JP2022079075A - Conveyor tracking correction system and work removal method using conveyor tracking correction system - Google Patents

Abstract

To provide a conveyor tracking correction system that can easily perform tracking correction and does not reduce a transport capacity, and a work removal method using the conveyor tracking correction system.SOLUTION: There is provided a conveyor tracking correction system, including: a travel command means for traveling an endless belt 1; a measuring means for receiving a detection signal by detection units 3a and 3b at a point P arbitrarily set and measuring an encoder value at that time; a storage means for storing a first encoder value and a second encoder value; and a calculation means for calculating an amount of displacement between detection units for an encoder value between detection units 3a and 3b from a stored first encoder value and a second encoder value, and calculating a scale factor from an amount of displacement between detection units and a distance between the detection units 3a and 3b, in which a measured displacement of the encoder value is corrected using the scale factor.SELECTED DRAWING: Figure 1

Description

The present invention relates to a conveyor tracking correction system and a method of taking out a work using the same. More specifically, the present invention is a tracking correction system for making an measured displacement amount of an encoder follow the feed amount of an endless belt and a work using the tracking correction system. It relates to the method of taking out a work for taking out a work.

As a conveyor for transporting an object, a conveyor including an endless belt, a guide roller for guiding the endless belt, and a conveyor for guiding the endless belt is known. Among them, for example, there is one in which an encoder for detecting the feed amount of the endless belt is attached to the guide roller on the upstream side.
In such a conveyor, the encoder can detect the amount of displacement due to rotation when the guide roller on the upstream side sends out the endless belt. That is, in such a conveyor, it is possible to recognize the feed amount of the endless belt by the displacement amount of the encoder.

However, if the conveyor is used for a long time, tracking deviation may occur due to elongation of the endless belt itself, slippage between the endless belt and the guide roller, and the like.
That is, at the time of actual measurement, the feed amount of the endless belt on the conveyor and the measured displacement amount of the corresponding encoder value may deviate from each other.
Then, there is a discrepancy between the actual position of the conveyed object to be conveyed to the conveyor and the position information based on the measured displacement of the encoder. Therefore, on the downstream side of the conveyor, the robot takes out the conveyed object based on the position information. In addition, it becomes impossible to process the transported object.

On the other hand, in the past, when tracking deviation occurred, generally, the position of the belt or the displacement amount of the encoder was artificially corrected.

By the way, the following techniques are known as other measures against deviation.
For example, an endless belt having an encoder slit in the belt transport direction, a position sensor for detecting the position of the encoder slit, a zero point sensor for detecting the position once per rotation of the endless belt, and an encoder slit for belt transport. A belt transport position control method including a control unit that controls a belt transport position even if there is a break in the direction is known (see, for example, Patent Document 1).
Further, when the conveyor equipped with the tire member to be conveyed to the tire molding machine is run and stopped in advance and the actual stop position and the preset stop position are deviated from each other, the deviation amount is adjusted. Based on this, there is known a method of adjusting the origin position / feed amount of the conveyor that resets the origin position or feed amount of the conveyor input to the control device that controls the servo motor attached to the moving mechanism of the conveyor. (See, for example, Patent Document 2).

Japanese Patent No. 4234895 Japanese Unexamined Patent Publication No. 2009-34972

As described above, conventionally, since the tracking deviation correction (hereinafter referred to as “tracking correction”) is artificially performed, there is a drawback that it takes time and effort and human error occurs.
In addition, the methods described in Patent Documents 1 and 2 described above have the disadvantages that they are troublesome and the transport capacity is significantly reduced.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a conveyor tracking correction system that can easily perform tracking correction and does not reduce the transport capacity, and a method of taking out a work using the same. And.

As a result of diligent studies to solve the above problems, the present inventor arranges the upstream side detection unit and the downstream side detection unit at a certain distance, and detects the encoder value when both detect an arbitrary point. We have found that the above problems can be solved by calculating the scale factor from the amount of interstitial displacement and correcting the amount of actual displacement with respect to the feed amount of the endless belt without correcting it, based on the scale factor. It came to be completed.

