first motor that rotationally drives the first belt, a second motor that rotationally drives the second belt, and the article sandwiched between the first belt and the second belt are set at a preset position. A position detection sensor that detects that it has arrived;
Based on the rotation phase detection mark attached to the peripheral surface or the upper surface of the article, the conveyance path is located at the same position as the set position or more than the set position while being sandwiched between the first belt and the second belt A rotational phase detection sensor that detects that the rotational phase in the circumferential direction of the article that has reached a rotational position set in advance at a position on the downstream side is a preset set phase;
A positioning method for positioning an article using
Until the position detection sensor detects that the article has arrived at the set position, the first belt and the second belt have the outer peripheral surfaces facing each other so that both of them move in a predetermined transport direction. A first conveying step of rotationally driving one motor and the second motor;
After the position detection sensor detects that the article has arrived at the set position, the article is moved by a distance from the set position calculated based on a preset outer diameter of the article to the rotational position. A second conveying step of rotationally driving the first motor and the second motor to convey in the conveying direction;
Until the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase after the article has reached the rotational position, the outer peripheral surface of the first belt and the second belt. A first rotation step of rotating the first motor and the second motor so that the parts facing each other move at the same speed and in opposite directions;
Comprising
When the article is sandwiched between the first belt and the second belt, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are curved and project along the peripheral surface of the article. A space capable of being formed is formed.

In claim 12,
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, both the portions of the first belt and the second belt that have outer peripheral surfaces facing each other are transported in a predetermined manner. A third conveying step of rotating the first motor and the second motor so as to move in the direction at a constant speed.

In claim 13,
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, portions of the first belt and the second belt that have outer peripheral surfaces facing each other are preset. The first motor is configured such that the rotational phase in the circumferential direction of the article becomes a preset final set phase by moving in the opposite directions to each other at a constant amount of movement calculated based on the outer diameter of the article. And rotating the second motor.

In claim 14,
After the rotational phase in the circumferential direction of the article becomes the final set phase, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are moved at a constant speed in a predetermined conveying direction. A third conveying step of rotating the first motor and the second motor is provided.

In claim 15,
The rotational phase detection sensor is
An image sensor that captures an image of the article to generate a captured image;
Using the rotational phase detection mark of the article in the captured image generated by the imaging device and the rotational phase detection mark of the article in a preset reference image, the captured image and the reference image Determining whether or not the rotational phase in the circumferential direction of the article is a preset setting phase by performing pattern matching between, and a determination unit that outputs a result of the determination;
It consists of the matching sensor which comprises.

In claim 16,
When the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase, an attaching step of attaching a label to the peripheral surface or top surface of the article It has.

In claim 17,
A bar that reads a barcode attached to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. A code reading process is provided.

In claim 18,
When the article reaches the rotational position and the circumferential rotation phase of the article reaches the set phase or the final set phase, an identification image generated by capturing an image of the article An article identifying step for identifying the article based on the article is provided.

  The present invention has an effect that the direction of an article can be accurately corrected to a predetermined direction.

Below, the positioning device 100 which is one Embodiment of the positioning device based on this invention is demonstrated using FIGS. 1-12.
A positioning device 100 shown in FIG. 1 is a device that corrects the direction of the container 1 conveyed in the predetermined conveyance direction by the belt conveyor 10 to a predetermined direction, and is disposed in the middle of the belt conveyor 10.

The container 1 is an embodiment of an article according to the present invention, and its outer shape is substantially cylindrical, and has a peripheral surface 1a, an upper surface 1b, and a lower surface 1c.
An opening 1 d is formed at the center of the upper surface 1 b of the container 1, and a space is formed inside the container 1.
A mark 1 e is formed on the upper surface 1 b of the container 1. The mark 1e is an embodiment of the rotational phase detection mark according to the present invention.
The mark 1e of the present embodiment is obtained by applying a paint of a color (black) different from the color (white) of the upper surface 1b of the container 1 to a predetermined position on the upper surface 1b of the container 1 in a substantially circular shape.

The “article” refers to an object handled by the positioning device according to the present invention, and has at least a peripheral surface.
“A peripheral surface of the article” refers to a side surface of the article in a normal posture in which the article is placed on the ground or the like.
For example, if the shape of the article is a cube, the “side surface of the article” refers to a combination of the front (front), rear (back), left and right sides of the cube, and one of a pair of end faces of a cylindrical object. Is a curved surface adjacent to the pair of end surfaces.
The “upper surface of the article” refers to the upper surface of the article in a normal posture where the article is placed on the ground or the like.
The “rotation phase detection mark” is composed of characters, figures, symbols, three-dimensional shapes (for example, protrusions, depressions, etc.) formed on the peripheral surface or upper surface of the article, or a combination of these and color, and at least rotated. It is necessary that the phase detection mark and its surroundings can be visually identified.
The rotational phase detection mark may be (intentionally) formed on the peripheral surface or top surface of the article for the purpose of use as the rotational phase detection mark, but is formed on the peripheral surface or top surface of the article for another purpose. What has been used may be used as a rotational phase detection mark, or what originally exists on the peripheral surface or top surface of an article depending on the properties of the article may be used as a rotational phase detection mark.

The article according to the present invention is not limited to the container 1 of the present embodiment. In other words, the article according to the present invention has a certain degree of shape (not to be greatly deformed when sandwiched between a pair of belts) and has a shape having at least a circumferential surface, in other words, a circumferential direction in a mounted state. A wide range of objects (tangible objects) that can be rotated are included.
“Rotation in the circumferential direction” refers to rotation about an axis extending in the vertical direction in a normal posture in which an article is placed on the ground or the like.
The cross-sectional shape of the peripheral surface of the article (the shape in plan view of the article) is not limited to a circle like the container 1 of the present embodiment, and widely includes rotationally symmetric and relatively isotropic shapes.
The “relatively isotropic shape” includes a shape in which the outer diameter of the article does not vary greatly depending on the rotation phase of the article. As an example of a relatively isotropic shape, the difference in length between the major axis and the minor axis is small, and a relatively circular oval, regular polygon, and projections of the same shape are evenly arranged in the circumferential direction. The shape (for example, shape like a gear) etc. are mentioned.
In addition, when the cross-sectional shape of the peripheral surface of the article is a polygon having a relatively small number of sides, such as a triangle or a quadrangle, a shape with rounded corners or a shape in which the sides are curved outward Is desirable.

The belt conveyor 10 is a device that conveys the containers 1. The belt conveyor 10 conveys the containers 1 in a predetermined conveying direction in a state where the containers 1 are upright on the upper surface (a state where the lower surface 1c is in contact with the upper surface of the belt conveyor 10).
The upper surface of the belt conveyor 10 is an embodiment of the conveyance path according to the present invention.
The upper surface of the belt conveyor 10 in this embodiment is parallel to a horizontal plane (a plane perpendicular to the direction in which gravity acts).
“Conveyance path” refers to a path along which an object handled by the positioning device according to the present invention is conveyed.

  Hereinafter, the conveyance direction of the container 1 by the belt conveyor 10 is defined as “front-rear direction”, the upstream side in the conveyance direction of the container 1 is defined as “front”, and the downstream side in the conveyance direction of the container 1 is defined as “rearward”. A direction perpendicular to the direction and parallel to the horizontal plane is defined as “left-right direction”, and a direction perpendicular to the horizontal plane is defined as “up-down direction”.

  As shown in FIGS. 1, 2, 3 and 4, the positioning device 100 mainly includes a frame 110, a first belt unit 120L, a second belt unit 120R, a belt interval adjusting mechanism 130, a first drive unit 140L, and a second drive. A unit 140R, a position detection sensor 150, a rotational phase detection sensor 160, a control unit 170, and a height adjustment mechanism 180 are provided.

The frame 110 is a member constituting the structure of the positioning device 100, and other members constituting the positioning device 100 are attached to the frame 110.
The frame 110 mainly includes main columns 111L, 111R, 112L, and 112R, an upper plate 113, an intermediate plate 114, a first support plate 115L, a second support plate 115R, suspension columns 116L, 116R, 117L, and 117R, and a first suspension plate. 118L, a second suspension plate 118R, a first carry-in guide 119L, and a second carry-in guide 119R.

As shown in FIGS. 3 and 4, the main columns 111L, 111R, 112L, and 112R are substantially cylindrical members that respectively constitute the left front portion, the right front portion, the left rear portion, and the right rear portion of the frame 110.
The main columns 111L, 111R, 112L, and 112R have their longitudinal directions parallel to the vertical direction, and one end (lower end) of the main columns 111L, 111R, 112L, and 112R is provided with a pad made of rubber (see FIG. 1). ).
When the pad comes into contact with the floor surface or the like, a frictional force is generated between the pad and the floor surface or the like so that the relative position of the positioning device 100 with respect to the belt conveyor 10 does not change (is not displaced). .
As shown in FIG. 4, in this embodiment, the main columns 111 </ b> L and 112 </ b> L are disposed on the left side of the belt conveyor 10, and the main columns 111 </ b> R and 112 </ b> R are disposed on the right side of the belt conveyor 10. Therefore, the positioning device 100 is arranged in a fashion that straddles the middle part of the belt conveyor 10.

The upper plate 113 is a plate-like member that forms the upper part of the frame 110.
The left front end of the upper plate 113 is fixed to the upper end of the main column 111L, the right front end of the upper plate 113 is fixed to the upper end of the main column 111R, and the left rear end of the upper plate 113 is fixed to the upper end of the main column 112L. The right rear end portion of the upper plate 113 is fixed to the upper end of the main column 112R.

