JP2023025768A - Airflow control system for conveyance object and conveyance device using the same - Google Patents

Abstract

To achieve a control mode that utilizes an airflow suitable to the situation of a conveyance object by configuring a supply mode associated with a pressure, a flow rate and the like of the airflow to be settable in a wide range according to the type of the conveyance object, the conveyance condition, the control mode with respect to the conveyance object and the like.SOLUTION: An airflow control system includes: an air jetting port 122 which is connected to airflow paths 103, 105 extending from an airflow source 101, and faces a conveyance passage; an opening/closing valve 104 which is configured to open/close the airflow path in an opening/closing mode corresponding to drive waveforms W,W' of driving signals upon receiving driving signals D,D'; a conveyance object determination part 115 for performing determination according to a detection mode of a conveyance object detector 106 for detecting the conveyance object going toward the air jetting port on a conveyance passage; and an opening/closing control drive part 116 which is configured to output the driving signal including the drive waveform according to a determination result in the case where the determination result of the conveyance object determination part is the result which requires the conveyance object to be controlled by the airflow of the conveyance object, so as to enable opening/closing control of the opening/closing valve at the timing as of when the conveyance object faces the air jetting port.SELECTED DRAWING: Figure 1

Description

The present invention relates to an airflow control system for conveyed objects and a conveying apparatus using the same.

Conventionally, in a conveying apparatus such as a parts feeder, in the middle of conveying the conveyed article on the conveying path, the conveyed article having an incorrect posture is removed from the conveying path, or the posture of the conveyed article is reversed. In addition, an air current such as air may be blown against the conveyed object. The conveying surface of the conveying path is provided with blowing holes for ejecting the air current. Depending on the positional relationship between the blowing holes and the conveyed items, the conveyed items may be blown off from the conveying path or the conveyed items may rotate on the conveying path. or As an airflow control system and a conveying device for conveyed objects that apply an airflow to such conveyed objects, the one described in Patent Document 1 below is known.

In the conveying apparatus as described above, an airflow path for supplying airflow from an airflow supply source such as compressed air such as an air compressor or an air cylinder to the fumarole through an on-off valve is generally provided by an airflow pipe such as a resin tube. At this time, a needle valve (throttle valve), which is also used as a speed controller and is configured so that the air pressure can be controlled by a needle, is attached in front of the opening/closing valve (on the side of the airflow supply source). is manually set to adjust the air pressure supplied to the on-off valve or the flow rate of air flowing when the valve is opened.

JP 2006-335487 A

However, in recent years, the above-described conventional conveying apparatus may convey fine electronic components such as millimeter-sized or micro-sized electronic components, or may be required to supply conveyed objects at high speed. It is becoming difficult to adjust the pressure and flow rate of the airflow blown from the nozzle. For example, if the pressure or flow rate of the airflow is insufficient, there is a problem that the objects to be conveyed cannot be removed or reversed, resulting in defective sorting of the objects to be conveyed. In addition, if the pressure or flow rate of the airflow becomes excessive, even the preceding and following conveyed objects that do not need to be blown by the airflow may be blown away or reversed, resulting in a decrease in the supply efficiency of the conveyed objects. . In particular, when the transport device is a vibrating transport device such as a parts feeder, the objects to be transported are in an unstable state because they are subjected to vibration and are transported. is more likely to occur.

On the other hand, it is also conceivable to adjust the mode of airflow control of conveyed objects by adjusting the valve opening degree of the on-off valve through proportional control of drive voltage and current. Since a high-speed opening and closing valve is required, such a high-speed opening and closing valve cannot accurately reproduce the air flow that the conveyed object receives by proportional control of the valve opening. There is a problem that it is not always possible to achieve a good airflow control for conveyed objects. For example, although piezoelectric valves operate at high speed, they have temperature characteristics and hysteresis characteristics.

Therefore, the present invention solves the above problems, and its object is to make it possible to set the supply mode such as the pressure and flow rate of the airflow in a wide range according to the type of conveyed article, conveying conditions, control mode for the conveyed article, etc. By configuring, it is possible to realize a control mode by airflow according to the situation of the conveyed object.

In order to solve the above problems, an airflow control system for a conveyed object of the present invention is a system for controlling a conveyed object conveyed along a conveying path by an airflow, and is connected to an airflow path extending from an airflow source. an on-off valve configured to open and close the airflow path in an opening/closing mode corresponding to the drive waveform of the drive signal upon receiving a drive signal; a conveyed object determining unit that makes a determination according to a detection mode of a conveyed object detector that detects the conveyed object that is moving toward the conveyed object; and outputting the drive signal having the drive waveform corresponding to the determination result, and controlling the opening and closing of the on-off valve at the timing when the conveyed object faces the jet port according to the drive mode corresponding to the drive waveform. and an on-off valve control drive unit.

According to the present invention, the on-off valve opens and closes in an opening/closing mode corresponding to the driving waveform according to the driving signal having the driving waveform corresponding to the determination result of the transported object. Therefore, since the mode of the airflow supplied along the airflow path can be controlled in the mode corresponding to the drive waveform according to the determination result, the control mode of the airflow for the conveyed object can be controlled by the mode of the airflow suitable for the determination result. Can be set in a wide range. In this case, it is preferable that the relationship between the determination result and the drive waveform is set as drive information that is predetermined according to the type of conveyed article, conveying conditions, control mode for the conveyed article, and the like. This drive information (DAI) preferably comprises a plurality of drive element data sets (DAS). Here, each driving element data set (DAS) includes a plurality of driving element data (DA) corresponding to the determination result (S). Further, it is desirable that the airflow waveform (V) corresponding to the drive waveform (W) of the drive signal (D) is blown from the nozzle onto the conveyed object by the opening/closing control of the opening/closing valve by the opening/closing valve control drive section.

In the present invention, it is preferable that the on-off valve control drive section does not output the drive signal in accordance with predetermined drive information when the transported article determination section obtains a specific determination result. Here, among the prescribed drive information (DAI), the drive element data (DA) corresponding to the above-mentioned specific determination result (S) sets the drive element of the drive waveform (W) to 0 (or invalid). is desirable.