The present invention includes (1) an endless belt, an upstream guide roller and a downstream guide roller that guide the endless belt, an upstream side detection unit for detecting an arbitrarily set point of the traveling endless belt, and the upstream side. A tracking correction system for a conveyor equipped with a downstream detection unit located on the downstream side of the side detection unit and an encoder attached to an upstream guide roller, and a travel command means for traveling an endless belt. When the upstream side detection unit detects a point arbitrarily set, the first detection signal from the upstream side detection unit is received, the first encoder value of the encoder at the time of reception is measured, and the downstream side detection unit arbitrarily sets it. When the point set in is detected, the second detection signal from the downstream side detection unit is received, and the measuring means for measuring the second encoder value of the encoder at the time of reception, and the first encoder value and the second encoder value are stored. From the stored first encoder value and the second encoder value, the displacement amount between the detection units of the encoder value between the upstream side detection unit and the downstream side detection unit is calculated, and the displacement amount between the detection units is calculated. A conveyor tracking correction system that has a calculation means for calculating the scale factor from the distance between the upstream detection unit and the downstream detection unit, and corrects the measured displacement amount of the encoder value using the scale factor. Exists.

In the present invention, (2) the calculation by the calculation means is based on the following formula.
Q1 = P2-P1 (Q1: Displacement amount between detectors, P1: 1st encoder value, P2: 2nd encoder value)
SF = L1 / Q1 (L1: distance between upstream detection unit and downstream detection unit, SF: scale factor)
The calculation means exists in the conveyor tracking correction system according to (1) above, which calculates the correction movement amount by multiplying the measured displacement amount of the encoder value by the scale factor.

In the present invention, (3) the encoder is an incremental rotary encoder, and the encoder value is the value obtained by counting the pulse signal converted from the rotation amount of the upstream guide roller, as described in (1) or (2) above. It resides in the conveyor tracking correction system described.

In the present invention, (4) a conveyed object is placed at an arbitrarily set point of the endless belt, and the arbitrarily set point is determined by the upstream side detection unit and the downstream side detection unit via the conveyed object. The conveyor tracking correction system according to any one of (1) to (3) above is detected.

In the present invention, (5) both the upstream side detection unit and the downstream side detection unit are reflection type laser sensors in which a laser is irradiated in the width direction, and the laser is irradiated to a conveyed object, whereby the above-mentioned optional It exists in the tracking correction system of the conveyor according to the above (4) in which the set point is detected.

The present invention is (6) a method of taking out a work using the tracking correction system of the conveyor according to the above (2), and is a transport step of transporting a work arranged at a predetermined position on an endless belt to a take-out position. The position where the robot grips the work at the take-out position is provided with a take-out step in which the robot grips and takes out the work and a mounting step in which the robot mounts the work on the mounting portion. It exists in the method of taking out the work, which is based on.

In the conveyor tracking correction system of the present invention, the conveyor used has a simple configuration including an endless belt, an upstream guide roller and a downstream guide roller, an upstream detection unit and a downstream detection unit, and an encoder. Since the endless belt does not need to be specially processed and no special device is required, it is excellent in versatility.

In the tracking correction system of the conveyor of the present invention, the upstream side detection unit and the downstream side detection unit are arranged at a certain distance, and the displacement amount between the detection units of the encoder value when both detect an arbitrary point is used. Since the calculation means calculates the scale factor which is the ratio of the above distance to the encoder value, the measured displacement amount can be corrected by using the scale factor. That is, even if the tracking deviation occurs, the feed amount of the endless belt can not be corrected, but the measured displacement amount of the encoder can be corrected accordingly.

As described above, according to the tracking correction system of the conveyor, the tracking correction can be easily performed, so that the position information can be conveyed with high accuracy. Further, since the feed amount of the endless belt is not corrected, the transport capacity is not reduced.
As a result, the feed amount of the conveyor and the corrected movement amount corrected for the measured displacement amount of the encoder are substantially the same, so that the robot can take out the object with high accuracy based on the corrected movement amount. In addition, it is possible to process an object with high accuracy.
Further, by repeating the above tracking correction, highly accurate transportation can be continuously performed.

Here, the calculation by the calculation means is performed using the above formula. Then, the corrected movement amount is calculated by multiplying the measured displacement amount of the encoder value by the scale factor.
This makes it possible to reliably perform the above-mentioned tracking correction.

