JP2010100398A - Aligning-carrying device - Google Patents

Aligning-carrying device Download PDF

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JP2010100398A
JP2010100398A JP2008273300A JP2008273300A JP2010100398A JP 2010100398 A JP2010100398 A JP 2010100398A JP 2008273300 A JP2008273300 A JP 2008273300A JP 2008273300 A JP2008273300 A JP 2008273300A JP 2010100398 A JP2010100398 A JP 2010100398A
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conveyor
predetermined direction
conveyed
transported object
transport
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JP5372465B2 (en
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Shinichi Sogo
信一 十河
Yasunobu Miyamoto
恭伸 宮本
Hiroshi Fujioka
寛史 藤岡
Kunio Nakai
邦夫 中井
Koji Kagawa
幸治 香川
Masanobu Ishiyama
政信 石山
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SOGO HIGHTECH KK
Rengo Co Ltd
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SOGO HIGHTECH KK
Rengo Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To accurately align a carrying object having a plane shape of a rectangular shape or a square shape in the predetermined direction at a high seed by a placed carrier conveyor. <P>SOLUTION: A direction adjusting conveyor 2 is continuously connected for adjusting the direction in a carrying plane by imparting a speed difference on the right and left in the carrying direction, while placing and carrying the carrying object A on and to the downstream side of the carrier conveyor 1 for changing the direction while placing and carrying the carrying object A having the plane shape of a rectangular shape. A two-dimensional CCD camera 3 is arranged above the direction adjusting conveyor 2 for hourly imaging the carried carrying object A. An inclination in the predetermined direction of the carrying object A hourly imaged by the two-dimensional CCD camera 3 is detected, and a lateral speed difference is hourly imparted to the direction adjusting conveyor 2 so as to reduce the inclination of the detected carrying object A. The carrying object A can be accurately aligned in the predetermined direction at a high speed by aligning the carrying object A carried from the carrier conveyor 1 in the predetermined direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、平面形状が長方形や正方形の搬送物を所定の向きに整列する整列搬送装置に関するものである。   The present invention relates to an aligning / conveying device that aligns a rectangular or square transport object in a predetermined direction.

搬送コンベアには、搬送物を単に載置して搬送するベルトコンベアやローラコンベアが多く用いられている。このような載置式の搬送コンベアでは、下面が略平坦な搬送物を同じ向きの姿勢のままで搬送することが多い。   As the conveyor, a belt conveyor or a roller conveyor that simply loads and conveys a conveyed product is often used. In such a loading type transport conveyor, a transport object having a substantially flat bottom surface is often transported in the same orientation.

前記載置式の搬送コンベアには、搬送物を搬送しながら搬送方向の左右で速度差を付与して、搬送物を搬送面内で回転させて方向転換させるようにしたものもある(例えば、特許文献1参照)。また、2つの搬送コンベアの間にターンテーブルを配設し、上流側の搬送コンベアで搬送される搬送物の姿勢を検出し、この検出結果に基づいて搬送物をターンテーブル上で所定の向きに方向転換して、下流側の搬送コンベアに受け渡すようにしたものもある(例えば、特許文献2参照)。   Some of the above-described transfer conveyors have a speed difference between the left and right of the transport direction while transporting the transported object, and the transported object is rotated in the transport surface to change the direction (for example, patents). Reference 1). In addition, a turntable is disposed between the two conveyors to detect the posture of the conveyed object conveyed on the upstream conveying conveyor, and the conveyed object is placed on the turntable in a predetermined direction based on the detection result. Some have changed direction and passed to a downstream conveyor (see, for example, Patent Document 2).