In the present invention, the on-off valve control drive unit includes an on-off valve control unit that outputs a command signal including drive element data corresponding to the determination result in accordance with predetermined drive information in accordance with the timing, and the command signal. and an on-off valve driving section for outputting the drive signal having the drive waveform corresponding to the drive element data to drive the on-off valve when receiving the data. In this case, the on-off valve drive section includes a drive waveform generation section that generates the drive waveform corresponding to the drive element data, and a drive signal output section that outputs the drive signal having the drive waveform to the on-off valve. It is desirable to have

In the present invention, it is preferable that the drive element data indicate numerical values representing aspects of the drive waveform. For example, the numerical values include numerical values expressing the height, time width, duty ratio, number of pulses, etc. of the drive waveform.

In the present invention, an airflow mode detector for detecting a mode of airflow in the airflow path; It is preferable to further include an on-off valve drive mode correction unit that modifies the mode of on-off control of the on-off valve. In this case, the on-off valve driving mode correcting unit is configured to modify the driving information (driving element data set or driving element data) according to the detection mode of the airflow mode detector when the on-off valve is in the open state. ) should be corrected. Further, it is preferable that the airflow mode detector detects a mode of airflow in the airflow path between the on-off valve and the jet port.

In the present invention, it is preferable that the on-off valve control drive section is configured to be capable of outputting a plurality of types of drive signals whose temporal factors change according to the determination result. Here, the elements of the drive signal over time refer to the elements of the drive mode that indicate the temporal variation of the number of drive pulses, the duty ratio, the time width, and the like. By changing the temporal element of the drive signal, it is possible to change the temporal variation of the opening/closing mode of the on-off valve. It becomes possible to more easily and precisely control the position and posture of the conveyed object.

In the present invention, it is preferable that the opening/closing valve control driving section is configured to be capable of outputting a plurality of types of driving signals whose strength changes according to the determination result. Regardless of the temporal factors mentioned above, the strength of the drive signal is the factor that most significantly changes the airflow behavior, as it can be directly changed to the pressure and flow rate of the airflow.

In the present invention, it is preferable that the on-off valve is a piezoelectric valve. According to this, since the opening/closing mode can be controlled and driven at high speed, it is possible to easily cope with high-speed transportation and high-density transportation of the article to be conveyed.

Next, it is preferable that a conveying apparatus according to the present invention includes the airflow control system for the conveyed article and a conveying mechanism that conveys the conveyed article along the conveying path. In this case, it is preferable that the conveying mechanism conveys the article by vibrating the conveying path.

According to the present invention, the opening/closing control of the opening/closing valve by the opening/closing valve control driving section enables the pressure and flow rate of the airflow to be set in a wide range according to the type of conveyed article, conveying conditions, control mode of the conveyed article, and the like. As a result, it is possible to realize a control mode using an airflow according to the situation of the articles to be conveyed, and ultimately to prevent the sorting failure of the articles to be conveyed and the deterioration of the supply efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram schematically showing an overall configuration example of a first embodiment of an airflow control system for conveyed objects and a conveying apparatus according to the present invention; 10A to 10D are explanatory diagrams (a) to (d) showing the appearance of an article to be conveyed and the conveying posture corresponding to the determination result for the article to be conveyed in each embodiment; It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. It is explanatory drawing which shows the example of the airflow aspect (b) corresponding to the drive signal (a) and each drive signal of each embodiment in correspondence. FIG. 7 is a schematic configuration diagram schematically showing an example of the overall configuration of a second embodiment; 4 is a schematic flow chart showing the procedure of an operating program that can be used in each embodiment; 9 is a schematic flow chart showing an example of the procedure of an on-off valve driving mode correction unit used in the second embodiment; 1A and 1B are a schematic sectional view and a side view, respectively, showing an example of a piezoelectric valve suitable as an on-off valve; FIG.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. First, with reference to FIGS. 1 and 2, an overall configuration example of a first embodiment of an airflow control system for conveyed objects and a conveying apparatus according to the present invention will be described. Here, FIG. 1 is a schematic configuration diagram schematically showing an example of the overall configuration of this embodiment, and FIGS. is.

The conveying device 100 of the present embodiment has an airflow control system for a conveyed object used in a conveying mechanism 120 configured to convey a conveyed object P along a conveying path 121 (conveying surfaces 121a and 121b). Although detailed illustration is omitted, the transport mechanism 120 is configured by, for example, a known parts feeder or linear feeder as a vibratory transport device. In the illustrated example, in one conveying path 121, a blowing port 122 is opened in a part of the conveying surface 121b, and the conveying position and conveying attitude of the conveyed object P are controlled by the air flow blown from the blowing port 122. is shown. The transport mechanism 120 is configured such that the transport driving unit 114 is controlled and driven by the transport controller 113 to transport the article P along the transport path 121 . In this embodiment, an electromagnetic driver or a piezoelectric driver is used as the transport drive unit 114, and by vibrating the transport path 121 with a predetermined vibration frequency, amplitude, and vibration direction, the transported object P on the transport path 121 is moved. It is designed to move forward individually. The transport controller 113 is controlled by the control unit 111 that manages the transport apparatus 100 as a whole.

The airflow control system for conveyed objects of this embodiment includes an airflow supply source (airflow source) 101 that supplies compressed air such as a gas compression mechanism such as an air compressor or a gas cylinder, a regulator 102 that controls the pressure of the airflow, An air flow pipe 103 such as an air tube connected to the regulator 102, an on-off valve 104 such as an electromagnetic valve or a piezoelectric valve connected to the air flow pipe 103, and an air flow pipe 105 such as an air tube connected to the on-off valve 104. and an airflow path 120a formed in a transport block connected to the airflow pipe 105 and forming the transport path 121 of the transport mechanism 120. As shown in FIG. In this airflow path, the airflow mode is controlled according to the opening/closing mode of the on-off valve 104, and the airflow spraying mode to the conveyed article P at the jet port 122, which is the outlet of the airflow passage 120a, is determined. The mode of the airflow in the airflow path means the mode including changes in the airflow over time, such as the pressure of the airflow, the flow rate of the airflow, the flow velocity of the airflow, and the duration of the airflow.