The intermediate plate 114 is a plate-like member that forms the upper and lower central portions of the frame 110.
As shown in FIG. 3, a rectangular opening 114 a is formed in the central portion of the intermediate plate 114 in plan view.
Cylindrical sliding cylinder 114b, sliding cylinder 114b, sliding cylinder 114b, and sliding cylinder 114b are provided on the left front end, right front end, left rear end, and right rear end of the middle plate 114, respectively. The main columns 111L, 111R, 112L, and 112R are slidably inserted into the sliding cylinder 114b, the sliding cylinder 114b, the sliding cylinder 114b, and the sliding cylinder 114b, respectively.
The middle plate 114 is supported by the upper plate 113 via the height adjustment mechanism 180. The height adjusting mechanism 180 can adjust the distance between the upper plate 113 and the middle plate 114 (and consequently the height of the first belt unit 120L and the second belt unit 120R).

The first support plate 115L is a plate-like member for supporting the first belt unit 120L.
As shown in FIG. 3, the first support plate 115 </ b> L is accommodated at a position on the left side of the opening 114 a formed in the intermediate plate 114, and is supported by the intermediate plate 114 via the belt interval adjustment mechanism 130.

The second support plate 115R is a plate-like member for supporting the second belt unit 120R.
As shown in FIG. 3, the second support plate 115 </ b> R is accommodated at a position on the right side of the opening 114 a formed in the intermediate plate 114, and supported by the intermediate plate 114 via the belt interval adjustment mechanism 130.

The suspension columns 116L and 117L are substantially cylindrical members for supporting the first belt unit 120L.
One end (upper end) of the suspension column 116L is fixed to the front portion of the lower surface of the first support plate 115L, and one end (upper end) of the suspension column 117L is fixed to the rear portion of the lower surface of the first support plate 115L.
A hole penetrating vertically is formed in a portion corresponding to one end (upper end) of the suspension column 116L in the first support plate 115L, and a bearing is fitted therein.

The suspension columns 116R and 117R are substantially cylindrical members for supporting the second belt unit 120R.
One end (upper end) of the suspension column 116R is fixed to the front portion of the lower surface of the second support plate 115R, and one end (upper end) of the suspension column 117R is fixed to the rear portion of the lower surface of the second support plate 115R.
A hole penetrating vertically is formed in a portion of the second support plate 115R corresponding to one end (upper end) of the suspension column 116R, and a bearing is fitted therein.

As shown in FIG. 4, the first suspension plate 118L is a plate-like member for supporting the first belt unit 120L.
The other end (lower end) of the suspension column 116L is fixed to the front portion of the upper surface of the first suspension plate 118L, and the other end (lower end) of the suspension column 117L is secured to the rear portion of the upper surface of the first suspension plate 118L. Fixed.
A hole penetrating vertically is formed in a portion corresponding to the other end (lower end) of the suspension column 116L in the first suspension plate 118L, and a bearing is fitted therein.

As shown in FIG. 4, the second suspension plate 118R is a plate-like member for supporting the second belt unit 120R.
The other end (lower end) of the suspension column 116R is fixed to the front portion of the upper surface of the second suspension plate 118R, and the other end (lower end) of the suspension column 117R is secured to the rear portion of the upper surface of the second suspension plate 118R. Fixed.
A hole penetrating vertically is formed in a portion corresponding to the other end (lower end) of the suspension column 116R in the second suspension plate 118R, and a bearing is fitted therein.

The first carry-in guide 119L and the second carry-in guide 119R are regions in which the container 1 conveyed by the belt conveyor 10 is sandwiched between the first hanging plate 118L and the second hanging plate 118R (as well as the first belt 127L described later). It is a plate-shaped member for guiding to a region sandwiched between the second belt 127R.
As shown in FIG. 4, the first carry-in guide 119L is fixed to the right front end portion of the first suspension plate 118L, and its plate surface is perpendicular to the left-right direction. The front end portion of the first carry-in guide 119L is bent toward the left front.
As shown in FIG. 4, the second carry-in guide 119R is fixed to the left front end portion of the second suspension plate 118R, and its plate surface is perpendicular to the left-right direction. The front end portion of the second carry-in guide 119R is bent toward the right front.

  As shown in FIG. 4, the first belt unit 120L includes a first drive pulley 121L, a first drive shaft 122L, a first driven pulley 123L, a first driven shaft 124L, a first adjustment pulley 125L, a first adjustment shaft 126L, A belt 127L is provided.

The first drive pulley 121L is a pulley that winds the first belt 127L and transmits a driving force for rotationally driving the first belt 127L to the first belt 127L.
The first drive pulley 121L is disposed below the first suspension plate 118L.

The first drive shaft 122L is a shaft that transmits driving force to the first drive pulley 121L.
The first drive shaft 122L is accommodated in the suspension column 116L, and is pivotally supported by the suspension column 116L via a bearing.
One end (upper end) of the first drive shaft 122L pivotally supported by the suspension column 116L passes through a hole formed in the first support plate 115L and protrudes above the first support plate 115L.
The other end (lower end) of the first drive shaft 122L supported by the suspension column 116L passes through a hole formed in the first suspension plate 118L and projects below the first suspension plate 118L. A first drive pulley 121L is fixed to the other end (lower end) of one drive shaft 122L.

The first driven pulley 123L is a pulley that winds the first belt 127L and rotates in accordance with the first belt 127L.
The first driven pulley 123L is arranged at a position behind the first drive pulley 121L below the first suspension plate 118L.
In the present embodiment, the diameter of the first driven pulley 123L is the same as the diameter of the first drive pulley 121L.

The first driven shaft 124L is a shaft that rotatably supports the first driven pulley 123L.
One end (upper end) of the first driven shaft 124L is fixed to the first suspension plate 118L, and the other end (lower end) of the first driven shaft 124L is rotatably supported by a first driven pulley 123L via a bearing. The

The first adjustment pulley 125L is a pulley that is wound around the first belt 127L and adjusts the tension of the first belt 127L.
The first adjustment pulley 125L is arranged at a position below the first suspension plate 118L and to the left of the first drive pulley 121L and the front left of the first driven pulley 123L.

The first adjustment shaft 126L is a shaft that rotatably supports the first adjustment pulley 125L.
A male screw is formed at one end (upper end) of the first adjustment shaft 126L, and penetrates into a long hole (not shown) formed in the first suspension plate 118L.
The first adjustment shaft 126L is fixed to the first suspension plate 118L by screwing and tightening a nut to one end of the first adjustment shaft 126L.
Since the long hole formed in the first suspension plate 118L has a shape extending in the left-right direction, the position where the first adjustment shaft 126L is fixed to the first suspension plate 118L can be adjusted in the left-right direction. is there.
The first adjustment shaft 126L is rotatably supported at the other end (lower end) of the first adjustment shaft 126L via a bearing.

The first belt 127L is an embodiment of the first belt according to the present invention.
The first belt 127L is an endless belt (ring-shaped belt) wound around the first drive pulley 121L, the first driven pulley 123L, and the first adjustment pulley 125L.
The outer peripheral portion of the first belt 127L (portion in the vicinity of the outer peripheral surface of the first belt 127L) is made of foamable resin (polyurethane), and the first belt 127L is in the thickness direction (from the outer peripheral surface of the first belt 127L to the inner peripheral surface). It is possible to elastically deform (towards).
The inner peripheral portion of the first belt 127L (portion in the vicinity of the inner peripheral surface of the first belt 127L) is made of rubber containing a steel wire, and is deformed (extended) in the longitudinal direction of the first belt 127L, that is, in the direction in which tension acts. ) Is suppressed.
Of the first belt 127L wound around the first drive pulley 121L, the first driven pulley 123L, and the first adjustment pulley 125L, the longitudinal direction of the portion stretched between the first drive pulley 121L and the first driven pulley 123L Is parallel to the front-rear direction of the positioning device 100.

  As shown in FIG. 4, the second belt unit 120R includes a second drive pulley 121R, a second drive shaft 122R, a second driven pulley 123R, a second driven shaft 124R, a second adjustment pulley 125R, a second adjustment shaft 126R, A belt 127R is provided.

The second drive pulley 121R is a pulley that winds the second belt 127R and transmits a driving force for rotationally driving the second belt 127R to the second belt 127R.
The second drive pulley 121R is disposed below the second suspension plate 118R.
In the present embodiment, the diameter of the second drive pulley 121R is the same as the diameter of the first drive pulley 121L.

The second drive shaft 122R is a shaft that transmits a driving force to the second drive pulley 121R.
The second drive shaft 122R is accommodated in the suspension column 116R and is pivotally supported by the suspension column 116R via a bearing.
One end (upper end) of the second drive shaft 122R pivotally supported by the suspension column 116R passes through a hole formed in the second support plate 115R and protrudes above the second support plate 115R.
Further, the other end (lower end) of the second drive shaft 122R pivotally supported by the suspension column 116R passes through a hole formed in the second suspension plate 118R and projects below the second suspension plate 118R. A second drive pulley 121R is fixed to the other end (lower end) of the two drive shafts 122R.

The second driven pulley 123R is a pulley that winds around the second belt 127R and rotates in accordance with the second belt 127R.
The second driven pulley 123R is disposed at a position behind the second drive pulley 121R below the second suspension plate 118R.
In the present embodiment, the diameter of the second driven pulley 123R is the same as the diameter of the second drive pulley 121R.

The second driven shaft 124R is a shaft that rotatably supports the second driven pulley 123R.
One end (upper end) of the second driven shaft 124R is fixed to the second suspension plate 118R, and the second driven pulley 123R is rotatably supported via a bearing at the other end (lower end) of the second driven shaft 124R. The

The second adjustment pulley 125R is a pulley that is wound around the second belt 127R and adjusts the tension of the second belt 127R.
The second adjustment pulley 125R is disposed below the second suspension plate 118R at a position to the rear right of the second drive pulley 121R and the front right of the second driven pulley 123R.

The second adjustment shaft 126R is a shaft that rotatably supports the second adjustment pulley 125R.
A male screw is formed at one end (upper end) of the second adjustment shaft 126R and penetrates into a long hole (not shown) formed in the second suspension plate 118R.
The second adjustment shaft 126R is fixed to the second suspension plate 118R by screwing and tightening a nut to one end of the second adjustment shaft 126R.
Since the long hole formed in the second suspension plate 118R has a shape extending in the left-right direction, the position where the second adjustment shaft 126R is fixed to the second suspension plate 118R can be adjusted in the left-right direction. is there.
The second adjustment shaft 126R is rotatably supported at the other end (lower end) of the second adjustment shaft 126R via a bearing.