In the conveyor tracking correction system of the present invention, an incremental rotary encoder is preferably used as the encoder. In this case, the encoder value is a value obtained by counting the pulse signal converted by the rotation amount of the upstream guide roller.
As a result, the degree of rotation of the upstream guide roller is recognized by the pulse signal.

In the tracking correction system of the conveyor of the present invention, the position where the upstream side detection unit and the downstream side detection unit detect the conveyed object is arbitrary by placing the conveyed object at an arbitrarily set point of the endless belt. Since the points are set, it is possible to easily detect the points set arbitrarily.
At this time, if both the upstream side detection unit and the downstream side detection unit are reflection type laser sensors in which the laser is irradiated in the width direction, the conveyed object can be detected instantly. It can be done with high accuracy.

The work taking-out method of the present invention uses the above-mentioned conveyor tracking correction system and causes the robot to grip the work based on the position information based on the correction movement amount, so that it is possible to prevent an error due to the position shift of the work. can.

FIG. 1 is a perspective view schematically showing a conveyor in which the tracking correction system according to the present embodiment is used. FIG. 2 is a block diagram for explaining a conveyor tracking correction system according to the present embodiment. FIG. 3 is a flowchart showing a method of taking out the work according to the present embodiment. FIG. 4 is an explanatory diagram for explaining a method of taking out a work according to the present embodiment.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary. In the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In addition, the positional relationship such as up, down, left, and right shall be based on the positional relationship shown in the drawings unless otherwise specified. Furthermore, the dimensional ratios in the drawings are not limited to the ratios shown.

The conveyor tracking correction system according to the present embodiment is a system that corrects the measured displacement amount of the encoder value to the feed amount of the endless belt in the conveyor at the time of actual measurement regardless of the presence or absence of tracking deviation.
The correction by the tracking correction system of the conveyor may be performed periodically at the time of setup change or the like, or may be performed continuously during the transportation of the conveyed object.

Here, in the present specification, "upstream" means upstream in the transport direction of the transported object, and "downstream" means downstream in the transport direction of the transported object.
Further, the "calculated feed amount" of the endless belt means the calculated feed amount of the unauthorized belt 1 due to the rotation of the upstream guide roller, and the "feed amount" of the endless belt means the calculated feed amount of the endless belt. It means the amount obtained by adding the deviation amount due to the tracking deviation to the delivery amount of.
Further, the "displacement amount of the encoder value between the detection units" means the displacement amount of the encoder value between the upstream side detection unit and the downstream side detection unit, and the "measured displacement amount of the encoder value" is arbitrary. It means the displacement amount of the encoder value with respect to the feed amount of the endless belt performed in. That is, the measured displacement amount changes according to the feed amount of the endless belt.

First, a conveyor on which the tracking correction system according to the present embodiment is used will be described.
FIG. 1 is a perspective view schematically showing a conveyor in which the tracking correction system according to the present embodiment is used.
The conveyor 10 in FIG. 1 is shown through the frame body F.
As shown in FIG. 1, the conveyor 10 has an upstream side detection for detecting an endless belt 1, a plurality of guide rollers 2 for guiding the endless belt 1, and an arbitrarily set point P of the traveling endless belt 1. The section 3a and the downstream side detection section 3b, the encoder E attached to the upstream side guide roller 2 (hereinafter, also referred to as “upstream side guide roller 2a”), and the downstream side guide roller 2 (hereinafter, “downstream side guide roller 2a”). It also includes a motor M attached to "2b") and a frame body F for supporting both ends of the guide roller.
Then, a rectangular parallelepiped conveyed object B is placed at an arbitrarily set point P of the endless belt 1.

The tracking correction system according to the present embodiment has a simple configuration in which the conveyor 10 using the conveyor 10 is used, does not require special processing on the endless belt, and does not require any special equipment, so that it is excellent in versatility. Is.

In the conveyor 10, the endless belt 1, and the upstream guide roller 2a and the downstream guide roller 2b on which the endless belt 1 is erected are not particularly limited, but for example, a flat belt, a pulley, a toothed belt, and the like. It can be appropriately adopted in combination with a toothed pulley, a chain, a sprocket, or the like.
Further, these materials are not particularly limited and may be made of metal or resin.