As the on-off valve 104, it is preferable to use an on-off valve that can open and close at high speed, and in particular, it is preferable to use a piezoelectric valve that opens and closes the airflow path using deformation of a piezoelectric body. For example, the piezoelectric valve 134 shown in FIG. 12 includes a support body 134d housed and fixed in an internal space 134c communicating with an inlet 134b in a housing 134a, and a piezoelectric body 134f having both ends connected to a pair of tilting arms 134e. . The tilt arm 134e is tiltably supported by the piezoelectric member 134f and the support member 134d. A pair of tilting arms 134e each hold a valve body 134h via an elastic body 134g. The tilting arm 134e and the elastic body 134g constitute a displacement enlarging mechanism for the piezoelectric body 134f and drive the valve body 134h. The pair of tilting arms 134e tilts inward and outward in accordance with the longitudinal expansion and contraction of the piezoelectric member 134f caused by the voltage applied from the drive unit 134DR, thereby moving the valve member 134h via the elastic member 134g and moving the inner space 134c. to open and close the outlet 134i of the .

Note that the on-off valve 104 is not limited to one that can actually close the airflow path, and may be one that can realize a state equivalent to a substantially closed state. For example, the airflow path may be configured to be openable to the outside (atmosphere), and the airflow may flow to the outside (atmosphere) when the airflow path is open, thereby making it difficult for the airflow to flow downstream of the airflow path. .

On the other hand, an image acquisition device 109 such as a camera is installed at a conveyed article detection point adjacent to the upstream side of the point 121b of the conveying path 121 where the blowing port 122 is provided. The image acquisition device 109 captures an image of the article P at the article detection location, and outputs the image to the article determination unit 115 . In the conveyed article determination unit 115, the image processing unit 115a performs image processing for determining the quality of the conveyed article P, the conveying posture, and the like on the image. For example, image binarization, edge extraction, patterning processing, and the like. The determination output unit 115b outputs a determination result S based on the information obtained by this image processing. This determination result S indicates whether the conveyed product P is a non-defective product, a defective product, a normal conveying posture, an abnormal conveying posture, any of a plurality of conveying postures, and the like. This is the information shown. This determination result S is sent to the on-off valve control drive unit 116, and the on-off valve control drive unit 116 sends a drive signal D according to the determination result S to the on-off valve 104, and operates the on-off valve 104 according to the determination result S. The opening/closing control can be performed so as to provide an open/close mode. The opening/closing mode referred to here includes the opening degree of the opening/closing valve 104, the valve opening time, the state of temporal fluctuation of the valve opening degree, and the like.

The control device of this embodiment includes a control unit 111 equipped with an arithmetic processing unit such as an MPU (microprocessor unit), and a storage unit 112 for storing drive information DAI including various drive element data sets DAS, which will be described later. have. The control unit 111 manages the entire airflow control system for conveyed objects. This control unit 111 also controls the transport mechanism 120 via the transport controller 113 as necessary. The storage unit 112 is composed of various memories and stores drive information DAI indicating the driving mode of the on-off valve 104 that is set in advance according to the situation such as the type of conveyed article, conveying conditions, and control mode for the conveyed article by airflow. do. This drive information DAI includes a plurality of drive element data sets DAS corresponding to the drive waveform W included in the drive signal D. FIG. More specifically, the driving element data set DAS includes, for example, the type of the goods P to be conveyed (product number, size, shape, weight, value indicating density, etc.), conveying conditions (driving frequency of the conveying mechanism 120, driving voltage , conveying speed, conveying density, etc.), mode of control by the airflow of the conveyed article P (removing the conveyed article P from the conveying path 121, changing the conveying attitude such as reversing the conveyed article P (including change angle amount) etc.), the driving waveform of the on-off valve according to the blowing conditions of the airflow to the conveyed product P (opening size, opening shape, opening position, opening height, opening direction, etc. of the blowing port for the conveyed product P on the conveying path). It is a set of data (driving element data DA) for defining. The drive element data set DAS further includes a plurality of drive element data DA corresponding to each of the plurality of determination results S output by the transported object determination unit 115 .

FIGS. 2A to 2D are diagrams (a) to (d) for explaining the conveying posture of the article P determined by the article determining unit 115 of the present embodiment. In this embodiment, the object is to align the four postures of the article P on the transport path 121 with the normal posture P0 shown in FIG. An example of blowing an air stream from the jet port 122 to correct the posture P1-P3 is shown. In addition, since the article P is configured in a rectangular parallelepiped shape, there are eight types of conveyance orientations in total if the orientations of the conveyance direction on the conveyance path 121 are taken into consideration. It is assumed that the posture in the forward and backward directions in the transport direction is controlled at another location on the transport path 121 .

The conveyed product P is provided with electrode portions Pa and Pb at both ends in the conveying direction, and a mark portion Pd having an appearance different from that of the other surfaces is provided on one side surface portion Pc between the electrode portions Pa and Pb. The image acquisition device 109 is installed so as to be able to photograph the remaining two sides of the side part Pc, excluding the two sides facing the transport surfaces 121a and 121b of the transport path 121 respectively. The normal transport posture P0 is a posture in which the mark portion Pd appears on the side surface on the transport surface 121b side as shown in FIG. 2(a). Further, as shown in FIG. 2B, another transport posture P1 is a posture in which the mark portion Pd is present on the side surface facing the transport surface 121b of the side surface portion Pc. In this posture, the mark portion Pd does not appear on any of the two side surfaces that do not face the transport surfaces 121a and 121b of the side surface portion Pc, and the side edge Pds of the mark portion Pd is imaged on the transport surface 121b side. It is determined if it can be recognized by the device 109 . Further, as shown in FIG. 2(c), another transport posture P2 is a posture in which the mark portion Pd exists on the side surface facing the transport surface 121a of the side surface portion Pc. In this posture, the mark portion Pd does not appear on any of the two side surfaces of the side surface portion Pc that do not face the conveying surfaces 121a and 121b, and the side edge Pdt of the mark portion Pd is imaged on the conveying surface 121a side. It is determined if it can be recognized by the device 109 . Further, as shown in FIG. 2D, another transport posture P3 is a posture in which the mark portion Pd is present on the side surface of the side surface portion Pc that is exposed on the transport surface 121a side. This attitude is determined when the mark portion Pd appears on the side exposed on the transport surface 121a side, out of the two side surfaces that do not face the transport surfaces 121a and 121b, of the side surface portion Pc. In addition, the remaining four transport postures other than the four postures P0 to P3 (when the forward and backward directions in the transport direction are reversed) are collectively referred to as P4.