The second belt 127R is an embodiment of the second belt according to the present invention.
The second belt 127R is an endless belt (ring-shaped belt) wound around the second drive pulley 121R, the second driven pulley 123R, and the second adjustment pulley 125R.
The outer peripheral portion of the second belt 127R (the portion in the vicinity of the outer peripheral surface of the second belt 127R) is made of foamable resin (polyurethane), and the second belt 127R is in the thickness direction (from the outer peripheral surface of the second belt 127R to the inner peripheral surface). It is possible to elastically deform (towards).
The inner peripheral portion of the second belt 127R (the portion in the vicinity of the outer peripheral surface of the second belt 127R) is made of rubber containing a steel wire, and is deformed (extended) in the longitudinal direction of the second belt 127R, that is, in the direction in which tension acts. Is suppressed.
Of the second belt 127R wound around the second drive pulley 121R, the second driven pulley 123R, and the second adjustment pulley 125R, the longitudinal direction of the portion stretched between the second drive pulley 121R and the second driven pulley 123R Is parallel to the front-rear direction of the positioning device 100.

  As shown in FIG. 4, the first belt unit 120L and the second belt unit 120R have a bilaterally symmetrical relationship, and a portion of the first belt 127L that is stretched between the first drive pulley 121L and the first driven pulley 123L. And the outer peripheral surface of the portion of the second belt 127R that is stretched between the second drive pulley 121R and the second driven pulley 123R face each other.

  Further, between the second driving pulley 121R and the second driven pulley 123R of the second belt 127R from the outer peripheral surface of the portion of the first belt 127L that is stretched between the first driving pulley 121L and the first driven pulley 123L. Since the gap G1 to the outer peripheral surface of the portion stretched by the belt is smaller than the outer diameter (diameter) R1 of the container 1 (G1 <R1), the container 1 conveyed between the first belt 127L and the second belt 127R The peripheral surface 1a contacts both the outer peripheral surface of the first belt 127L and the outer peripheral surface of the second belt 127R, and is sandwiched between the first belt 127L and the second belt 127R.

  In a state where the container 1 is sandwiched between the first belt 127L and the second belt 127R, the first belt 127L and the second belt 127R and the first belt 127L and the second belt 127R are moved so as to move at the same speed in the transport direction. By rotating the second belt 127R, the first belt 127L and the second belt 127R can transport the container 1 in the transport direction without rotating the container 1 in the circumferential direction.

  In a state where the container 1 is sandwiched between the first belt 127L and the second belt 127R, one of the opposing portions of the first belt 127L and the second belt 127R moves in the transport direction (rear), and the other transports The first belt 127L and the second belt 127R move the container 1 in the transport direction by rotationally driving the first belt 127L and the second belt 127R so as to move at the same speed in the reverse direction (forward) of the direction. Without rotation (around an axis perpendicular to the horizontal plane).

A belt interval adjusting mechanism 130 shown in FIG. 3 is an embodiment of the belt interval adjusting mechanism according to the present invention. In the first belt 127L and the second belt 127R, the interval between portions where the outer peripheral surfaces face each other (in this embodiment, In this case, between the second driving pulley 121R and the second driven pulley 123R of the second belt 127R from the outer peripheral surface of the portion of the first belt 127L that is stretched between the first driving pulley 121L and the first driven pulley 123L. The distance to the outer peripheral surface of the portion stretched between the two is adjusted.
The belt interval adjusting mechanism 130 mainly includes blocks 131L, 131R, 132L, and 132R, a screw shaft 133, a screw shaft 134, a pulley 135, a pulley 136, an interlock belt 137, and a handle 138.

The blocks 131L, 131R, 132L, and 132R are massive members.
The blocks 131L, 131R, 132L, and 132R are formed with holes penetrating in the left-right direction, and female screws are formed on the inner peripheral surfaces of the holes formed in the blocks 131L, 131R, 132L, and 132R.
The female screw formed on the block 131L and the block 132L is a left-hand screw, and the female screw formed on the block 131R and the block 132R is a right-hand screw.
Moreover, the pitch of the internal thread formed in the blocks 131L, 131R, 132L, and 132R is the same.
The block 131L is fixed to the front portion of the lower surface of the first support plate 115L (see FIG. 3).
The block 132L is fixed to the rear portion of the lower surface of the first support plate 115L (see FIG. 3).
The block 131R is fixed to the front portion of the lower surface of the second support plate 115R (see FIGS. 1 and 3).
The block 132R is fixed to the rear portion of the lower surface of the second support plate 115R (see FIGS. 1 and 3).

The screw shaft 133 is a shaft that supports the front portion of the first support plate 115L and the front portion of the second support plate 115R to the intermediate plate 114.
The left end portion and the right end portion of the screw shaft 133 are rotatably supported on the intermediate plate 114 via bearings.
Male screws are formed on the outer peripheral surface of the left half and the outer peripheral surface of the right half of the screw shaft 133, respectively.
The male screw formed on the outer peripheral surface of the left half portion of the screw shaft 133 is a left screw, and the male screw formed on the outer peripheral surface of the right half portion of the screw shaft 133 is a right screw.
The left half of the screw shaft 133 is screwed to the block 131L, and the right half of the screw shaft 133 is screwed to the block 131R.

The screw shaft 134 is a shaft that supports the rear portion of the first support plate 115L and the rear portion of the second support plate 115R to the intermediate plate 114.
The left end portion and the right end portion of the screw shaft 134 are rotatably supported on the intermediate plate 114 via bearings.
Male screws are formed on the outer peripheral surface of the left half and the outer peripheral surface of the right half of the screw shaft 134, respectively.
The male screw formed on the outer peripheral surface of the left half portion of the screw shaft 134 is a left screw, and the male screw formed on the outer peripheral surface of the right half portion of the screw shaft 134 is a right screw.
The left half of the screw shaft 134 is screwed to the block 132L, and the right half of the screw shaft 134 is screwed to the block 132R.

The pulley 135 transmits the rotational driving force of the screw shaft 133 to the screw shaft 134.
The pulley 135 is fitted in a position in which the male screw is formed in the right half portion of the screw shaft 133 and a portion sandwiched between the portion supported by the intermediate plate 114 so as not to be relatively rotatable.

The pulley 136 transmits the rotational driving force of the screw shaft 133 to the screw shaft 134.
The pulley 136 is fitted at a position sandwiched between a portion where the male screw is formed in a right half portion of the screw shaft 134 and a portion pivotally supported by the intermediate plate 114 so as not to be relatively rotatable.
The diameter of the pulley 135 is equal to the diameter of the pulley 136.

The interlock belt 137 transmits the rotational driving force of the screw shaft 133 to the screw shaft 134.
The interlock belt 137 is wound around the pulley 135 and the pulley 136.

  The handle 138 is operated when the operator rotates the screw shaft 133. The handle 138 is fixed to the right end portion of the screw shaft 133.

When the operator rotates the handle 138 clockwise as viewed from the right side, the screw shaft 133 rotates clockwise as viewed from the right side. Further, when the screw shaft 133 rotates clockwise in the right side view, the rotational driving force of the screw shaft 133 is transmitted to the screw shaft 134 through the pulley 135, the interlock belt 137, and the pulley 136, and the screw shaft 134 is in the right side view. Rotate clockwise.
As a result, the first support plate 115L moves in the left direction and the second support plate 115R moves in the right direction, and the distance between the first support plate 115L and the second support plate 115R, and thus the first belt 127L and the second belt. In the belt 127R, the interval between the portions where the outer peripheral surfaces face each other is increased.
At this time, the movement amount of the first support plate 115L in the left direction and the movement amount of the second support plate 115R in the right direction are the same, and the first belt 127L and the second belt 127R are the first belt 127L and the second belt 127R. The same distance from the reference line 5 (see FIG. 3) that is equidistant from the belt 127R.

When the operator rotates the handle 138 counterclockwise when viewed from the right side, the screw shafts 133 and 134 rotate counterclockwise when viewed from the right side.
As a result, the first support plate 115L moves in the right direction and the second support plate 115R moves in the left direction, and the distance between the first support plate 115L and the second support plate 115R, and thus the first belt 127L and the second belt. In the belt 127R, the interval between the portions where the outer peripheral surfaces face each other is reduced.
At this time, the movement amount of the first support plate 115L in the right direction and the movement amount of the second support plate 115R in the left direction are the same, and the first belt 127L and the second belt 127R are the first belt 127L and the second belt 127R. The reference distance 5 (see FIG. 3) that is equidistant from the belt 127R is approached by the same distance.

  As shown in FIG. 3, the first drive unit 140L includes a first motor 141L, a first speed reduction mechanism 142L, and a cover 143L.

The first motor 141L is an embodiment of the first motor according to the present invention, and rotationally drives the first belt 1127L.
The first motor 141L is a servo motor, can rotate in both forward and reverse directions, and can adjust the rotation amount (rotation angle) and the rotation speed.
The first motor 141L is fixed to the upper surface of the first support plate 115L.

The first reduction mechanism 142L decelerates the rotational driving force generated by the first motor 141L and transmits it to the first drive shaft 122L.
The first reduction mechanism 142L is a combination of a plurality of gears and the like, and the first reduction mechanism 142L is fixed to the upper surface of the first support plate 115L.
The input end of the first reduction mechanism 142L is connected to the rotation shaft of the first motor 141L, and the output end of the first reduction mechanism 142L is connected to the upper end of the first drive shaft 122L.

  When the rotation shaft of the first motor 141L rotates due to the generation of the rotation driving force in the first motor 141L, the rotation driving force generated in the first motor 141L becomes the first reduction mechanism 142L, the first driving shaft 122L, and the first driving. It is transmitted to the first belt 127L via the pulley 121L, and the first belt 127L is rotationally driven.