特許第3828108号公報Japanese Patent No. 3828108 特開平5−231778号公報JP-A-5-231778

上述した載置式の搬送コンベアで、平面形状が長方形や正方形の搬送物を搬送する際には、搬送物を所定の向きで供給端に供給しても、搬送中の振動や搬送面での摩擦係数の不均一等によって、搬送中に搬送物の向きが傾き、排出端に所定の向きで整列できない問題がある。例えば、搬送物が、帯状の段ボールシートをフォルダグルアで環状に折り畳んで両端を糊付けした箱用段ボールシートやその束である場合は、搬送物が比較的軽量で、その下面に重ね代部の段差が形成されるので、搬送中により傾きが生じやすくなる。   When transporting a rectangular or square transport object with the above-described mounting-type transport conveyor, even if the transport object is supplied to the supply end in a predetermined direction, vibration during transport and friction on the transport surface There is a problem that the direction of the conveyed product is inclined during conveyance due to non-uniformity of the coefficient and the like, and the discharge end cannot be aligned in a predetermined direction. For example, if the transported item is a corrugated cardboard sheet or a bundle of boxes in which a belt-like corrugated sheet is folded in a ring shape with a folder gluer and glued at both ends, the transported item is relatively light and the lower surface of the overlap margin Is formed, the inclination is more likely to occur during conveyance.

また、特許文献1に記載されたように、搬送物を搬送しながら方向転換させる搬送コンベアは、搬送物を高速で連続的に方向転換させることができるが、搬送面内での搬送物の回転に過不足を生じやすく、方向転換した搬送物を傾きなく所定の向きに整列するのが難しい。なお、特許文献2に記載されたように、2つの搬送コンベア間に配設したターンテーブルで搬送物を方向転換させるものは、整列精度はよくなるが、ターンテーブル上でバッチ式に搬送物を方向転換するので、搬送物を高速で整列することができない。   In addition, as described in Patent Document 1, a transport conveyor that changes the direction while transporting a transported object can continuously change the direction of the transported object at a high speed. Therefore, it is difficult to align the direction of the transported object in a predetermined direction without tilting. In addition, as described in Patent Document 2, a turntable disposed between two conveyors that changes the direction of a conveyed item improves alignment accuracy, but directs the conveyed item in a batch manner on the turntable. Since it is converted, it is impossible to align the conveyed items at high speed.

そこで、本発明の課題は、載置式の搬送コンベアで、平面形状が長方形や正方形の搬送物を、高速で精度よく所定の向きに整列できるようにすることである。   SUMMARY OF THE INVENTION An object of the present invention is to make it possible to align a rectangular or square transported object in a predetermined direction at high speed with high accuracy using a placement-type transport conveyor.

上記の課題を解決するために、本発明の整列搬送装置は、平面形状が長方形または正方形の搬送物を載置して搬送する搬送コンベアの下流側に、前記搬送物を載置して搬送しながら、搬送方向の左右で速度差を付与して搬送面内での向きを調整する向き調整コンベアを連続させて接続し、この向き調整コンベアの上方に、向き調整コンベア上を搬送される前記搬送物を刻々撮像する2次元CCDカメラを配設し、この2次元CCDカメラで刻々撮像される前記搬送物の所定の向きに対する傾きを検出して、検出された搬送物の傾きを小さくするように、前記向き調整コンベアに左右での速度差を刻々付与し、前記搬送コンベアから搬送されてくる搬送物を所定の向きに整列する構成を採用することにより、載置式の搬送コンベアで、平面形状が長方形や正方形の搬送物を、高速で精度よく所定の向きに整列できるようにした。   In order to solve the above-described problems, the aligning and conveying apparatus according to the present invention places and conveys the conveyed product on the downstream side of a conveying conveyor that places and conveys a rectangular or square conveyed item. However, a direction adjusting conveyor that gives a speed difference between the right and left of the conveying direction and adjusts the direction in the conveying surface is continuously connected, and the conveying is carried on the direction adjusting conveyor above the direction adjusting conveyor. A two-dimensional CCD camera for picking up images of the object is provided, and the inclination of the conveyed object picked up by the two-dimensional CCD camera with respect to a predetermined direction is detected, so that the inclination of the detected conveyed object is reduced. By adopting a configuration in which a speed difference between right and left is given to the orientation adjusting conveyor every time, and a transported object transported from the transport conveyor is aligned in a predetermined direction, a planar transport conveyor has a planar shape. The conveyance of the rectangular or square, and to be aligned accurately predetermined orientation at high speed.