Conveyed object determination unit 115 receives the processing data stored in storage unit 112 from control unit 111, operates image acquisition device 109 based on the processing data, and captures and acquires images captured by image acquisition device 109 based on the processing data. The obtained image is processed according to a predetermined processing mode in the image processing unit 115a. Further, the determination output unit 115b outputs a determination result S corresponding to the conveying postures P0 to P4 of the conveyed article P from the information obtained by the image processing unit 115a. This determination result S is, for example, "0" if the article P is in the transport posture P0, and is, for example, "1" if the article P is in the transport posture P1. If it is in the posture P2, it is, for example, "2"; if the article P is in the above-mentioned conveying posture P3, it is, for example, "3"; . The determination result S may be a numerical value (number) as described above, but may be other characters or symbols, and is not particularly limited. Also, the determination results S may not all be related to the same characteristic. For example, in the present embodiment, "4" indicates a plurality of transport postures other than any one of the transport postures P0 to P3. Alternatively, or in addition to the determination method based on the conveying attitude, determination may be made based on other aspects other than the conveying attitude, such as the presence or absence of damage to the conveyed product and whether it is a good product or a defective product. can be

The on-off valve control drive unit 116 receives drive information DI stored in the storage unit 112 from the control unit 111 . The drive information selection unit 1161 selects the drive element data DA corresponding to the determination result S output from the transported object determination unit 115 based on the drive information DI. The determination result S and the drive element data DA are associated in advance so as to have a predetermined correspondence relationship. The driving element data set DAS included in the driving information DI is at least one of a plurality of parameters indicating the driving waveform W, and a plurality of driving element data DA each corresponding to a plurality of determination results S. including. For example, the driving element data set DAS (Hv) is composed of a plurality of data DA (Hv) indicating the height of the driving waveform W. Further, the drive element data set DAS(Tm) is composed of a plurality of data DA(Tm) indicating the time width of the drive waveform W. FIG. Furthermore, the driving element data set DAS (Dt) is composed of a plurality of data DA (Dt) indicating the duty ratio of the driving waveform W. Further, the drive element data set DAS (Np) is composed of a plurality of data DA (Np) indicating the number of drive pulses of the drive waveform W. FIG. One or more driving element data sets DAS may be used simultaneously. The command signal output unit 1162 outputs a command signal C including drive element data DA corresponding to the determination result S output from the transported object determination unit 115 regarding the selected drive element data set DAS. The drive information selection section 1161 and the command signal output section 1162 correspond to the on-off valve control section 116A.

The command signal C is input to the driving waveform generating section 1163 of the on-off valve driving section 116B, and the driving waveform generating section 1163 generates the driving waveform W based on the driving element data included in the command signal C. Examples of this drive waveform W are shown in FIGS. 3-8. In each of the examples shown in FIGS. 3 to 8, the transport posture P0 is a normal transport posture and does not require airflow control, the transport posture P1 is reversed 90 degrees by airflow, the transport posture P2 is reversed 180 degrees by airflow, It is assumed that the conveying attitude P3 performs 270-degree reversal by the air current, and the conveying attitude P4 is the case of removing from the conveying path 121 by the air current. The blowing manner of the airflow that rotates the conveyed object P or the blowing manner of the airflow that removes the conveyed object P is related to the strength of the airflow (pressure, flow rate, etc.) and the duration of the airflow. may also be related to time-varying variations in airflow other than these. The drive waveform W is output to a drive signal output section 1165 composed of an analog amplifier or the like, and the drive signal output section 1165 converts the power supplied from the power supply section 1164 so that the signal form is based on the drive waveform W. is used to form the drive signal D. As described above, the on-off valve control drive unit 116 adjusts the drive signal D based on the drive element data DA or the drive element data set DAS, and outputs the drive signal D to the on-off valve 104 . The output timing of the drive signal D corresponds to the output timing of the command signal C. As shown in FIG. Then, the output timing of the command signal C is adjusted in advance or by an adjustment operation so that the output timing of the drive signal D coincides with the timing at which the object to be judged is arranged at a position facing the jet port 122. set.

FIG. 3(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data set DAS(Hv) is selected. For example, when the determination result S=0 (conveyance posture P0), the drive element data DA (Hv)=0, when S=1 (P1), DA (Hv)=20, and when S=2 (P2), DA(Hv)=30, DA(Hv)=40 when S=3 (P3), and DA(Hv)=100 when S=4 (others). In this example, the drive element data DA (Hv) is increased or decreased according to the determination result S, and the height of the drive waveform W, that is, the voltage value Hv of the drive signal D is increased or decreased. 3 ( The pressure P of the airflow shown in b) increases or decreases. In the illustrated example, only the driving element data set DAS (Hv) is selected, so the initial values for the unselected driving element data sets are the time width Tm of the driving signal D and the duty ratio Dt of 1, The drive pulse number Np is also one. When the determination result S=0 at the transport posture P0, the drive element data DA(Hv)=0, so the drive signal D itself having the drive waveform W is not output. When these drive signals D are applied to the on-off valve 104, the airflow pattern (airflow waveform V) in the airflow path corresponds to the drive signal D as shown in FIG. 3(b). That is, the airflow strength (pressure) P of the airflow waveform V corresponds to the height of the driving waveform W corresponding to the value of the driving element data Hv. However, even in this example, in addition to the drive element data DA (Hv), temporal factors such as the number of drive pulses, the duty ratio of the drive signal, and the time width of the drive signal, which will be described later, are changed according to the determination result. It doesn't matter if you do. It should be noted that the driving waveform W and the driving signal D can be appropriately formed based on the driving element data set DAS in which a plurality of types of driving element data DA are appropriately combined. The same applies to each example shown in .