  The cover 143L protects the first motor 141L and the first speed reduction mechanism 142L. The cover 143L is fixed to the upper surface of the first support plate 115L while covering the first motor 141L and the first speed reduction mechanism 142L.

  As shown in FIGS. 1 and 3, the second drive unit 140R includes a second motor 141R, a second reduction mechanism 142R, and a cover 143R.

The second motor 141R is an embodiment of the second motor according to the present invention, and rotationally drives the second belt 1127R.
The second motor 141R is composed of a servo motor, can rotate in both forward and reverse directions, and can adjust a rotation amount (rotation angle) and a rotation speed.
The second motor 141R is fixed to the upper surface of the second support plate 115R.

The second reduction mechanism 142R decelerates the rotational driving force generated by the second motor 141R and transmits it to the second drive shaft 122R.
The second reduction mechanism 142R is a combination of a plurality of gears and the like, and the second reduction mechanism 142R is fixed to the upper surface of the second support plate 115R.
The input end of the second reduction mechanism 142R is connected to the rotation shaft of the second motor 141R, and the output end of the second reduction mechanism 142R is connected to the upper end portion of the second drive shaft 122R.

  When the rotation shaft of the second motor 141R is rotated by the generation of the rotation driving force in the second motor 141R, the rotation driving force generated in the second motor 141R is the second reduction mechanism 142R, the second driving shaft 122R, and the second driving. It is transmitted to the second belt 127R via the pulley 121R, and the second belt 127R is rotationally driven.

  The cover 143R protects the second motor 141R and the second reduction mechanism 142R. The cover 143R is fixed to the upper surface of the second support plate 115R while covering the second motor 141R and the second reduction mechanism 142R.

  In the present embodiment, the first motor 141L and the second motor 141R are both servo motors, but the present invention is not limited to this. That is, if the motor can be rotated in both forward and reverse directions and the rotation amount (rotation angle) and the rotation speed can be adjusted, the first motor and the second motor may be different from the servo motor (for example, Stepping motor).

The position detection sensor 150 is an embodiment of the position detection sensor according to the present invention, and detects that the container 1 sandwiched between the first belt 27L and the second belt 127R has reached a preset set position. Is.
The position detection sensor 150 of this embodiment is an optical sensor and includes a light projecting unit 151 and a light receiving unit 152.

The light projecting unit 151 projects (irradiates) light having a predetermined wavelength.
As shown in FIGS. 1 and 4, the light projecting portion 151 is fixed to the lower surface of the second suspension plate 118R. The light projecting portion 151 fixed to the lower surface of the second suspension plate 118R is equidistant from the second drive pulley 121R and the second driven pulley 123R in the front-rear direction (conveying direction of the container 1), and the second drive pulley 121R. And it arrange | positions in the position which becomes higher than the 2nd driven pulley 123R, and projects light in the left direction.

The light receiving unit 152 receives the light projected by the light projecting unit 151.
As shown in FIG. 4, the light receiving portion 152 is fixed to the lower surface of the first hanging plate 118L. The light receiving portion 152 fixed to the lower surface of the first suspension plate 118L is equidistant from the first drive pulley 121L and the first driven pulley 123L in the front-rear direction (conveying direction of the container 1), and the first drive pulley 121L and It is arranged at a position above the first driven pulley 123L.
The light receiving unit 152 includes a semiconductor element (photoelectric element) that generates an electromotive force according to the intensity of light when irradiated with light having a predetermined wavelength including the wavelength of light projected by the light projecting unit 151. When the light projected by the light unit 151 is blocked by the container 1, the electromotive force generated by the light receiving unit 152 decreases.
Therefore, by detecting a change in electromotive force generated by the light receiving unit 152 (in the case of the present embodiment, a decrease in electromotive force), the rear end portion (downstream end portion in the transport path) of the container 1 is caused by the light projecting unit 151. It is possible to detect that the container 1 has reached a position that interferes with the projected light, that is, a predetermined “set position”.
In the present embodiment, the first belt 127L and the second belt 127R are equidistant in the left-right direction and the first drive pulley 121L and the first driven pulley 123L are equidistant (or the second drive pulley 121R and A position (point 20 in FIGS. 4 and 6) returned from the position that is the same distance from the second driven pulley 123R toward the front (upstream in the conveying direction) by half the outer diameter of the container 1; The position where the rotation axis in the circumferential direction of 1 coincides with the plan view is the “set position”.

  The position detection sensor 150 of the present embodiment is an optical sensor including the light projecting unit 151 and the light receiving unit 152, but the position detection sensor according to the present invention is not limited to this. That is, the position detection sensor according to the present invention is an optical sensor of a type in which the light projecting unit and the light receiving unit are integrated (the light receiving unit receives light projected from the light projecting unit and reflected from the surface of the object). It may be an optical sensor that receives light, or a sensor that detects an object based on a change in capacitance (capacitance sensor).

The rotational phase detection sensor 160 is an embodiment of the rotational phase detection sensor according to the present invention, and is sandwiched between the first belt 127L and the second belt 127R based on the mark 1e attached to the upper surface 1b of the container 1. In this state, it is detected that the rotational phase in the circumferential direction of the container 1 that has reached the “rotation position” is a preset “set phase”.
“Rotation position” refers to a position where an article held between the first belt and the second belt is rotated in the circumferential direction. The rotational position is set to (a) the same position as the set position, or (b) a position that is downstream of the set position in the transport path.
In the present embodiment, the first belt 127L and the second belt 127R are equidistant in the left-right direction and the first drive pulley 121L and the first driven pulley 123L are equidistant (or the second drive pulley 121R and A position where the position (point 30 in FIGS. 4 and 7) that is equidistant from the second driven pulley 123 </ b> R coincides with the rotation axis in the circumferential direction of the container 1 is a “rotation position”.
“Set phase” refers to the rotational phase in the circumferential direction when the article placed at the rotational position assumes a desired posture.
As shown in FIG. 4, in this embodiment, the rotational phase detection sensor 160 is fixed at a position on the upper surface of the first suspension plate 118L and behind the first belt unit 120L, and the imaging direction of the rotational phase detection sensor 160 is It is set to the right front (the direction in which the rotational position appears in the substantially right and left central part of the imaging region of the rotational phase detection sensor 160).

The rotational phase detection sensor 160 is a so-called matching sensor.
The “matching sensor” is an image pickup device that picks up an image of an article and generates a picked-up image, and a rotation phase detection mark of the article shown in the picked-up image generated by the image pickup element and a preset reference image It is determined whether or not the rotational phase in the circumferential direction of the article is a preset set phase by performing pattern matching between the captured image and the reference image using the rotational phase detection mark of the article. A determination unit that outputs the result.
The “imaging device” includes, for example, a CCD image sensor or a CMOS image sensor.
As a specific method of “pattern matching”, residual matching (determining a point where the residual of overlay is minimized while moving the reference pattern relative to the target pattern in the vertical direction or the horizontal direction) Method), normalized correlation method (a method for obtaining a point where the normalized correlation value between the reference pattern and the target pattern becomes the largest), and a phase-only correlation method (for the reference pattern and the target pattern) A method of calculating the matching point by Fourier transforming both and performing phase-only processing on the Fourier transform plane), geometric matching method, vector correlation method, generalized Hough transform method (reference pattern and target pattern edge) And a method of calculating matching points using a point sequence).
The “reference image” refers to an image obtained by capturing an image of an article placed at a rotational position in a predetermined direction (direction in which the circumferential rotational phase is a set phase) with a rotational phase detection sensor.
In the present embodiment, the reference image is an image in which the mark 1e of the container 1 is located at a substantially central portion of the imaging region of the rotational phase detection sensor 160.
The “determination unit” is composed of an electronic substrate on which a semiconductor element such as a CPU is mounted, and stores, expands, calculates, and outputs a calculation result (sends a signal corresponding to the calculation result). It is possible.
The rotational phase detection sensor 160 performs pattern matching between the mark 1e of the container 1 shown in the captured image and the mark 1e of the container 1 shown in the reference image, and the correlation between the captured image and the reference image is predetermined. If the correlation value is greater than or equal to the correlation value, it is determined that the circumferential rotation phase of the container 1 is the set phase, and a signal to that effect is output (transmitted).

  Although the rotational phase detection sensor 160 of the present embodiment includes an image sensor and a determination unit, the present invention is not limited to this. For example, a program relating to pattern matching may be stored in a control device described later, and the control device may also function as a determination unit.

  The control unit 170 shown in FIGS. 1 and 2 mainly includes a case 171, a control device 172, and a touch panel 173.

The case 171 is a substantially rectangular parallelepiped box forming the main structure of the control unit 170.
A control device 172 is accommodated inside the case 171, and a touch panel 173 is provided on the left side surface of the case 171.

  The control device 172 can store programs for controlling the operation of the positioning device 100, can develop these programs, etc., can perform predetermined calculations according to these programs, and the like. The results can be stored.

The control device 172 has a configuration in which a CPU (Central Processing Unit), a ROM (Read-Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and the like are connected to each other via a bus. Alternatively, a configuration including a one-chip LSI (Large Scale Integration) or the like may be used.
The control device 172 in the present embodiment is a dedicated product, but can also be achieved by storing the above-described program in a commercially available personal computer, workstation, or the like.

As shown in FIG. 2, the control device 172 is connected to the light receiving unit 152 of the position detection sensor 150.
The control device 172 generates a signal generated according to the intensity of light received by the light receiving unit 152, that is, whether or not the container 1 sandwiched between the first belt 127L and the second belt 127R has reached a preset setting position. It is possible to acquire information related to this.

As shown in FIG. 2, the control device 172 is connected to the rotational phase detection sensor 160.
The control device 172 can acquire a signal generated by the rotation phase detection sensor 160, that is, information relating to whether or not the circumferential rotation phase of the container 1 that has reached the rotation position is a preset setting phase. It is.