前記搬送物の所定の向きに対する傾きを検出する手段を、前記搬送物の少なくとも2つの隣り合う角点を検出し、この2つの角点を結ぶ前記搬送物の辺の所定の向きに対する傾きを検出するものとすることにより、2次元CCDカメラで撮像される搬送物の画像処理を効率よく行うことができる。   The means for detecting the inclination of the conveyed object with respect to a predetermined direction detects at least two adjacent corner points of the conveyed object, and detects the inclination of the side of the conveyed object connecting the two corner points with respect to the predetermined direction. By doing so, it is possible to efficiently perform image processing of the conveyed object imaged by the two-dimensional CCD camera.

前記搬送物の平面形状が長方形である場合は、前記搬送物の少なくとも3つの角点を検出し、これらの検出された3つの角点のうちの2つずつの隣り合う角点間の距離から前記搬送物の長辺と短辺を判別して、判別した長辺または短辺の所定の向きに対する傾きを検出するようにするとよい。   When the planar shape of the transported object is a rectangle, at least three corner points of the transported object are detected, and from the distance between two adjacent corner points of the detected three corner points. It is preferable that the long side and the short side of the transported object are discriminated and the inclination of the discriminated long side or short side with respect to a predetermined direction is detected.

上述した整列搬送装置は、前記搬送コンベアが、前記搬送物を搬送しながら搬送面内での向きを90°単位で方向転換するものであり、前記向き調整コンベアが前記方向転換された搬送物を所定の向きに整列するものに好適である。   In the above-described alignment transport device, the transport conveyor changes the direction in the transport plane in units of 90 ° while transporting the transported object, and the orientation adjusting conveyor moves the transported object whose direction has been changed. It is suitable for those aligned in a predetermined direction.

上述した整列搬送装置は、前記搬送物が、帯状の段ボールシートをフォルダグルアで環状に折り畳んで両端を糊付けした箱用段ボールシートまたは箱用段ボールシートの束であるものに好適である。   The aligning and conveying apparatus described above is suitable for a case in which the conveyed product is a corrugated cardboard sheet or a bundle of corrugated cardboard sheets in which a strip-shaped corrugated cardboard sheet is folded in a ring shape with a folder gluer and glued at both ends.

本発明の整列搬送装置は、平面形状が長方形または正方形の搬送物を載置して搬送する搬送コンベアの下流側に、搬送物を載置して搬送しながら、搬送方向の左右で速度差を付与して搬送面内での向きを調整する向き調整コンベアを連続させて接続し、この向き調整コンベアの上方に、向き調整コンベア上を搬送される搬送物を刻々撮像する2次元CCDカメラを配設し、この2次元CCDカメラで刻々撮像される搬送物の所定の向きに対する傾きを検出して、検出された搬送物の傾きを小さくするように、向き調整コンベアに左右での速度差を刻々付与し、搬送コンベアから搬送されてくる搬送物を所定の向きに整列するようにしたので、載置式の搬送コンベアで、平面形状が長方形や正方形の搬送物を、高速で精度よく所定の向きに整列することができる。   The aligning and conveying apparatus according to the present invention sets the speed difference between the right and left in the conveying direction while placing and conveying the conveyance object on the downstream side of the conveyance conveyor that places and conveys the rectangular or square conveyance object. A two-dimensional CCD camera is provided above the orientation adjusting conveyor, which is connected to the orientation adjusting conveyor for adjusting the orientation in the conveying surface. In order to detect the tilt of the transported object captured every moment by the two-dimensional CCD camera with respect to a predetermined direction and to reduce the tilt of the detected transported object, a speed difference between the left and right is constantly measured on the orientation adjusting conveyor. Since the transported goods conveyed from the transport conveyor are aligned in a predetermined direction, the transported transport conveyor of a rectangular shape or a square shape can be placed in a predetermined direction at high speed with high accuracy. Alignment Rukoto can.