In the conveyor 10, the endless belt 1 is annular in side view.
Here, for convenience, the upper portion traveling in the transport direction of the conveyed object B of the conveyor 10 is referred to as the upper portion 1a, and the lower portion traveling in the direction opposite to the conveyed direction of the conveyed object B of the conveyor 10 is referred to as the lower portion. The side portion 1b.

In the endless belt 1, the upper portion 1a is flat, and the conveyed object B is placed on an arbitrarily set point P on the upper surface so as to travel in the conveyed direction. The point P arbitrarily set is appropriately set in the upper portion 1a by using the values of the X-axis in the width direction and the Y-axis in the transport direction of the endless belt.
On the other hand, the lower portion 1b of the endless belt 1 travels in the direction opposite to the transport direction of the transported object B while maintaining a loosened state between the support guide rollers 2c described later. ..
As described above, in the conveyor 10, the lower portion 1b of the endless belt 1 is in a loosened state, and the upper portion 1a of the endless belt 1 is tensioned by its own weight.

In the conveyor 10, the guide roller 2 is arranged outside the endless belt 1 and supports the upstream guide roller 2a and the downstream guide roller 2b arranged inside the endless belt 1 and the lower portion 1b of the endless belt 1. It has a plurality of support guide rollers 2c and guides.
That is, the endless belt 1 is erected on the upstream guide roller 2a and the downstream guide roller 2b, and the loosened lower portion 1b is supported by the plurality of support guide rollers 2c.

In the conveyor 10, the encoder E is attached to the upstream guide roller 2a.
Here, as the encoder E, an incremental type rotary encoder is adopted.
In this case, the encoder E converts the mechanical displacement due to the rotation of the upstream guide roller into a pulse signal. Therefore, the encoder value by the encoder E is a value obtained by counting the pulse signal with a counter.

In the conveyor 10, the rotation amount of the upstream guide roller 2a can be recognized by the encoder value (count number of pulse signals) by the encoder E.
That is, the rotation amount of the upstream guide roller 2a can be calculated from the encoder value, and the calculated delivery amount of the arbitrarily set point of the endless belt 1 can be calculated from the rotation amount.

In the conveyor 10, a motor M and a reduction gear (not shown) are attached to the downstream guide roller 2b.
That is, the downstream guide roller 2b is a so-called drive roller containing the motor M and the reduction gear.
As a result, in the conveyor 10, the endless belt 10 is driven and rotates.

In the conveyor 10, a plurality of support guide rollers 2c are arranged so as to be equidistant from each other between the upstream guide roller 2a and the downstream guide roller 2b.
Then, as described above, the lower portion 1b of the endless belt 1 is in a loosened state between the adjacent support guide rollers 2c. The lower portion 1b may be loosened at one location between the support guide rollers 2c or at all locations.

In the conveyor 10, the frame bodies F are arranged on both sides of the endless belt 1.
The frame body F supports both ends of the guide roller 2 (upstream guide roller 2a, downstream guide roller 2 and support guide roller 2c).
Further, two detection units are attached and fixed to the frame body F so as to be along the transport direction.
That is, one detection unit (hereinafter referred to as "upstream side detection unit 3a") is attached and fixed to the frame body F, and the other detection unit (hereinafter referred to as "upstream side detection unit 3a") is set at a certain distance L1 on the downstream side of the upstream side detection unit 3a. "Downstream side detection unit 3b") is attached and fixed.

In the conveyor 10, both the upstream side detection unit 3a and the downstream side detection unit 3b employ a reflection type laser sensor in which the laser is irradiated in the width direction orthogonal to the transport direction.
Therefore, the upstream side detection unit 3a conveys the conveyed object B placed on the arbitrarily set point P, and when it reaches the upstream side detection unit 3a, the laser irradiates the conveyed object, so that the conveyed object is transported. B can be detected instantly.
Similarly, in the downstream side detection unit 3b, the conveyed object B placed on the arbitrarily set point P is conveyed, and when the conveyed object B reaches the downstream side detection unit 3b, the conveyed object is irradiated with the laser, so that the conveyed object is irradiated. B can be detected instantly.