As shown in FIG. 2, the control device 172 is connected to the first motor 141L.
The control device 172 can control the rotation direction of the first motor 141L, the rotation amount (rotation angle) of the first motor 141L, and the rotation speed of the first motor 141L by transmitting a signal to the first motor 141L. It is.

As shown in FIG. 2, the control device 172 is connected to the second motor 141R.
The control device 172 can control the rotation direction of the second motor 141R, the rotation amount (rotation angle) of the second motor 141R, and the rotation speed of the second motor 141R by transmitting a signal to the second motor 141R. It is.

The touch panel 173 includes (A) a function as an “input device” for inputting various information, instructions, and the like related to the operation of the positioning device 100 to the control device 172, and (B) an input content to the control device 172, the positioning device 100. It also functions as a “display device” for displaying the operation status and the like.
The touch panel 173 is connected to the control device 172, and can transmit information, instructions, and the like input by the operator operating the touch panel 173 to the control device 172, and the positioning device 100 generated by the control device 172. It is possible to receive (acquire) information related to the operation status.

Although the positioning device 100 of the present embodiment is configured to input information and the like to the control device and display information and the like using the touch panel 173, the present invention is not limited to this.
For example, instead of the touch panel, information is input to the control device using a commercially available keyboard, mouse, pointing device, button, switch, etc., and a commercially available liquid crystal display (LCD) or CRT display (Cathode Ray) is used. A configuration may be adopted in which information or the like is displayed using a Tube Display) or the like.

Below, the operation control method of the positioning apparatus 100 by the control apparatus 172 is demonstrated using FIGS.
The operation control method of the positioning device 100 by the control device 172 substantially corresponds to an embodiment of the positioning method according to the present invention.

  As shown in FIG. 12, the operation control method of the positioning device 100 by the control device 172 mainly includes a first transfer step S1100, a second transfer step S1200, a first rotation step S1300, and a third transfer step S1400.

  In the first transport step S1100, the control device 172 controls the first motor 141L and the second motor 141R so that the portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other move in a predetermined transport direction. In this step, the container 1 held between the first belt 127L and the second belt 127R is conveyed to a set position by being driven to rotate.

As shown in FIGS. 4 to 6, in the first transport step S1100, the controller 172 has a portion of the first belt 127L that is stretched between the first drive pulley 121L and the first driven pulley 123L at a speed V11 in the transport direction. Is transmitted to the first motor 141L (the first belt 127L rotates clockwise in a plan view at a peripheral speed V11).
Further, in the control device 172, a portion of the second belt 127R that is stretched between the second drive pulley 121R and the second driven pulley 123R moves in the transport direction at a speed V12 (the second belt 127R is counterclockwise in plan view). A signal indicating that the motor rotates so as to rotate at a peripheral speed V12) is transmitted to the second motor 141R. Here, V11 = V12.

  As shown in FIG. 4, in the first transport step S1100, the container 1 is transported in the transport direction by the belt conveyor 10 and approaches the positioning device 100 from the upstream side in the transport direction.

  As shown in FIG. 5, in the first transport step S1100, the container 1 is continuously transported in the transport direction by the belt conveyor 10, and the container 1 is controlled to move in the left-right direction by the first carry-in guide 119L and the second carry-in guide 119R. It enters between the first hanging plate 118L and the second hanging plate 118R.

As shown in FIG. 6, in the first transport step S1100, the container 1 is sandwiched between the first belt 127L and the second belt 127R.
As a result, the container 1 sandwiched between the first belt 127L and the second belt 127R is transported in the transport direction without rotating in the circumferential direction.

The control device 172 performs the control as described above until the time point when the “signal indicating that the container 1 has reached the set position” is acquired from the position detection sensor 150 (see FIG. 6). At the time of acquiring a “signal indicating that has reached the set position”, the first transport step S1100 is terminated.
If 1st conveyance process S1100 is complete | finished, it will transfer to 2nd conveyance process S1200.

In the present embodiment, the moving speed of the first belt 127L and the moving speed of the second belt 127R in the first transport step S1100 are the same value (V11 = V12), but the present invention is not limited to this.
That is, the first belt moving speed and the second belt moving speed may be different from each other.

  The second transport step S1200 includes the first motor 141L and the second motor so as to transport the container 1 in the transport direction by the “distance from the set position to the rotation position” calculated based on “the preset outer diameter of the container 1”. In this step, the container 1 held between the first belt 127L and the second belt 127R is transported from the set position to the rotational position by rotationally driving the second motor 141R.

As shown in FIG. 7, in the second conveying step S1200, the control device 172 moves a portion of the first belt 127L, which is stretched between the first driving pulley 121L and the first driven pulley 123L, in the conveying direction at a speed V21. A signal indicating that the first belt 127L is rotated so as to rotate clockwise in plan view at the peripheral speed V21 is transmitted to the first motor 141L.
Further, in the control device 172, a portion of the second belt 127R that is stretched between the second drive pulley 121R and the second driven pulley 123R moves in the transport direction at a speed V22 (the second belt 127R is counterclockwise in plan view). A signal indicating that the motor rotates so as to rotate at a peripheral speed V22) is transmitted to the second motor 141R. Here, V21 = V22.
As a result, the container 1 sandwiched between the first belt 127L and the second belt 127R is transported in the transport direction without rotating in the circumferential direction.

The control device 172 calculates the “distance from the setting position to the rotation position” based on the outer diameter of the container 1 in advance, and the “belt from the setting position to the rotation position” is curved by the first belt 127L and the second belt 127R. Is calculated in consideration of the above, and “the length that the first belt 127L and the second belt 127R should move to transport the container 1 from the set position to the rotational position” is calculated. The rotation amount of the first motor 141L and the second motor 141R corresponding to the length to which the first belt 127L and the second belt 127R should move in order to transport the container 1 from the distance to the rotation position is calculated. Is remembered.
Then, the control device 172 indicates that “the first motor 141L and the second motor corresponding to the length that the first belt 127L and the second belt 127R should move to convey the container 1 from the set position to the rotation position” When the first motor 141L and the second motor 141R are rotated by “the amount of rotation of 141R”, a signal to stop the rotation is transmitted to the first motor 141L and the second motor 141R, respectively, and the second transport step S1200 is ended. To do.

  The information related to the outer diameter of the container 1 may be stored in the control device 172 by an operator inputting the information on the touch panel 173. The container 1 is experimentally sandwiched between the first belt 127L and the second belt 127R. Rotation amounts of the first belt 127L and the second belt 127R when the container 1 is conveyed in the conveyance direction by rotating the first belt 127L and the second belt 127R (rotation amounts of the first motor 141L and the second motor 141R) The control device 172 may calculate the outer diameter of the container 1 based on the signal acquired from the position detection sensor 150, and the control device 172 may store the calculation result as information related to the outer diameter of the container 1.

When the second transport step S1200 is completed, the container 1 sandwiched between the first belt 127L and the second belt 127R reaches the rotational position.
If 2nd conveyance process S1200 is complete | finished, it will transfer to 1st rotation process S1300.

In the present embodiment, the moving speed of the first belt 127L and the moving speed of the second belt 127R in the second conveying step S1200 are the same value (V21 = V22), but the present invention is not limited to this.
That is, the moving speed of the first belt and the moving speed of the second belt in the second transport process may be different values.

In this embodiment, the moving speed of the first belt 127L in the first conveying step S1100 and the moving speed of the first belt 127L in the second conveying step S1200 are the same value (V11 = V21), but the present invention is limited to this. Not.
That is, the moving speed of the first belt in the first transport process may be different from the moving speed of the first belt in the second transport process.

In the present embodiment, the setting position and the rotation position are different, and the setting position is set on the upstream side in the transport direction with respect to the rotation position. However, the present invention is not limited to this, and the setting position and the rotation position are set to the same position. It is also possible to set.
When the setting position and the rotation position are set to the same position, the second transport process can be omitted.

  In the first rotation step S1300, the first motor 141L and the second motor 141R are rotationally driven such that portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other move at the same speed and in opposite directions. In this step, the container 1 disposed at the rotation position is rotated, and the posture of the container 1 is corrected in a direction in which the rotational phase in the circumferential direction of the container 1 becomes the set phase.

As shown in FIG. 8 and FIG. 9, in the first rotation step S1300, the controller 172 has a portion of the first belt 127L that is stretched between the first drive pulley 121L and the first driven pulley 123L in the direction opposite to the conveyance direction. The first motor 141L is transmitted with a signal indicating that the first belt 127L rotates at a speed Vr1 (the first belt 127L rotates counterclockwise at a peripheral speed Vr1 in plan view).
Further, the controller 172 moves a portion of the second belt 127R, which is stretched between the second drive pulley 121R and the second driven pulley 123R, in the transport direction at a speed Vr2 (the second belt 127R is counterclockwise in plan view). A signal indicating that the motor rotates so as to rotate at a peripheral speed Vr2 is transmitted to the second motor 141R. Here, Vr1 = Vr2.
As a result, the container 1 sandwiched between the first belt 127L and the second belt 127R rotates in the circumferential direction without moving in the transport direction (in the present embodiment, clockwise in plan view).
The control device 172 performs the control as described above until the time point (see FIG. 9) of acquiring “a signal indicating that the circumferential rotation phase of the container 1 has become the set phase” from the rotation phase detection sensor 160. When the “signal indicating that the rotational phase in the circumferential direction of the container 1 has become the set phase” is acquired from the phase detection sensor 160, the first rotation step S1300 is terminated.
If 1st rotation process S1300 is complete | finished, it will transfer to 3rd conveyance process S1400.