以下、図面に基づき、本発明の実施形態を説明する。この整列搬送装置は、平面形状が長方形の搬送物として、フォルダグルアで形成された箱用段ボールシートの束をパレタイジング装置に供給するために整列搬送するものであり、図1および図2に示すように、搬送物Aを載置して搬送しながら搬送面内での向きを90°単位で方向転換する搬送コンベア1の下流側に、搬送物Aを載置して搬送しながら、搬送方向の左右で速度差を付与して搬送面内での向きを調整する向き調整コンベア2が連続させて接続され、向き調整コンベア2の上方に、搬送される搬送物Aを撮像する2次元CCDカメラ3が配設されている。2次元CCDカメラ3は画像処理装置を内蔵するコントローラ4に接続され、コントローラ4は、後述する手順で向き調整コンベア2の左右の速度差を制御するようになっている。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. This aligning / conveying apparatus aligns and conveys a bundle of corrugated cardboard sheets for a box formed by folder gluer as a conveying object having a rectangular planar shape, as shown in FIG. 1 and FIG. In addition, the transported object A is placed and transported on the downstream side of the transport conveyor 1 that changes the direction in the transport plane in units of 90 ° while transporting the transported object A. A two-dimensional CCD camera 3 that continuously connects an orientation adjustment conveyor 2 that gives a speed difference between the left and right sides and adjusts the direction in the conveyance plane, and images the conveyed object A being conveyed above the direction adjustment conveyor 2. Is arranged. The two-dimensional CCD camera 3 is connected to a controller 4 having a built-in image processing apparatus, and the controller 4 controls the speed difference between the left and right sides of the orientation adjusting conveyor 2 in the procedure described later.

前記平面形状が長方形の搬送物Aは、搬送コンベア1の上流側に配設されたローラテーブル5から、長手方向を搬送方向直交方向に向けた横向き0°の姿勢で供給され、搬送コンベア1でそのままの姿勢で搬送されるか、長手方向を搬送方向に向けた縦向き±90°の姿勢、または横向き180°の姿勢に方向転換される。向き調整コンベア2はこれらの姿勢で搬送されてくる搬送物Aの傾きをなくすように調整し、その下流側のローラテーブル6に送り出す。ローラテーブル6上には、送り出された搬送物Aの搬送方向に対する傾きを零とするように矯正するサイドガイド7が設けられている。   The transport object A having a rectangular planar shape is supplied from a roller table 5 disposed on the upstream side of the transport conveyor 1 in a lateral orientation of 0 ° with the longitudinal direction being orthogonal to the transport direction. It is transported as it is, or the direction is changed to a vertical orientation of ± 90 ° or a lateral orientation of 180 ° with the longitudinal direction in the transport direction. The direction adjustment conveyor 2 adjusts so as to eliminate the inclination of the conveyed product A conveyed in these postures, and sends it to the roller table 6 on the downstream side. A side guide 7 is provided on the roller table 6 to correct the inclination of the conveyed product A with respect to the transport direction to zero.

前記ローラテーブル6上で搬送方向に対する傾きを零とされた各姿勢の搬送物Aは、図3に示すように、パレタイジング装置20へと送られ、0°、±90°および180°の姿勢のものが1段分として井桁状に組み合わされ、各段の井桁状の組み合わせを90°ずつ回転させて、パレット21の上に段積みされる。   As shown in FIG. 3, the conveyed product A in each posture with the inclination with respect to the conveying direction being zero on the roller table 6 is sent to the palletizing device 20 and has postures of 0 °, ± 90 °, and 180 °. Things are combined in a single-column pattern as one stage, and the combination of the cross-beams in each stage is rotated by 90 ° and stacked on the pallet 21.

前記向き調整コンベア2は、図4(a)、(b)に示すように、幅方向の中央で左右に分割した搬送ベルト10a、10bに、それぞれ多数のボール11a、11bを上下面から突出するように回転自在に保持し、各搬送ベルト10a、10bの内面側に、同じく幅方向の中央で左右に分割したボール駆動ベルト12a、12bを、ボール11a、11bが転接するように配設したものである。各搬送ベルト10a、10bは同一の駆動ローラ13に巻回されて等速で駆動され、各ボール駆動ベルト12a、12bは別々の駆動ローラ14a、14bに巻回されて、互いに異なる速度で駆動可能とされている。   As shown in FIGS. 4A and 4B, the orientation adjusting conveyor 2 projects a large number of balls 11a and 11b from the upper and lower surfaces of the conveyor belts 10a and 10b divided into left and right at the center in the width direction. The ball drive belts 12a and 12b, which are also divided into left and right at the center in the width direction, are arranged so that the balls 11a and 11b are in rolling contact with the inner surfaces of the respective conveyor belts 10a and 10b. It is. Each conveyor belt 10a, 10b is wound around the same drive roller 13 and driven at a constant speed, and each ball drive belt 12a, 12b is wound around separate drive rollers 14a, 14b and can be driven at different speeds. It is said that.