FIG. 4(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data set DAS(Tm) is selected. For example, when the determination result S=0 (conveyance attitude P0), the drive element data DA(Tm)=0, when S=1(P1), DA(Tm)=20, and when S=2(P2), DA(Tm)=30, DA(Tm)=40 when S=3 (P3), and DA(Tm)=100 when S=4 (others). In the illustrated example, since only the driving element data set DAS (Tm) is selected, the initial values for the unselected driving element data sets are the height Hv of the driving signal D and the duty ratio Dt of 1, 1, and 1, respectively. The drive pulse number Np is also one. Note that when the determination result S=0 when the transport posture is P0, the drive element data DA(Tm)=0, so the drive signal D itself having the drive waveform W is not output. When these drive signals D are applied to the on-off valve 104, the airflow pattern (airflow waveform V) in the airflow path corresponds to the drive signal D as shown in FIG. 4(b). That is, the airflow duration of the airflow waveform V corresponds to the time width of the drive waveform W corresponding to the value of the drive element data DA(Tm).

FIG. 5(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data set DAS(Dt) is selected. For example, when the determination result S=0 (conveyance attitude P0), the drive element data DA (Dt)=0, when S=1 (P1), DA (Dt)=20, and when S=2 (P2), DA(Dt)=30, DA(Dt)=40 when S=3 (P3), and DA(Dt)=90 when S=4 (others). In the illustrated example, since only the driving element data set DAS (Dt) is selected, the height Hv of the driving signal D is a constant value and the number of driving pulses Np is 3 as initial values for the unselected driving element data sets. is. Note that when the determination result S=0 when the transport posture is P0, the drive element data DA(Dt)=0, so the drive signal D itself having the drive waveform W is not output. When these drive signals D are applied to the on-off valve 104, the airflow pattern (airflow waveform V) in the airflow path corresponds to the drive signal D as shown in FIG. 5(b). That is, the airflow strength (pressure) and duration of the airflow waveform V correspond to the duty ratio of the driving waveform W corresponding to the value of the driving element data DA (Dt).

FIG. 6(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data set DAS(Np) is selected. For example, when the determination result S=0 (conveyance attitude P0), the drive element data DA (Np)=0, when S=1 (P1), DA (Np)=3, and when S=2 (P2), DA(Np)=6, DA(Np)=9 when S=3 (P3), and DA(Np)=12 when S=4 (others). In the illustrated example, since only the driving element data set DAS (Np) is selected, the height Hv of the driving signal D is a constant value and the duty ratio Dt is also a constant value as initial values for the unselected driving element data sets. is. When the determination result S=0 at the transport posture P0, the drive element data DA(Np)=0, so the drive signal D itself having the drive waveform W is not output. When these drive signals D are given to the on-off valve 104, the airflow in the airflow path (airflow waveform V) changes as shown in FIG. 6(b).
corresponds to the driving signal D. That is, the airflow strength (pressure) and duration of the airflow waveform V correspond to the drive pulse number of the drive waveform W corresponding to the value of the drive element data DA (Np).

FIG. 7(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data sets DAS(Hv) and DAS(Tm) are selected. For example, when the determination result S=0 (transport posture P0), the driving element data DA (Hv)=0 and DA (Tm)=0, and when S=1 (P1), DA (Hv)=40 and DA ( Tm) = 60, DA (Hv) = 60 when S = 2 (P2), DA (Hv) = 70, DA (Hv) = 80 when S = 3 (P3), DA (Tm) = 90 , DA(Hv)=100 and DA(Tm)=100 when S=4 (others). In this example, both the drive element data DA (Hv) and DA (Tm) are increased or decreased according to the determination result S, and the height and time width of the drive waveform W, that is, the voltage value Hv and time width Tm of the drive signal D are changed. are increasing and decreasing together. As a result, the opening/closing operation of the opening/closing valve 104 driven by the driving signal D output by the opening/closing valve control drive unit 116 based on the driving element data set DAS causes the opening/closing operation of the opening/closing valve 104 to correspond to the opening/closing mode of the opening/closing valve 104 shown in FIG. The pressure P of the airflow shown in (b) increases or decreases. In the illustrated example, since the drive element data sets DAS(Hv) and DAS(Tm) are selected, the drive pulse number Np of the drive signal D is 1 as the initial value for the unselected drive element data sets. Note that when the determination result S=0 when the transport posture is P0, the drive element data DA(Hv)=0 and DA(Tm)=0, so the drive signal D itself having the drive waveform W is not output. . When these drive signals D are applied to the on-off valve 104, the airflow pattern (airflow waveform V) in the airflow path corresponds to the drive signal D, as shown in FIG. 7(b). That is, the airflow strength (pressure) and duration of the airflow waveform V correspond to the height and time width of the drive waveform W corresponding to each value of the drive element data DA(Hv) and DA(Tm).

FIG. 8(a) shows the drive signal D corresponding to each drive waveform W when the determination result S=1-4 when the drive element data sets DAS(Hv) and DAS(Dt) are selected. For example, when the determination result S=0 (transport posture P0), the drive element data DA (Hv)=0 and DA (Dt)=0, and when S=1 (P1), DA (Hv)=50 and DA ( Dt)=20, DA(Hv)=70 when S=2(P2), DA(Hv)=30, DA(Hv)=85 when S=3(P3), DA(Dt)=40 , DA(Hv)=100 and DA(Dt)=90 when S=4 (others). In the illustrated example, since the driving element data sets DAS (Hv) and DAS (Dt) are selected, the driving pulse number Np of the driving signal D is a constant value (3) as the initial value for the unselected driving element data sets. be. Note that when the determination result S=0 when the transport posture is P0, the drive element data DA(Hv)=0 and DA(Dt)=0, so the drive signal D itself having the drive waveform W is not output. . When these drive signals D are applied to the on-off valve 104, the airflow pattern (airflow waveform V) in the airflow path corresponds to the drive signal D as shown in FIG. 8(b). That is, the airflow strength (pressure) and duration of the airflow waveform V correspond to the height and duty ratio of the driving waveform W corresponding to each value of the driving element data DA(Hv) and DA(Dt).

Note that the initial values of other types of driving element data sets that are not selected when the various types of driving element data sets DAS are selected are set in advance and stored in the storage unit 112 or the like. These initial values are read as needed to define conditions other than the selected drive element data set when a given drive element data set DAS is selected. Of course, the initial values unnecessary for generating the drive waveform W are unnecessary even for the drive element data sets that are not selected.