Conventionally, an article is sandwiched between a pair of belts, and the article is rotated by rotating the pair of belts so that opposing portions of the pair of belts move in opposite directions. The positioning device corrects the rotational phase in the circumferential direction of the article by performing image processing (for example, performing pattern matching) using the marked mark. If the positioning accuracy of the central axis when the article rotates is low, Since the reliability of the rotational phase of the article corrected on the basis of this decreases, generally the distance between the pulleys around which the pair of belts are wound is increased to some extent, and the position facing the inner peripheral surface of the pair of belts between the pulleys A guide member for restricting the pair of belts from bending toward the inner peripheral surface is provided, and the pair of belts are not elastically deformed in the thickness direction as much as possible when an article is sandwiched between them. By adjusting the urchin space between the pair of belts, it was prevented from deviating in the direction (lateral direction) perpendicular position of the central axis with respect to the conveying direction of the article when the article is rotated.
However, in the case of the conventional positioning device as described above, the contact portion between the peripheral surface of the container and the outer peripheral surface of the pair of belts is substantially in a line contact state, and “in the contact portion between one belt and the container” An imbalance is likely to occur between the “friction force” and the “friction force at the contact portion between the other belt and the container”. As a result, the container rotates and moves in the transport direction or in the opposite direction of the transport direction. On the contrary, there is a problem that the positional accuracy of the central axis when the article rotates is lowered, and the reliability of the rotational phase of the article corrected based on the image processing is lowered.

The positioning device 100 of the present embodiment is a portion that is sandwiched between the first drive pulley 121L and the first driven pulley 123L and that faces the inner peripheral surface of the first belt 127L (the portion that is shaded in an oblique lattice shape in FIG. 7) ) Is not provided with a guide member or the like for regulating the first belt 127L, and a space is intentionally formed in the portion, and when the container 1 reaches the rotation position, the first belt 127L curved along the peripheral surface 1a of the container 1 is It was possible to project toward the space.
Further, the second belt 127R is attached to a portion (a portion hatched in an oblique lattice shape in FIG. 7) that is sandwiched between the second drive pulley 121R and the second driven pulley 123R and faces the inner peripheral surface of the second belt 127R. Without providing a regulating guide member or the like, a space is intentionally formed in the portion, and when the container 1 reaches the rotation position, the second belt 127R curved along the peripheral surface 1a of the container 1 projects toward the space. Made it possible.

With this configuration, the positioning device 100 is compared with the conventional positioning device in the contact portion between the peripheral surface 1a of the container 1 and the outer peripheral surface of the first belt 127L, and the peripheral surface 1a of the container 1 and the second belt 127R. It is possible to increase the area of the abutting portion with the outer peripheral surface.
As a result, the frictional force is imbalanced between the contact portion between the peripheral surface 1a of the container 1 and the outer peripheral surface of the first belt 127L and the contact portion between the peripheral surface 1a of the container 1 and the outer peripheral surface of the second belt 127R. It is possible to improve the positional accuracy in the transport direction when the container 1 rotates in the circumferential direction.
From the viewpoint of increasing the area of the contact portion between the first belt 127L and the second belt 127R and the peripheral surface 1a of the container 1 as much as possible, the distance from the first drive pulley 121L to the first driven pulley 123L and the second It is desirable to shorten the distance from the driving pulley 121R to the second driven pulley 123R as much as possible. Also, setting the distance from the first drive pulley 121L to the first driven pulley 123L and the distance from the second drive pulley 121R to the second driven pulley 123R to shorten the overall length of the positioning device 100 in the transport direction. This contributes to making the positioning device 100 compact (saving space) and also improving the processing capability of the positioning device 100 (reducing the time required to position one container 1).

In addition, the positioning device 100 is configured so that the first belt 127L and the second belt 127R are curved along the circumferential surface 1a of the container 1 when the container 1 rotates in the circumferential direction, so that the resultant tension force acting on the first belt 127L (vector) Sum) acts on the container 1 to push the container 1 rightward, and the resultant tension (vector sum) acting on the second belt 127R acts on the container 1 and pushes the container 1 leftward. And the position of the container 1 in the left-right direction (direction perpendicular to the transport direction) is stabilized.
As a result, it is possible to improve the positional accuracy of the container 1 in the left-right direction.

  As described above, the positioning device 100 has higher positional accuracy when the container 1 is rotated in the circumferential direction than the conventional positioning device (alignment is performed, that is, the position of the rotation center of the container 1 is stable and stable). Thus, the detection accuracy of the rotational phase of the container 1 by the rotational phase detection sensor 160 is improved, and consequently the positioning accuracy of the container 1 is improved.

  In the present embodiment, the movement speed of the first belt 127L and the movement speed of the second belt 127R in the first rotation step S1300 are the same value (Vr1 = Vr2), but the movement of the first belt 127L in the first rotation step S1300. The speed may be the same as or different from the moving speed of the first belt 127L in the first conveying step S1100 or the moving speed of the first belt 127L in the second conveying step S1200.

  In the third conveying step S1400, the first motor 141L and the second motor 141R are rotationally driven so that the portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other move at a constant speed in the conveying direction. In this step, the container 1 sandwiched between the first belt 127L and the second belt 127R is transported in the transport direction without rotating in the circumferential direction.

As shown in FIG. 10, in the third transport step S1400, the control device 172 moves a portion of the first belt 127L that is stretched between the first drive pulley 121L and the first driven pulley 123L in the transport direction at a speed V31. A signal indicating that the first belt 127L is rotated so as to rotate clockwise in a plan view at a peripheral speed V31 is transmitted to the first motor 141L.
Further, in the control device 172, a portion of the second belt 127R that is stretched between the second drive pulley 121R and the second driven pulley 123R moves in the transport direction at a speed V32 (the second belt 127R is counterclockwise in plan view). A signal indicating that the motor rotates so as to rotate at a peripheral speed V32) is transmitted to the second motor 141R. Here, V31 = V32.
As a result, since the container 1 sandwiched between the first belt 127L and the second belt 127R is transported in the transport direction without rotating in the circumferential direction, the circumferential rotation phase of the container 1 is maintained at the set phase. Thus, the container 1 can be taken out of the positioning device 100.
When the first motor 141L and the second motor 141R rotate by a preset rotation amount, the control device 172 is released from the state in which the container 1 is sandwiched between the first belt 127L and the second belt 127R and again. Considering that the belt conveyor 10 has shifted to a state of being conveyed in the conveying direction, the third conveying step S1400 is terminated.

In the present embodiment, a plurality of containers 1, 1... Are sequentially conveyed by the belt conveyor 10 (see FIG. 11). Therefore, when the third conveyance step S1400 is completed, the process proceeds to the first conveyance step S1100.
That is, the cycle of the first transport process S1100 → second transport process S1200 → first rotation process S1300 → third transport process S1400 → first transport process S1100 → second transport process S1200 →.

  Since the third conveyance step S1400 is completed and the container 1 conveyed again by the belt conveyor 10 has a predetermined direction corrected to a predetermined rotation phase, the container 1 conveyed by the belt conveyor 10 is labeled at a predetermined position. A bar code attached to a predetermined position of the container 1 transported by the belt conveyor 10, or an inscription on the peripheral surface 1 a or the upper surface 1 b of the container 1 transported by the belt conveyor 10, It is easy to image a pattern or the like to generate an identification image, and to identify an article based on the identification image.

In this embodiment, the moving speed of the first belt 127L in the first conveying step S1100 and the moving speed of the first belt 127L in the third conveying step S1400 are the same value (V11 = V31), but the present invention is limited to this. Not.
That is, the moving speed of the first belt in the first transport process may be different from the moving speed of the first belt in the third transport process.

In this embodiment, the moving speed of the first belt 127L in the second conveying step S1200 and the moving speed of the first belt 127L in the third conveying step S1400 have the same value (V21 = V31), but the present invention is limited to this. Not.
That is, the moving speed of the first belt in the second transport process may be different from the moving speed of the first belt in the third transport process.

In this embodiment, the moving speed of the first belt 127L in the first conveying step S1100, the moving speed of the first belt 127L in the second conveying step S1200, and the moving speed of the first belt 127L in the third conveying step S1400 are all belt conveyors. 10 is larger than the conveyance speed of the container 1.
With this configuration, even when a plurality of containers 1... Are sequentially conveyed toward the positioning device 100 by the belt conveyor 10, a plurality of containers 1. It is possible to prevent 1 ... from staying (congesting).

In this embodiment, after correcting the circumferential rotation phase of the container 1 to a predetermined setting phase in the first rotation step S1300, the container 1 is held while maintaining the circumferential rotation phase of the container 1 in the third transport step S1400. Although it is configured to be taken out of the positioning device 100, the present invention is not limited to this.
That is, after the rotation phase detection sensor 160 detects that the circumferential rotation phase of the container 1 has become the set phase between the first rotation step S1300 and the third conveyance step S1400, the first belt 127L is detected. In addition, the portions of the second belt 127R whose outer peripheral surfaces face each other move in the circumferential direction of the container 1 by moving in the opposite directions to each other by a movement amount calculated based on a preset outer diameter of the container 1. It is good also as a structure (refer FIG. 13) which comprises 2nd rotation process S1500 which rotationally drives the 1st motor 141L and the 2nd motor 141R so that a phase may become the preset final setting phase.
Here, the “final set phase” is set as a rotation phase different from the “set phase”.
Based on the phase difference between the final set phase and the set phase (rotation angle difference) and the outer diameter of the container 1, the control device 172 changes from the state where the rotational phase of the container 1 becomes the set phase to the state where the final set phase is reached. The movement amounts of the first belt 127L and the second belt 127R necessary for rotating the container 1 are calculated and stored in advance.
Then, in the second rotation step S1500, the control device 172 causes the first belt 127L and the second belt 127R to move at a constant speed and to each other by the amount of movement of the first belt 127L and the second belt 127R set (stored) in advance. By rotating the first motor 141L and the second motor 141R so as to move in the opposite directions, the rotational phase of the container 1 is corrected to the final set phase.
With this configuration, when the orientation of the container 1 is set to a desired orientation (when the rotational phase of the container 1 is set to the desired rotational phase), the other members constituting the positioning device 100 are the rotational phase detection sensor 160. Even if the rotational phase detection sensor 160 cannot capture the image of the mark 1e formed on the upper surface 1b of the container 1 for the reason that it overlaps with the imaging region, the mark 1e formed on the upper surface 1b of the container 1 It is possible to accurately correct the rotation phase of the container 1 to the desired rotation phase by setting the phase at which imaging is easy as the setting phase and setting the desired rotation phase of the container 1 as the final setting phase. .