The conveyed object B is placed at an arbitrarily set point P of the endless belt 1.
It should be noted that the position P on which the conveyed object B is placed may be arbitrarily set.
As a result, the point P arbitrarily set on the endless belt 1 is detected by the upstream side detection unit 3a and the downstream side detection unit 3b via the conveyed object B. As a result, it becomes possible to easily detect the point P set arbitrarily.

The shape of the transported object B is not particularly limited, but is preferably a rectangular parallelepiped shape from the viewpoint of ease of detection by the upstream side detection unit 3a and the downstream side detection unit 3b.
Further, the transported object B may be a processed product that has been actually processed or has been processed.

Next, the tracking correction system using the above-mentioned conveyor 10 will be described.
FIG. 2 is a block diagram for explaining a conveyor tracking correction system according to the present embodiment.
As shown in FIG. 2, the tracking correction system T of the conveyor 10 according to the present embodiment receives the traveling command means T1 for traveling the endless belt and the detection signal at the time of detection by the detection unit, and the encoder at the time of receiving the detection signal. From the measuring means T2 for measuring the encoder value of the above, the storage means T3 for storing the encoder value, and the stored encoder value, the displacement amount between the detection units of the encoder value between the upstream side detection unit and the downstream side detection unit is calculated. It also has a calculation means T4 for calculating a scale factor from the displacement amount between the detection units and the distance between the upstream side detection unit and the downstream side detection unit.

The tracking correction system T of the conveyor 10 uses a normal computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an external storage device, an input unit, and an output unit. Will be.

The travel command means T1 transmits a travel command for traveling the endless belt 1 in the transport direction.
The specific traveling speed of the endless belt 1 at this time is not particularly limited, but at least it is preferably a substantially constant speed between the upstream side detection unit 3a and the downstream side detection unit 3b.
When the travel command means T1 transmits a travel command, the motor M of the conveyor 10 rotates the downstream guide roller 2b based on the travel command. As a result, the endless belt 1 rotates, and the upper portion 1a of the endless belt 1 travels in the transport direction.
Further, the traveling command means T1 transmits a stop command when stopping the rotation of the endless belt 1.
As a result, the motor M stops the rotation of the downstream guide roller 2b.

When the upstream side detection unit 3a detects the conveyed object B (arbitrarily set point P), the measuring means T2 receives a detection signal from the upstream side detection unit 3a (hereinafter referred to as “first detection signal”). .) Is received.
Then, the encoder value of the encoder E (hereinafter referred to as "first encoder value") at the time of receiving the first detection signal is measured.
After that, when the downstream side detection unit 3b detects the conveyed object B (arbitrarily set point P), the measuring means T2 receives a detection signal from the downstream side detection unit 3b (hereinafter, “second”). "Detection signal") is received.
Then, the encoder value of the encoder E (hereinafter referred to as “second encoder value”) at the time of receiving the second detection signal is measured.
That is, the measuring means T2 measures the encoder value at the time when the upstream side detecting unit 3a and the downstream side detecting unit 3b detect the conveyed object B, respectively.
The measurement of the first encoder value and the measurement of the second encoder value are performed by one transfer of the conveyed object B.

The storage means T3 stores at least the first encoder value and the second encoder value measured by the measuring means T2.
The stored first encoder value and second encoder value can also be displayed by the display means.

The calculation means T4 calls the first encoder value and the second encoder value stored in the storage means T3, and from these, the displacement amount of the encoder value between the detection units between the upstream side detection unit 3a and the downstream side detection unit 3b is calculated. calculate.
That is, when the first encoder value is P1 and the second encoder value is P2, the displacement amount Q1 between the detection units is
Q1 = P2-P1
Is calculated by.

Further, the scale factor is calculated from the displacement amount between the detection units and the distance between the upstream side detection unit and the downstream side detection unit.
That is, when the distance between the upstream side detection unit 3a and the downstream side detection unit 3b is L1, the scale factor SF is
SF = L1 / Q1
Is calculated by. That is, the scale factor SF is calculated as a distance (feed amount) per count. When the tracking deviation occurs, the distance L1 is constant, but the first encoder value P1 and the second encoder value P2 change, so that the scale factor SF also changes.