As described above, the on-off valve control drive section 116 generates the drive waveform W based on the drive element data DA corresponding to the determination result S among the one or more drive element data sets DAS selected from the drive information DAI. By outputting a drive signal D having the drive waveform W to the on-off valve 104, an air current is blown onto the conveyed article P from the blowing port 122, whereby the conveyed article P is moved by the air current according to the determination result S of the conveyed article P. The airflow mode (airflow waveform V) of the airflow path is formed by the on-off valve 104 so as to achieve the control mode. Here, the airflow waveform V is the aspect of the airflow including the aspect of time fluctuation of the airflow. Therefore, unlike the conventional case where the valve opening degree of the on-off valve 104 can only be controlled (proportionally) with the values of the drive voltage and the drive current, the drive signal D having the drive waveform W corresponding to the determination result S As a result, the on-off valve 104 can realize the airflow mode (airflow waveform V) corresponding to the driving waveform W in a wide range. For this purpose, the on-off valve control drive unit 116 having the function of generating the drive waveform W based on the drive element data DA corresponding to the determination result S as in this embodiment, and the drive signal D as in this embodiment. The on-off valve 104 capable of forming an airflow mode (airflow waveform V) including a temporal element corresponding to the drive waveform W of is required.

By the way, when a piezoelectric valve is used as the on-off valve 104 as described above, since the response of the piezoelectric valve is fast, the opening/closing mode is intended to be realized by the opening/closing operation of the on-off valve 104 corresponding to the drive signal D. can be difficult to do. That is, there is a case where the fluctuation of the airflow pressure P corresponding to the drive waveform W of the drive signal D cannot be realized, for example, an overshoot of the airflow occurs at the rise of the drive signal D. Moreover, even if the valve is not a piezoelectric valve, the driving characteristics of the on-off valve 104 may cause the same problem as described above. In these cases, when the drive waveform W is generated based on the drive element data, the responsiveness of the on-off valve 104 and other drive characteristics are taken into consideration when the command signal C is output. The drive waveform generator 1163 corrects (shapes) the drive waveform W when generating the drive waveform W from the drive element data DA according to the waveform correction data predetermined according to the drive characteristics of the on-off valve 104. configured as follows. Further, the drive waveform W formed based on the drive element data DA may be shaped using a digital filter or the like. Furthermore, when outputting the drive signal D from the drive waveform W or when supplying the drive signal D to the on-off valve 104, instead of the waveform correction data, circuit constants and the like are used to correspond to the drive characteristics of the on-off valve 104. The signal waveform may be corrected so that the drive signal D is obtained as follows. In this way, the on-off valve 104 can be properly driven without complicating the command signal C or increasing the amount of data of the command signal C. However, the command signal output unit 1162 is configured to output the command signal C including the drive element data DA and waveform correction data corresponding to the drive characteristics of the on-off valve 104, and the drive waveform generation unit 1163 , the waveform correction data may be used together with the drive element data DA to generate the drive waveform W whose waveform has been corrected. The means for correcting (shaping) the drive waveform W and the drive signal D in accordance with the drive characteristics of the on-off valve 104 as described above can also be configured in the same way in the second embodiment shown in FIG. 9 below.

Next, a second embodiment will be described with reference to FIG. Since the second embodiment has the same configuration as the first embodiment and operates basically in the same manner, the description of the similar configuration and its operation mode will be omitted. This embodiment differs from the first embodiment in that an airflow state detector 106 for detecting the airflow state of the airflow path and the detection value of the airflow state detector 106 when the on-off valve 104 is in the open state and an on-off valve drive mode correction unit 1166 that modifies the mode of the on-off control of the on-off valve 104 by the on-off valve control drive unit 116 based on the above. In the case of this embodiment, the control unit 111 detects the airflow mode (airflow waveform V) in the airflow path when the on-off valve 104 is in the open state based on the detection signal T of the airflow mode detector 106. Then, based on this airflow aspect, the correction contents of the drive element data set DAS or the drive element data DA are derived. Then, as shown in FIG. 9, the on-off valve drive mode correction unit 1166 selects at least the selected drive element data set DAS or the drive element data that can be included in the command signal C output by the command signal output unit 1162. Predetermined driving element data DA corresponding to the determination result S in the set DAS is corrected. Then, instead of the command signal C containing the predetermined drive element data DA, the command signal C' containing the corrected drive element data DA' obtained by correcting the predetermined drive element data DA is output. Based on this command signal C', the driving waveform generating section 1163 generates the driving waveform W' corresponding to the correction, and the driving signal output section 1165 outputs the driving signal D' corresponding to the correction. As a result, the drive signal D' is matched to the airflow in the actual airflow path, and the airflow blown from the jet port 122 toward the article to be conveyed P is modified to be more appropriate.

The on-off valve drive mode correction section may output a drive signal D' having a drive waveform W' corrected based on the detection signal T as a result. Therefore, unlike the on-off valve drive mode correction unit 1166, the on-off valve drive mode correction unit of the present invention corrects the drive element data DA in the on-off valve control unit 116A before the command signal C' is output. Alternatively, the on-off valve drive section 116B may be configured to correct the drive waveform W and the drive signal D.

In this embodiment, in the illustrated example, the airflow state detector 106 can detect, as a preferred example, the state of the airflow in the airflow pipe 105 between the on-off valve 104 and the jet port 122 (airflow passage 120a). configured to As a result, it is possible to more accurately detect the mode of the airflow according to the opening/closing mode of the on-off valve 104 . However, it may be configured to detect the state of the airflow in the airflow passage 120a or in the vicinity of the jet port 122. FIG. In addition, although indirectly, it is possible to estimate the pressure, flow rate, flow velocity, etc. of the airflow flowing through the jet port 122 from the variation of the pressure and flow rate on the upstream side of the airflow path according to the opening/closing state of the on-off valve 104. Therefore, the airflow state detector 106 may be configured to detect the airflow state of the airflow pipe 103 upstream of the on-off valve 104 .

FIG. 10 is a schematic flow chart showing the processing procedure of the operating program executed by the control section 111 in each of the above embodiments. Note that the control unit 111 is not limited to the configuration using an MPU as an arithmetic processing unit as in the present embodiment, and various hardware configurations can be employed. At this time, it should be understood that FIG. 10 shows a general operation procedure of the control unit 111 regardless of the hardware configuration.