前記向き調整コンベア2は、各ボール駆動ベルト12a、12bの駆動速度を搬送ベルト10a、10bよりも遅くするか、搬送ベルト10a、10bと反対方向に駆動または停止するときは、ボール駆動ベルト12a、12bに転接するボール11a、11bが順回転して、ボール11a、11bに載置される搬送物Aの搬送速度が搬送ベルト10a、10bの速度よりも大きくなり、各ボール駆動ベルト12a、12bの駆動速度を搬送ベルト10a、10bよりも速くしたときは、各ボール11a、11bが逆回転して搬送物Aの搬送速度が搬送ベルト10a、10bの速度よりも小さくなる。したがって、左右に分割したボール駆動ベルト12a、12bを異なる速度または反対方向に駆動するか一方のみを駆動することにより、これらに転接する左右のボール11a、11bの回転速度が異なるようになり、搬送ベルト10a、10bの速度とボール11a、11bの回転速度とによって決まる搬送物Aの搬送速度に左右で速度差が付与される。   When the direction adjusting conveyor 2 drives the ball driving belts 12a and 12b slower than the conveying belts 10a and 10b or drives or stops in the opposite direction to the conveying belts 10a and 10b, the ball driving belt 12a, Balls 11a and 11b that are in rolling contact with 12b rotate forward so that the conveyance speed of the conveyed product A placed on the balls 11a and 11b becomes larger than the speed of the conveyance belts 10a and 10b. When the driving speed is made higher than that of the conveyor belts 10a and 10b, the balls 11a and 11b rotate in reverse to make the conveyance speed of the conveyed product A smaller than the speed of the conveyor belts 10a and 10b. Accordingly, by driving the ball drive belts 12a and 12b divided into the left and right at different speeds or in opposite directions, the rotation speeds of the left and right balls 11a and 11b that come into contact with the belts differ, A speed difference is given to the transport speed of the transported object A determined by the speed of the belts 10a and 10b and the rotation speed of the balls 11a and 11b.

例えば、図4(b)に矢印で示す搬送物Aの搬送方向に向いて、右側のボール駆動ベルト12aの駆動速度を左側のボール駆動ベルト12bの駆動速度よりも遅く(停止または反対方向への駆動を含む)すると、右側の搬送ベルト10aに保持されたボール11aの回転速度(順回転を正とする)が左側の搬送ベルト10bに保持されたボール11bの回転速度よりも速くなり、搬送物Aの搬送速度が右側で速くなって、搬送物Aは反時計回りに回転する。逆に、左側のボール駆動ベルト12bの駆動速度を遅くした場合は、左側の搬送ベルト10bに保持されたボール11bの回転速度が速くなり、搬送物Aの搬送速度が左側で速くなって、搬送物Aは時計回りに回転する。なお、図示は省略するが、搬送コンベア1も同じ構成とされ、搬送速度に左右で速度差を付与することにより、搬送物Aを搬送しながら方向転換する。   For example, the drive speed of the right ball drive belt 12a is slower than the drive speed of the left ball drive belt 12b (stopped or stopped in the opposite direction) in the transfer direction of the transfer object A indicated by the arrow in FIG. (Including driving), the rotation speed of the ball 11a held on the right conveyor belt 10a (forward rotation is positive) becomes faster than the rotation speed of the ball 11b held on the left conveyor belt 10b. The conveyance speed of A increases on the right side, and the conveyed product A rotates counterclockwise. Conversely, when the drive speed of the left ball drive belt 12b is slowed down, the rotation speed of the ball 11b held on the left transport belt 10b increases, and the transport speed of the transported object A increases on the left side. Object A rotates clockwise. In addition, although illustration is abbreviate | omitted, the conveyance conveyor 1 is also set as the same structure, and changes direction while conveying the conveyed product A by giving a speed difference to right and left at a conveyance speed.