Then, the measured displacement amount of the encoder E is corrected by using the obtained scale factor SF.
When the endless belt 1 is fed so as to have an arbitrary feed amount, the corrected movement amount is calculated by multiplying the measured displacement amount of the encoder value with respect to the measured displacement amount by a scale factor.
That is, when the measured displacement amount is Q2, the corrected movement amount L2 is
L2 = Q2 x SF
Is calculated by.
The obtained corrected movement amount L2 corresponds to an arbitrary feed amount of the endless belt 1 described above.

As described above, in the tracking correction system T of the conveyor 10, tracking correction is performed by calculating an arbitrary feed amount of the endless belt 1 as a correction movement amount L2.
In this case, even if the tracking deviation occurs, the feed amount of the endless belt itself is not corrected, so that the transport capacity is not reduced.
Further, since the position of the transported object can be recognized with high accuracy, the robot can take out the object and can process the object.
Further, by repeating the above tracking correction, highly accurate transportation can be continuously performed.

Next, a method of taking out the work using the tracking correction system of the conveyor 10 described above will be described.
FIG. 3 is a flowchart showing a method of taking out the work according to the present embodiment.
As shown in FIG. 3, the work taking-out method according to the present embodiment includes a conveying step S1, a taking-out step S2, and a mounting step S3.
By going through these steps, the conveyed work can be reliably taken out.
The work may have a flat plate shape or a three-dimensional shape as long as it can be gripped by the robot.

FIG. 4 is an explanatory diagram for explaining a method of taking out a work according to the present embodiment.
As shown in FIG. 4, in the work taking-out method, first, the work W arranged on the endless belt 1 is conveyed to the taking-out position X1 (conveying step S1).
At this time, in the transport step S1, the above-mentioned tracking correction system is used.
Therefore, as the position information of the work W to be conveyed, a corrected movement amount corrected by the measured displacement amount by the encoder E can be obtained.

Next, the robot R grips and takes out the work W conveyed to the take-out position X1 (take-out step S2).
At this time, in the take-out step S2, the position for gripping the work set in the robot is based on the corrected movement amount. That is, the robot R is made to grip the work W by the position information based on the corrected movement amount.
As a result, in the work taking-out method, even if the work is used for a long time and tracking deviation occurs, it is possible to prevent an taking-out error due to the position shift of the work.
In addition, the method of taking out the work does not reduce the transport capacity.

Then, when the robot R places the work W on the mounting portion X2, the work W is taken out (mounting step S3).
Here, a lifter is adopted as the mounting portion X2.
Therefore, the so-called stack S is formed by stacking the works on the lifter.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment.

In the conveyor tracking correction system according to the present embodiment, the endless belt 1 is adopted as the belt of the conveyor 10, but the present invention is not limited to this, and a linear belt can also be adopted.
It should be noted that the tracking deviation is more likely to occur in the endless belt 1.

In the conveyor tracking correction system according to the present embodiment, the lower portion 1b of the endless belt 1 is in a loosened state, and the tension is applied to the upper portion 1a of the endless belt 1 by its own weight. , If it is possible to apply tension, the configuration is not limited to this.
For example, tension may be applied to the endless belt 1 by attaching a tension adjusting roller that guides the endless belt 1 without loosening the lower portion 1b of the endless belt 1 and moving the tension adjusting roller.

In the conveyor tracking correction system according to the present embodiment, an incremental type rotary encoder is adopted as the encoder E, but the encoder E is not limited to this, and an absolute type rotary encoder can also be adopted.

In the conveyor tracking correction system according to the present embodiment, the two detection units are attached and fixed to the frame body F so as to follow the transport direction, but the one to which and fix the detection units is limited to the frame body F. Not done. It is also possible to attach and fix it to a part or the like separate from the conveyor 10.

In the tracking correction system of the conveyor according to the present embodiment, both the upstream side detection unit 3a and the downstream side detection unit 3b employ a reflection type laser sensor in which the laser is irradiated in the width direction orthogonal to the transport direction. However, the present invention is not limited to this, and it is also possible to adopt a surveillance camera, a photoelectric sensor, or the like.

In the conveyor tracking correction system according to the present embodiment, the scale factor SF is set to the distance per count, but it can also be set to the time per count.
However, in this case, it is necessary to keep the transport speed constant and set the time required for transport between the upstream detection unit and the downstream detection unit.