First, the control unit 111 waits until there is an input to an operation unit (an operation panel or other input means) (not shown) (step 141). The structure of the path 121 (whether the conveying surface is flat or concave, etc.), the airflow control mode for the conveyed object P (reversal or exclusion, reversal angle, etc.), the airflow blowing condition for the conveyed object P (the opening area of the blowing port , height position, etc.) (step 142), one or a plurality of driving element data sets DAS (the above DAS (Hv), DAS (Tm), DAS (Dt) , DAS (Np), etc.) from the drive information DAI stored in the storage unit 112 and output to the on-off valve control drive unit 116 (step 143). At this time, the control unit 111 controls the driving element according to the configuration conditions of the pre-registered output destination opening/closing valve control drive unit 116 (for example, the airflow control mode for the conveyed object P and the airflow blowing conditions). A data set DAS may be automatically selected (an input signal corresponding to the above operation input may be automatically input).

Next, the on-off valve control driving unit 116 selects one or a plurality of driving element data sets DAS from the driving information DAI, and the determination output by the conveyed object determining unit 115 from the selected driving element data sets DAS. It is possible to extract the drive element data DA corresponding to the result S, and finally the drive signal D having the drive waveform W corresponding to the determination result S can be output based on this drive element data DA. (step 144). After that, it waits until the transport processing of the transported object is started by an input signal such as an interlocking signal or an operation input output from the transport mechanism 120 (step 145). When the transport process is started, the image captured by the image acquisition device 109 (step 146) is processed by the transported object determination unit 115, and the transported object P is determined, thereby outputting the determination result S ( step 147). Here, the on-off valve control drive unit 116 that has received the determination result S extracts the drive element data DA corresponding to the determination result S. As shown in FIG. At this time, if the airflow control of the conveyed article P is required (in the case of the conveying postures P1-P4) according to the driving element data DA (step 148), the driving having the driving waveform W based on the driving element data DA is performed. A signal D is output (step 149), and the open/close valve 104 is operated by opening/closing control according to the drive signal D, and the position and attitude of the conveyed article P are controlled by blowing the airflow from the jet port 122. FIG. After that, the same determination process is repeated for the next transported article P unless the transport process is completed. If the determination result S indicates that the airflow control of the transported product P is not required (in the case of the transport posture P0), the same determination process is repeated for the next transported product as it is unless the transport processing of the transported product is completed. When the transporting process is completed (step 150), unless a stop signal output from the transport mechanism 120 or a stop operation input is made, the operation input standby state is resumed. It should be noted that the above processing procedure is performed in the same way when the airflow mode detector 106 is provided. When the system is finally stopped (step 151), the process ends. On the other hand, if the system is not stopped, it returns to the initial standby state (step 141).

FIG. 11 shows a second embodiment in which the on-off valve 104 is driven by the drive signal D' corrected based on the detection signal T using the airflow mode detector 106 and the on-off valve drive mode modifier 1166 in the above operation program. 3 is a schematic flow chart showing an additional procedure in . The control unit 111 selects the drive element from the drive element data set DAS, which is the source of the drive signal D when the on-off valve 104 is in the open state, and the detection signal T from the airflow mode detector 106 at this time. It is determined whether or not the data set DAS needs to be modified, and if the driving element data set DAS needs to be modified, the contents of the modification are derived. Specifically, the control unit 111 controls the pressure, flow rate, flow velocity, Detected information (values) indicative of aspects of the airflow, such as duration, are obtained, and from these detected information it is determined how to modify the drive element data. For example, in the case of the drive element data sets DAS (Hv), DAS (Tm), DAS (Dt), and DAS (Np), the control unit 111 uses the drive signal D to If the detected information differs from the assumed standard by more than a predetermined threshold, the driving element data set DAS being used is deemed to require modification and is based on this. Then, the command signal C is changed to the command signal C' based on the drive element data DA' corrected by the on-off valve drive mode correction unit 1166. FIG. As a result, the drive signal generator 1163 generates the drive waveform W', and the drive signal output section 1165 outputs the drive signal D'. It should be noted that the correction target may be only the drive element data DA corresponding to the output determination element S instead of the entire drive element data set DAS. Moreover, any of the command signal C, the drive waveform W, and the drive signal D may be corrected instead of the drive element data DA.

According to each of the embodiments described above, the control unit 111 selects the drive element data set from the drive information DI, and the open/close valve control unit 116A selects the command signals C, C' including the drive element data corresponding to the determination result S. , and the on-off valve driving section 116B provides the on-off valve 104 with drive signals D and D' having drive waveforms W and W' corresponding to the drive element data, thereby corresponding to the drive waveforms W and W'. A mode of airflow can be formed. Therefore, since it is possible to realize a wide range of airflow modes according to conditions such as the type of the goods P, the structure of the transport path 121, and the mode of airflow control for the goods P, it is possible to prevent problems such as defective sorting of goods and reduction in supply efficiency. A decrease can be prevented.

In particular, in the second embodiment, the on-off valve driving mode correction unit 1166 forms the command signal C', the driving waveform W', or the driving signal D' modified based on the detection signal T of the airflow mode detector 106. Therefore, it is possible to further optimize the mode of the airflow according to the situation, so that it is possible to further improve the control mode of the conveyed object by the airflow.

Further, when a valve structure with a high speed and a fast response speed is used as the on-off valve 104, the mode of the airflow blown from the jet port 122 toward the conveyed object P, that is, the accuracy and reproducibility of the airflow pressure, flow rate, flow velocity, etc. Ensuring integrity can be difficult. In particular, the use of a fast-response piezoelectric valve makes it possible to handle high-speed, high-density transport mechanisms 120. However, due to temperature characteristics and hysteresis characteristics, ordinary piezoelectric valves are not suitable for airflow control of transported objects. There is a problem that it is difficult to set the airflow mode accurately and with good reproducibility. However, in the present embodiment, by driving the on-off valve 104 with a drive signal D having a drive waveform W based on one or more drive element data sets DAS, the mode of opening/closing control of the on-off valve 104 can be set in a wide range. , there is an advantage that it becomes possible to set the airflow mode for the airflow control of the conveyed object accurately and with good reproducibility.