In this embodiment, after correcting the circumferential rotation phase of the container 1 to a predetermined setting phase in the first rotation step S1300, the container 1 is held while maintaining the circumferential rotation phase of the container 1 in the third transport step S1400. Although it is configured to be taken out of the positioning device 100, the present invention is not limited to this.
That is, using the fact that the rotational phase of the article is corrected and the article is sandwiched between the first belt and the second belt at the time when the first rotation process is completed, the first rotation process is performed according to the property of the article. A step of attaching a label to an article with an attaching device between the rotating step and the third conveying step (see attaching step S1600 shown in FIG. 14), a bar attached to the peripheral surface or upper surface of the article with a barcode reader A code reading step (see bar code reading step S1700 shown in FIG. 15), or an article identification device that captures an imprint, a pattern, or the like on the peripheral or upper surface of an article to generate an identification image, A step of identifying an article based on the identification image (see the article identification step S1800 shown in FIG. 16) or the like may be added as appropriate.
Further, a step of attaching a label to an article by an attaching device between the second rotation step and the third transporting step, a step of reading a barcode attached to the peripheral surface or upper surface of the article by a barcode reading device, an article identification device Thus, it is possible to appropriately add a process of generating an identification image by imaging a mark, a pattern, or the like attached to the peripheral surface or upper surface of the article, and identifying the article based on the identification image.

As described above, the positioning device 100 is
The container 1 can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the container 1 having the peripheral surface 1a, and the outer peripheral portion is thick. A first belt 127L and a second belt 127R that are endless belts elastically deformable in the vertical direction;
A first motor 141L that rotationally drives the first belt 127L;
A second motor 141R that rotationally drives the second belt 127R;
A position detection sensor 150 that detects that the container 1 held between the first belt 127L and the second belt 127R has reached a preset setting position;
Based on the mark 1e attached to the upper surface 1b of the container 1, a rotational position set in advance at a position downstream of the set position in the conveyance path while being sandwiched between the first belt 127L and the second belt 127R. A rotational phase detection sensor 160 that detects that the rotational phase in the circumferential direction of the container 1 that has reached the predetermined phase is set;
Until the position detection sensor 150 detects that the container 1 has reached the set position, the first motor 127L and the second belt 127R are moved so that the portions of the outer peripheral surfaces facing each other move in a predetermined transport direction. 141L and the second motor 141R are driven to rotate, and after the position detection sensor 150 detects that the container 1 has reached the set position, the "from the set position" calculated based on the preset outer diameter of the container 1 is used. The first motor 141L and the second motor 141R are rotationally driven so as to transport the container 1 in the transport direction by the distance to the rotational position ", and the rotational phase in the circumferential direction of the container 1 after the container 1 reaches the rotational position. Until the rotational phase detection sensor 160 detects that the set phase has been reached, the outer peripheral surfaces of the first belt 127L and the second belt 127R face each other. A control unit 172 that the first motor 141L and the second motor 141R is rotated so that the portion is moved a constant velocity and in opposite directions,
Comprising
When the container 1 is sandwiched between the first belt 127L and the second belt 127R, portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other are curved and stretched along the peripheral surface 1a of the container 1. A space that can be taken out is formed.
With this configuration, the positional accuracy of the container 1 when the container 1 sandwiched between the first belt 127L and the second belt 127R rotates is improved, and the rotational phase of the container 1 is detected by the rotational phase detection sensor 160. Since the detection accuracy is also improved, it is possible to improve the positioning accuracy of the container 1 (correcting the direction of the container 1 to a predetermined direction with high accuracy).

In addition, the control device 172 of the positioning device 100 is
After the rotational phase detection sensor 160 detects that the rotational phase in the circumferential direction of the container 1 has reached the set phase, both the portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other are in a predetermined transport direction. The first motor 141L and the second motor 141R are rotationally driven so as to move at a constant speed.
With this configuration, it is possible to take out the container 1 while maintaining the rotation phase of the container 1 at a set phase (with the direction of the container 1 corrected to a predetermined direction with high accuracy).

The rotational phase detection sensor 160 of the positioning device 100 is
An image sensor that captures an image of the container 1 to generate a captured image;
By performing pattern matching between the captured image and the reference image using the mark 1e of the container 1 reflected in the captured image generated by the image sensor and the mark 1e of the container 1 reflected in the preset reference image A determination unit that determines whether or not the circumferential rotation phase of 1 is a preset setting phase, and outputs a determination result;
It consists of the matching sensor which comprises.
By comprising in this way, it is possible to detect the rotation phase of the rotating container 1 with high accuracy.

In addition, the positioning device 100 includes:
The first belt 127L and the second belt 127R include a belt interval adjusting mechanism 130 that adjusts the interval between the portions where the outer peripheral surfaces face each other.
With this configuration, it is possible to easily handle a plurality of types of articles having different outer diameters without complicated work such as replacement of parts.

The belt interval adjusting mechanism 130 is
The first belt 127L and the second belt 127R are moved closer to or away from the reference line 5 that is equidistant from the first belt 127L and the second belt 127R by the same distance.
With this configuration, even when handling a plurality of types of articles having different outer diameters, the position of the reference line 5 with respect to the transport path is unchanged, and it is not necessary to move the positioning device 100 with respect to the transport path. Excellent.

In addition, the positioning device 100 includes:
When the container 1 reaches the rotation position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, an affixing device that attaches a label to the peripheral surface 1a or the upper surface 1b of the container 1 is provided.
With this configuration, it is possible to attach a label to a predetermined position of the container 1 with high accuracy.

In addition, the positioning device 100 includes:
When the container 1 reaches the rotational position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, a barcode reading device that reads the barcode attached to the peripheral surface 1a or the upper surface 1b of the container 1 is provided. To do.
By configuring in this manner, the orientation of the container 1 with respect to the barcode reader is stabilized, so that the barcode can be reliably read.

In addition, the positioning device 100 includes:
When the container 1 reaches the rotational position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, the container 1 is identified based on the identification image generated by capturing the image of the container 1. An article identification device is provided.
By comprising in this way, since the direction of the container 1 with respect to an article | item identification device is stabilized, the identification accuracy of the container 1 improves.

An embodiment of the positioning method according to the present invention is as follows:
The container 1 can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the container 1 having the peripheral surface 1a, and the outer peripheral portion is thick. A first belt 127L and a second belt 127R that are endless belts elastically deformable in the vertical direction;
A first motor 141L that rotationally drives the first belt 127L;
A second motor 141R that rotationally drives the second belt 127R;
A position detection sensor 150 that detects that the container 1 held between the first belt 127L and the second belt 127R has reached a preset setting position;
Based on the mark 1e attached to the upper surface 1b of the container 1, a rotational position set in advance at a position downstream of the set position in the conveyance path while being sandwiched between the first belt 127L and the second belt 127R. A rotational phase detection sensor 160 that detects that the rotational phase in the circumferential direction of the container 1 that has reached the predetermined phase is set;
A positioning method for positioning the container 1 using
Until the position detection sensor 150 detects that the container 1 has reached the set position, the first motor 127L and the second belt 127R have their outer peripheral surfaces facing each other so as to move together in a predetermined transport direction. 141L and the first conveyance step S1100 for rotating the second motor 141R,
After the position detection sensor 150 detects that the container 1 has reached the set position, the container 1 is transported by the “distance from the set position to the rotational position” calculated based on the preset outer diameter of the container 1. A second transport step S1200 for rotationally driving the first motor 141L and the second motor 141R so as to transport in the direction;
Until the rotational phase detection sensor 160 detects that the rotational phase in the circumferential direction of the container 1 has reached the set phase after the container 1 reaches the rotational position, the outer peripheral surfaces of the first belt 127L and the second belt 127R are mutually different. A first rotation step S1300 that rotationally drives the first motor 141L and the second motor 141R so that the opposed portions move at the same speed and in opposite directions;
Comprising
When the container 1 is sandwiched between the first belt 127L and the second belt 127R, portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other are curved and stretched along the peripheral surface 1a of the container 1. A space that can be taken out is formed.
With this configuration, the positional accuracy of the container 1 when the container 1 sandwiched between the first belt 127L and the second belt 127R rotates is improved, and the rotational phase of the container 1 is detected by the rotational phase detection sensor 160. Since the detection accuracy is also improved, it is possible to improve the positioning accuracy of the container 1 (correcting the direction of the container 1 to a predetermined direction with high accuracy).

An embodiment of the positioning method according to the present invention is as follows:
After the rotational phase detection sensor 160 detects that the rotational phase in the circumferential direction of the container 1 has become the set phase, both the portions of the first belt 127L and the second belt 127R whose outer peripheral surfaces face each other are in a predetermined transport direction. And a third transport step S1400 for rotating the first motor 141L and the second motor 141R so as to move at a constant speed.
With this configuration, it is possible to take out the container 1 while maintaining the rotation phase of the container 1 at a set phase (with the direction of the container 1 corrected to a predetermined direction with high accuracy).

Further, the rotational phase detection sensor 160 used in the embodiment of the positioning method according to the present invention is:
An image sensor that captures an image of the container 1 to generate a captured image;
By performing pattern matching between the captured image and the reference image using the mark 1e of the container 1 reflected in the captured image generated by the image sensor and the mark 1e of the container 1 reflected in the preset reference image A determination unit that determines whether or not the circumferential rotation phase of 1 is a preset setting phase, and outputs a determination result;
It consists of the matching sensor which comprises.
By comprising in this way, it is possible to detect the rotation phase of the rotating container 1 with high accuracy.

An embodiment of the positioning method according to the present invention is as follows:
When the container 1 reaches the rotational position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, an attaching step S1600 for attaching a label to the peripheral surface 1a or the upper surface 1b of the container 1 is provided.
With this configuration, it is possible to attach a label to a predetermined position of the container 1 with high accuracy.