図5は、前記2次元CCDカメラ3で撮像された搬送中の搬送物Aの撮像画面3aの例を示す。2次元CCDカメラ3の撮影領域は、向き調整コンベア2の搬送面のほぼ全域に設定されている。向き調整コンベア2の搬送面は濃い青色とされており、箱用段ボールシートの束とされた薄い黄土色の搬送物Aは明点、向き調整コンベア2の搬送面は暗点として画像処理される。コントローラ4は、画像処理された画像から搬送物Aの搬送方向先端側の3つの角点P、Q、Rを検出し、これらの3つの角点P、Q、Rのうちの2つずつの隣り合う角点P、QおよびQ、R間の距離から搬送物Aの長辺mと短辺nを判別して、長辺mの所定の向きに対する傾き角θを検出する。この例では、搬送物Aの所定の向きは、長辺mを搬送方向に向ける向きとされている。   FIG. 5 shows an example of an imaging screen 3 a of the conveyed product A being imaged by the two-dimensional CCD camera 3. The imaging area of the two-dimensional CCD camera 3 is set to almost the entire conveyance surface of the orientation adjusting conveyor 2. The conveyance surface of the direction adjustment conveyor 2 is dark blue, and the light ocher A that is a bundle of box corrugated cardboard sheets is processed as a light point, and the conveyance surface of the direction adjustment conveyor 2 is processed as a dark point. . The controller 4 detects three corner points P, Q, and R on the leading end side in the conveyance direction of the conveyed product A from the image-processed image, and two of these three corner points P, Q, and R are detected. The long side m and the short side n of the conveyed product A are discriminated from the distances between the adjacent corner points P, Q and Q, R, and the inclination angle θ of the long side m with respect to a predetermined direction is detected. In this example, the predetermined direction of the conveyed product A is a direction in which the long side m is directed in the conveyance direction.

図6は、前記コントローラ4によって搬送物Aを所定の向きに整列する制御手順を示す。コントローラ4は、刻々2次元CCDカメラ3で撮像される撮像画面3aをチェックし、搬送物Aの全体が撮像画面3aに入ったときに搬送物Aの長辺mを判別する。コントローラ4には搬送物Aの所定の向きが予め入力されており、コントローラ4は所定の向きに対する長辺mの傾き角θを刻々検出して、検出された傾き角θを小さくするように、各ボール駆動ベルト12a、12bを駆動し、向き調整コンベア2に左右での速度差ΔVを刻々付与する。図5の撮像画面3aの例では、矢印で示される搬送方向に向いて、向き調整コンベア2の右側の速度を左側よりも大きくし、搬送物Aを反時計回りに回転させるようにする。コントローラ4は長辺mの傾き角θが予め設定した閾値θsよりも小さくなると、左右の速度差ΔVの制御を終了する。この実施形態では、傾き角θに比例ゲインを乗じた比例制御で速度差ΔVを制御し、閾値θsを7°としている。   FIG. 6 shows a control procedure for aligning the conveyed product A in a predetermined direction by the controller 4. The controller 4 checks the imaging screen 3a captured by the two-dimensional CCD camera 3 every moment, and determines the long side m of the conveyed product A when the entire conveyed product A enters the imaging screen 3a. The controller 4 is preliminarily inputted with a predetermined direction of the conveyed product A, and the controller 4 detects the inclination angle θ of the long side m with respect to the predetermined direction every moment so as to reduce the detected inclination angle θ. Each ball drive belt 12a, 12b is driven, and a speed difference ΔV between right and left is given to the direction adjusting conveyor 2 every moment. In the example of the imaging screen 3a in FIG. 5, the speed on the right side of the direction adjustment conveyor 2 is made larger than that on the left side in the conveyance direction indicated by the arrow, and the conveyed product A is rotated counterclockwise. When the inclination angle θ of the long side m becomes smaller than the preset threshold value θs, the controller 4 ends the control of the left / right speed difference ΔV. In this embodiment, the speed difference ΔV is controlled by proportional control obtained by multiplying the inclination angle θ by a proportional gain, and the threshold θs is set to 7 °.