In the method of taking out the work W according to the present embodiment, the robot R takes out the work, but it is also possible to adopt a orthogonal clamp device (gantry) or the like instead of the robot R.

In the method of taking out the work W according to the present embodiment, a lifter is used as the mounting portion, but it is also possible to use a fixed table, a pallet, another transport device, or the like instead of the lifter. ..

The conveyor tracking correction system of the present invention is used for a conveyor that conveys a conveyed object.
According to the conveyor tracking correction system of the present invention, tracking correction can be easily performed and the transport capacity is not reduced.

1 ... Endless belt 10 ... Conveyor 1a ... Upper part 1b ... Lower part 2 ... Guide roller 2a ... Upstream side guide roller 2b ... Downstream side guide roller 2c ... Support guide roller 3a ・ ・ ・ Upstream side detection unit 3b ・ ・ ・ Downstream side detection part B ・ ・ ・ Conveyor E ・ ・ ・ Encoder F ・ ・ ・ Frame body L1 ・ ・ ・ Distance M ・ ・ ・ Motor P ・ ・ ・Arbitrarily set points R ... Robot S1 ... Transfer step S2 ... Extraction step S3 ... Placement step T ... Tracking correction system T1 ... Travel command means T2 ... Measuring means T3・ ・ ・ Storage means T4 ・ ・ ・ Calculation means X1 ・ ・ ・ Extraction position X2 ・ ・ ・ Placement part W ・ ・ ・ Work

Claims (6)

An endless belt, an upstream guide roller and a downstream guide roller that guide the endless belt, an upstream side detection unit for detecting an arbitrarily set point of the traveling endless belt, and a downstream side of the upstream side detection unit. It is a tracking correction system of a conveyor provided with a downstream side detection unit located in the above and an encoder attached to the upstream side guide roller.
The traveling command means for traveling the endless belt and
When the upstream side detection unit detects the arbitrarily set point, the first detection signal from the upstream side detection unit is received, the first encoder value of the encoder at the time of reception is measured, and the downstream side A measuring means that receives a second detection signal from the downstream detection unit when the detection unit detects an arbitrarily set point, and measures the second encoder value of the encoder at the time of reception.
A storage means for storing the first encoder value and the second encoder value, and
From the stored first encoder value and the second encoder value, the displacement amount between the detection units of the encoder value between the upstream side detection unit and the downstream side detection unit is calculated, and the displacement amount between the detection units is calculated. A calculation means for calculating a scale factor from the distance between the upstream detection unit and the downstream detection unit, and
Have,
A conveyor tracking correction system that corrects the measured displacement of the encoder value using the scale factor. The calculation by the calculation means is based on the following formula.
Q1 = P2-P1 (Q1: Displacement amount between detectors, P1: 1st encoder value, P2: 2nd encoder value)
SF = L1 / Q1 (L1: distance between upstream detection unit and downstream detection unit, SF: scale factor)
The tracking correction system for a conveyor according to claim 1, wherein the calculation means calculates a correction movement amount obtained by multiplying the measured displacement amount of the encoder value by the scale factor. The encoder is an incremental rotary encoder.
The tracking correction system for a conveyor according to claim 1 or 2, wherein the encoder value is a value obtained by counting a pulse signal obtained by converting the rotation amount of the upstream guide roller. The conveyed object is placed at an arbitrarily set point on the endless belt.
The tracking correction system for a conveyor according to any one of claims 1 to 3, wherein the arbitrarily set point is detected by the upstream side detection unit and the downstream side detection unit via the conveyed object. Both the upstream side detection unit and the downstream side detection unit are reflection type laser sensors that irradiate the laser in the width direction, and the point set arbitrarily by the laser irradiating the conveyed object is that. The tracking correction system for the conveyor according to claim 4. A method of taking out a work using the conveyor tracking correction system according to claim 2.
A transfer step for transporting a work arranged at a predetermined position on the endless belt to a take-out position, and a transfer step.
A take-out step in which the robot grips and takes out the work at the take-out position,
A mounting step in which the robot mounts the work on the mounting portion, and
Equipped with
A method of taking out a work whose position for gripping the work set in the robot is based on the corrected movement amount.

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