An embodiment of the positioning method according to the present invention is as follows:
When the container 1 reaches the rotation position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, a barcode reading step S1700 for reading the barcode attached to the peripheral surface 1a or the upper surface 1b of the container 1 is performed. It has.
By configuring in this manner, the orientation of the container 1 with respect to the barcode reader is stabilized, so that the barcode can be reliably read.

An embodiment of the positioning method according to the present invention is as follows:
When the container 1 reaches the rotational position and the rotational phase in the circumferential direction of the container 1 reaches the set phase, the container 1 is identified based on the identification image generated by capturing the image of the container 1. An article identification step S1800 to be performed is provided.
By comprising in this way, since the direction of the container 1 with respect to an article | item identification device is stabilized, the identification accuracy of the container 1 improves.

The left side sectional view showing one embodiment of the positioning device concerning the present invention. The block diagram which shows one Embodiment of the positioning device which concerns on this invention. The AA plane sectional view showing one embodiment of the positioning device concerning the present invention. The BB plane sectional view showing the state at the time of the first conveyance process start of one embodiment of the positioning device concerning the present invention. Similarly BB plane sectional drawing which shows the state in the middle of the 1st conveyance process of one Embodiment of the positioning device which concerns on this invention. The BB plane sectional view showing the state at the time of the end of the 1st conveyance process of one embodiment of the positioning device concerning the present invention. The BB plane sectional view showing the state at the time of the end of the 2nd conveyance process of one embodiment of the positioning device concerning the present invention. BB plane sectional drawing which shows the state in the middle of the 1st rotation process of one Embodiment of the positioning device which concerns on this invention. The BB plane sectional view showing the state at the time of the end of the 1st rotation process of one embodiment of the positioning device concerning the present invention. BB plane sectional drawing which shows the state in the middle of the 3rd conveyance process of one Embodiment of the positioning device which concerns on this invention. The BB plane sectional view showing the state after the end of the 3rd conveyance process of one embodiment of the positioning device concerning the present invention. The flowchart which shows one Embodiment of the positioning method which concerns on this invention. The flowchart which shows one Embodiment of the positioning method which concerns on this invention. The flowchart which similarly shows another embodiment of the positioning method which similarly concerns on this invention. The flowchart which similarly shows another embodiment of the positioning method which similarly concerns on this invention. The flowchart which similarly shows another embodiment of the positioning method which similarly concerns on this invention.

Explanation of symbols

1 Container (article)
1a peripheral surface 1b upper surface 1e mark (rotation phase detection mark)
DESCRIPTION OF SYMBOLS 100 Positioning device 127L 1st belt 127R 2nd belt 141L 1st motor 141R 2nd motor 150 Position detection sensor 160 Rotation phase detection sensor 172 Control apparatus

Claims (18)

The article can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the article having the peripheral surface, and the outer peripheral part has a thickness direction. A first belt and a second belt which are endless belts that can be elastically deformed;
A first motor for rotationally driving the first belt;
A second motor for rotationally driving the second belt;
A position detection sensor for detecting that the article sandwiched between the first belt and the second belt has reached a preset position;
Based on the rotation phase detection mark attached to the peripheral surface or the upper surface of the article, the conveyance path is located at the same position as the set position or more than the set position while being sandwiched between the first belt and the second belt A rotational phase detection sensor that detects that the rotational phase in the circumferential direction of the article that has reached a rotational position set in advance at a position on the downstream side is a preset set phase;
Until the position detection sensor detects that the article has arrived at the set position, the first belt and the second belt have the outer peripheral surfaces facing each other so that both of them move in a predetermined transport direction. The setting calculated based on a preset outer diameter of the article after the position detection sensor detects that the article has reached the set position by rotating the one motor and the second motor. The first motor and the second motor are rotationally driven so that the article is conveyed in the conveyance direction by a distance from the position to the rotation position, and the article in the circumferential direction of the article is reached after the article reaches the rotation position Until the rotational phase detection sensor detects that the rotational phase has become the set phase, the outer peripheral surfaces of the first belt and the second belt face each other. A controller but rotationally driving said first motor and said second motor to move a constant velocity and in opposite directions,
Comprising
When the article is sandwiched between the first belt and the second belt, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are curved and project along the peripheral surface of the article. Positioning device in which a space capable of being formed is formed. The controller is
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, both the portions of the first belt and the second belt that have outer peripheral surfaces facing each other are transported in a predetermined manner. The positioning device according to claim 1, wherein the first motor and the second motor are rotationally driven so as to move in a direction at a constant speed. The controller is
After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, portions of the first belt and the second belt that have outer peripheral surfaces facing each other are preset. The first motor is configured such that the rotational phase in the circumferential direction of the article becomes a preset final set phase by moving in the opposite directions to each other at a constant amount of movement calculated based on the outer diameter of the article. The positioning device according to claim 1, wherein the second motor is rotationally driven. The controller is
After the rotational phase in the circumferential direction of the article becomes the final set phase, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are moved at a constant speed in a predetermined conveying direction. The positioning device according to claim 3, wherein the first motor and the second motor are rotationally driven. The rotational phase detection sensor is
An image sensor that captures an image of the article to generate a captured image;
Using the rotational phase detection mark of the article in the captured image generated by the imaging device and the rotational phase detection mark of the article in a preset reference image, the captured image and the reference image Determining whether or not the rotational phase in the circumferential direction of the article is a preset setting phase by performing pattern matching between, and a determination unit that outputs a result of the determination;
The positioning device according to any one of claims 1 to 4, comprising a matching sensor comprising:   The positioning device according to any one of claims 1 to 5, further comprising a belt interval adjusting mechanism that adjusts an interval between portions of the first belt and the second belt whose outer peripheral surfaces face each other. The belt interval adjusting mechanism is
The positioning device according to claim 6, wherein the first belt and the second belt are moved closer to or apart from the reference line that is equidistant from the first belt and the second belt by the same distance.   An affixing device that affixes a label to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. The positioning device according to claim 1, further comprising a positioning device.   A bar that reads a barcode attached to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. The positioning device according to any one of claims 1 to 8, further comprising a code reading device.   When the article reaches the rotational position and the circumferential rotation phase of the article reaches the set phase or the final set phase, an identification image generated by capturing an image of the article The positioning device according to any one of claims 1 to 9, further comprising an article identification device that identifies the article based on the article. The article can be sandwiched by being arranged such that a part of the outer peripheral surface is opposed to each other with an interval smaller than the outer diameter of the article having the peripheral surface, and the outer peripheral part has a thickness direction. A first belt and a second belt which are endless belts that can be elastically deformed;
A first motor for rotationally driving the first belt;
A second motor for rotationally driving the second belt;
A position detection sensor for detecting that the article sandwiched between the first belt and the second belt has reached a preset position;
Based on the rotation phase detection mark attached to the peripheral surface or the upper surface of the article, the conveyance path is located at the same position as the set position or more than the set position while being sandwiched between the first belt and the second belt A rotational phase detection sensor that detects that the rotational phase in the circumferential direction of the article that has reached a rotational position set in advance at a position on the downstream side is a preset set phase;
A positioning method for positioning an article using
Until the position detection sensor detects that the article has arrived at the set position, the first belt and the second belt have the outer peripheral surfaces facing each other so that both of them move in a predetermined transport direction. A first conveying step of rotationally driving one motor and the second motor;
After the position detection sensor detects that the article has arrived at the set position, the article is moved by a distance from the set position calculated based on a preset outer diameter of the article to the rotational position. A second conveying step of rotationally driving the first motor and the second motor to convey in the conveying direction;
Until the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase after the article has reached the rotational position, the outer peripheral surface of the first belt and the second belt. A first rotation step of rotating the first motor and the second motor so that the parts facing each other move at the same speed and in opposite directions;
Comprising
When the article is sandwiched between the first belt and the second belt, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are curved and project along the peripheral surface of the article. A positioning method in which a space capable of being formed is formed.   After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, both the portions of the first belt and the second belt that have outer peripheral surfaces facing each other are transported in a predetermined manner. The positioning method according to claim 11, further comprising a third conveying step of rotationally driving the first motor and the second motor to move in the direction at a constant speed.   After the rotational phase detection sensor detects that the rotational phase in the circumferential direction of the article has reached the set phase, the portions of the first belt and the second belt that have outer peripheral surfaces facing each other are preset. Further, the first motor is configured such that the rotational phase in the circumferential direction of the article becomes a preset final set phase by moving in the opposite directions to each other at a constant speed calculated based on the outer diameter of the article. The positioning method according to claim 11, further comprising a second rotation step of rotating the second motor.   After the rotational phase in the circumferential direction of the article becomes the final set phase, the portions of the first belt and the second belt whose outer peripheral surfaces face each other are moved at a constant speed in a predetermined conveying direction. The positioning method according to claim 13, further comprising a third conveying step of rotationally driving the first motor and the second motor. The rotational phase detection sensor is
An image sensor that captures an image of the article to generate a captured image;
Using the rotational phase detection mark of the article in the captured image generated by the imaging device and the rotational phase detection mark of the article in a preset reference image, the captured image and the reference image Determining whether or not the rotational phase in the circumferential direction of the article is a preset setting phase by performing pattern matching between, and a determination unit that outputs a result of the determination;
The positioning method according to any one of claims 11 to 14, comprising a matching sensor.   When the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase, an attaching step of attaching a label to the peripheral surface or top surface of the article The positioning method according to any one of claims 11 to 15, further comprising:   A bar that reads a barcode attached to the peripheral surface or top surface of the article when the article reaches the rotational position and the rotational phase in the circumferential direction of the article reaches the set phase or the final set phase. The positioning method according to any one of claims 11 to 16, further comprising a code reading step.   When the article reaches the rotational position and the circumferential rotation phase of the article reaches the set phase or the final set phase, an identification image generated by capturing an image of the article The positioning method according to any one of claims 11 to 17, further comprising an article identification step of identifying the article based on the article.

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