図7は、前記コントローラ4による傾き角θの制御結果の例を示す。この例では、比例制御の制御周期が0.03秒とされ、17回の制御周期で傾き角θが閾値θs以下の6°となっている。   FIG. 7 shows an example of the control result of the tilt angle θ by the controller 4. In this example, the control cycle of proportional control is 0.03 seconds, and the inclination angle θ is 6 ° which is equal to or smaller than the threshold θs in 17 control cycles.

上述した実施形態では、左右に分割した向き調整コンベアを、多数のボールを保持した搬送ベルトの内面側に、ボールが転接するボール駆動ベルトを配設したものとしたが、向き調整コンベアは搬送物の搬送方向の左右で速度差を付与できるものであればよく、ベルトコンベアまたはローラコンベアを左右に分割し、左右で搬送速度に速度差を付与するものとしてもよい。   In the embodiment described above, the orientation adjusting conveyor divided into the left and right is provided with the ball driving belt on which the balls are in contact with the inner surface of the conveying belt holding a large number of balls. The belt conveyor or the roller conveyor may be divided into right and left, and the speed difference may be given to the conveyance speed on the left and right.

また、上述した実施形態では、上流側の搬送コンベアを、向き調整コンベアと同様の多数のボールを保持した搬送ベルトの内面側にボール駆動ベルトを配設したものとし、搬送物を搬送しながら方向転換させるものとしたが、上流側の搬送コンベアは、搬送物をそのままの姿勢で搬送する通常のベルトコンベアやローラコンベアであってもよい。   Further, in the above-described embodiment, the upstream conveyor is configured such that the ball driving belt is disposed on the inner surface side of the conveyor belt that holds the same number of balls as the orientation adjusting conveyor, and the direction of the conveyor while conveying the conveyed object. Although it is assumed to be converted, the upstream conveyor may be a normal belt conveyor or a roller conveyor that conveys the conveyed product as it is.

さらに、上述した実施形態では、搬送物を平面形状が長方形の箱用段ボールシートの束とし、その3つの角点を検出して長辺の傾き角を検出するようにしたが、搬送物は平面形状が長方形または正方形のものであればよく、単体のブロックや箱容器等とすることもできる。搬送物の平面形状が正方形である場合は、2つの隣り合う角点を検出して辺の傾き角を検出するようにしてもよい。   Furthermore, in the above-described embodiment, the transported object is a bundle of rectangular corrugated cardboard sheets having a planar shape, and the three corner points are detected to detect the inclination angle of the long side. The shape may be rectangular or square, and may be a single block or box container. When the planar shape of the conveyed product is a square, two adjacent corner points may be detected to detect the inclination angle of the side.

整列搬送装置の実施形態を示す正面図Front view showing an embodiment of an alignment transport device 図1の平面図Plan view of FIG. 図1の整列搬送装置で整列した搬送物をパレタイジング装置に供給する概念を示す斜視図The perspective view which shows the concept which supplies the palletizing apparatus with the conveyed product aligned with the alignment conveyance apparatus of FIG. aは図1の向き調整コンベアを示す一部省略正面断面図、bはaの平面図a is a partially omitted front sectional view showing the orientation adjusting conveyor of FIG. 1, and b is a plan view of a. 図1の2次元CCDカメラで撮像された搬送物の撮像画像の例を示す平面図The top view which shows the example of the picked-up image of the conveyed product imaged with the two-dimensional CCD camera of FIG. 図1のコントローラによる制御手順を示すフローチャートThe flowchart which shows the control procedure by the controller of FIG. 図6の制御結果の例を示すグラフThe graph which shows the example of the control result of FIG.

符号の説明Explanation of symbols

A 搬送物
1 搬送コンベア
2 向き調整コンベア
3 2次元CCDカメラ
3a 撮像画面
4 コントローラ
5、6 ローラテーブル
7 サイドガイド
10a、10b 搬送ベルト
11a、11b ボール
12a、12b ボール駆動ベルト
13、14a、14b 駆動ローラ
20 パレタイジング装置
21 パレット
A Conveyed object 1 Conveying conveyor 2 Orientation adjusting conveyor 3 Two-dimensional CCD camera 3a Imaging screen 4 Controller 5, 6 Roller table 7 Side guide 10a, 10b Conveying belt 11a, 11b Ball 12a, 12b Ball driving belt 13, 14a, 14b Driving roller 20 Palletizing device 21 Pallet

Claims (5)

平面形状が長方形または正方形の搬送物を載置して搬送する搬送コンベアの下流側に、前記搬送物を載置して搬送しながら、搬送方向の左右で速度差を付与して搬送面内での向きを調整する向き調整コンベアを連続させて接続し、この向き調整コンベアの上方に、向き調整コンベア上を搬送される前記搬送物を刻々撮像する2次元CCDカメラを配設し、この2次元CCDカメラで刻々撮像される前記搬送物の所定の向きに対する傾きを検出して、検出された搬送物の傾きを小さくするように、前記向き調整コンベアに左右での速度差を刻々付与し、前記搬送コンベアから搬送されてくる搬送物を所定の向きに整列するようにした整列搬送装置。   While placing and transporting the transported object on the downstream side of the transport conveyor for placing and transporting a transported object having a rectangular or square planar shape, a speed difference is given on the left and right in the transport direction within the transport surface. A two-dimensional CCD camera that continuously connects a direction adjustment conveyor for adjusting the direction of the image, and images the transported object conveyed on the direction adjustment conveyor is provided above the direction adjustment conveyor. Detecting the inclination of the transported object picked up by the CCD camera with respect to a predetermined direction, and applying a speed difference on the left and right to the orientation adjusting conveyor so as to reduce the inclination of the detected transported object, An aligning / conveying apparatus configured to align the objects conveyed from the conveying conveyor in a predetermined direction. 前記搬送物の所定の向きに対する傾きを検出する手段が、前記搬送物の少なくとも2つの隣り合う角点を検出し、この2つの角点を結ぶ前記搬送物の辺の所定の向きに対する傾きを検出するものである請求項1に記載の整列搬送装置。   The means for detecting the inclination of the conveyed object with respect to a predetermined direction detects at least two adjacent corner points of the conveyed object, and detects the inclination of the side of the conveyed object connecting the two corner points with respect to the predetermined direction. The aligning and conveying apparatus according to claim 1. 前記搬送物の平面形状が長方形であり、前記搬送物の少なくとも3つの角点を検出し、これらの検出された3つの角点のうちの2つずつの隣り合う角点間の距離から前記搬送物の長辺と短辺を判別して、判別した長辺または短辺の所定の向きに対する傾きを検出するようにした請求項2に記載の整列搬送装置。   The planar shape of the transported object is a rectangle, and at least three corner points of the transported object are detected, and the transport from the distance between two adjacent corner points among the detected three corner points. The aligning and conveying apparatus according to claim 2, wherein a long side and a short side of an object are discriminated and an inclination of the discriminated long side or short side with respect to a predetermined direction is detected. 前記搬送コンベアが、前記搬送物を搬送しながら搬送面内での向きを90°単位で方向転換するものであり、前記向き調整コンベアが前記方向転換された搬送物を所定の向きに整列するものである請求項1乃至3のいずれかに記載の整列搬送装置。   The transport conveyor changes the direction in the transport plane in units of 90 ° while transporting the transported object, and the orientation adjusting conveyor aligns the redirected transported object in a predetermined direction. The aligning and conveying apparatus according to claim 1, wherein 前記搬送物が、帯状の段ボールシートをフォルダグルアで環状に折り畳んで両端を糊付けした箱用段ボールシートまたは箱用段ボールシートの束である請求項1乃至4のいずれかに記載の整列搬送装置。   5. The aligning and conveying apparatus according to claim 1, wherein the conveyed product is a box corrugated cardboard sheet or a bundle of corrugated cardboard sheets obtained by folding a belt-shaped corrugated cardboard sheet in a ring shape with a folder gluer and gluing both ends.
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