In particular, in the second embodiment, the driving element data, the driving waveform W, the driving signal D, etc. can be corrected based on the detection signal T of the airflow mode detector 106, so that the airflow of the conveyed object can be detected more accurately and with good reproducibility. can be controlled. Further, in the present embodiment, the accuracy and reproducibility of the open state of the on-off valve 104 may be affected by the airflow mode (pressure and flow rate) in the airflow path, the temperature, the shape of the driving signal, and the like. In particular, in an on-off valve such as a piezoelectric valve that can operate at high speed, the opening area in the open state changes depending on the pressure and flow rate of the airflow path, the environmental temperature, the driving voltage, the driving current, the opening and closing speed, etc. It may not be possible to achieve the desired airflow behavior with sufficient accuracy and reproducibility. Even in such a case, it is possible to remove the influence of the on-off valve by correcting the drive mode by the on-off valve drive mode correction unit 1166 as described above.

In each of the above embodiments, along with correction (shaping) of the drive waveform W and drive signal D required according to the drive characteristics of the on-off valve 104, or instead of that, An airflow filter can be formed in the air supply path (airflow pipe 105). The airflow filter adjusts the airflow flowing through the airflow path 120a and the airflow ejected from the jet port 122 according to the opening/closing operation of the on-off valve 104 based on the drive signal D. It refers to a ventilation structural element that affects the airflow in the airflow path provided between the outlet of the on-off valve 104 and the airflow path 120a or the jet port 122 in order to make it suitable for control. The airflow filter includes, for example, an orifice (throttled portion) formed in a pipeline, a labyrinth structure, a ventilation filter inserted in the pipeline, and other path structures for reducing pressure fluctuations in the airflow.

In the second embodiment, regardless of the driving characteristics of the on-off valve 104, in order to make the opening/closing mode of the on-off valve 104 suitable so as to realize a good airflow mode, the opening/closing operation of the on-off valve 104 is , feedback control is performed in accordance with the airflow mode in the airflow path. Especially when a piezoelectric valve such as the piezoelectric valve 134 shown in FIG. 12 is used as the on-off valve 104, the operating mode of the piezoelectric element is sensitive to temperature changes, and the operating structure of the valve body is not suitable for the air flow path. This is because it is susceptible to front and rear pressure. Here, an on-off valve such as a piezoelectric valve cannot obtain an accurate output (flow rate or pressure) only by voltage control. This is also because there is a hysteresis characteristic between the voltage applied to the on-off valve and the discharge pressure (moving distance of the valve body). For this reason, it is essential to implement feedback control in order to ensure the accuracy of the opening/closing operation of the opening/closing valve. In the configuration of the second embodiment, regardless of the drive characteristics of the on-off valve 104, the drive signal D stabilizes the opening/closing state of the on-off valve 104 against disturbances such as temperature changes, and the desired airflow state (pressure P) is obtained. It is extremely effective in achieving high precision. As the feedback control, instead of or in addition to the feedback control based on the airflow mode of the second embodiment, a drive signal is generated based on a detection signal that directly indicates the opening/closing mode of the valve body of the on-off valve 104. Drive control may be performed according to the difference between D and the detection signal. In the first embodiment and the second embodiment, when the operation mode (position, posture, etc.) of the valve body of the on-off valve 104 is detected by a detector such as a strain sensor and the driving waveform W and the driving signal D are controlled, An opening/closing mode that is more suitable for the driving characteristics of the valve 104 can be realized.

It should be noted that the airflow control system and conveying apparatus for conveyed objects according to the present invention are not limited to the above-described illustrated examples, and of course, various modifications can be made without departing from the gist of the present invention. . For example, the features of each of the above-described embodiments can be combined in arbitrary combinations with each other as long as there is no problem.

Incidentally, in this specification, the mode of airflow refers to the appearance, state, appearance, and the like of the airflow in the airflow path and fumaroles, such as the pressure, flow rate, and flow velocity of the airflow in the airflow path and fumaroles 122 . Further, the control mode for the transported object means the mode of controlling the transported object by blowing the airflow from the jet nozzle, that is, the mode, state, mode, etc. of the control of the transported object by the airflow. Here, the control of the conveyed article means moving or changing the attitude of the conveyed article by removing, reversing, distributing, or the like.

DESCRIPTION OF SYMBOLS 100... Conveyor (airflow control system of conveyed object), 101... Airflow supply source, 102... Regulator, 103... Airflow pipe, 104... On-off valve, 105... Airflow pipe, 106... Airflow mode detector, 109... Image acquisition device , 111... Control unit 112... Storage unit 113... Conveyance controller 114... Conveyance drive unit 115... Conveyed article determination unit 115a... Image processing unit 115b... Judgment output unit 116... Opening/closing valve braking drive unit 116A 1161: drive information selection unit 1162: command signal output unit 116B: on-off valve drive unit 1163: drive waveform generation unit 1164: power supply unit 1165: drive signal output unit DI: drive Information, Hv, Tm, Dt, Np... Drive element data set 120... Transport mechanism 120a... Air flow passage 121... Transport path 122... Jet port

Claims (14)

A system for controlling a conveyed object conveyed along a conveying path by an air current,
a fumarole connected to an airflow path extending from an airflow source and facing the conveying path;
an on-off valve configured to open and close the airflow path in an opening/closing mode corresponding to the drive waveform of the drive signal by receiving a drive signal;
a conveyed object determination unit that makes a judgment according to a detection mode of a conveyed object detector that detects the conveyed object traveling toward the blowing port on the conveying path;
When the determination result of the transported object determination unit is a result requiring control by the airflow of the transported object, the drive signal having the drive waveform corresponding to the determination result is output, and driving corresponding to the drive waveform is performed. an on-off valve control drive unit configured to control the opening and closing of the on-off valve at the timing when the conveyed object faces the blowing port;
A conveyed object airflow control system comprising: When the transported object determining unit obtains a specific determination result among the plurality of determination results, the on-off valve control drive unit does not output the drive signal according to predetermined drive information.
The airflow control system for conveyed objects according to claim 1 . The on-off valve control drive unit includes:
an on-off valve control unit that outputs a command signal including drive element data corresponding to the determination result according to predetermined drive information in accordance with the timing;
an on-off valve drive section for outputting the drive signal having the drive waveform corresponding to the drive element data in order to drive the on-off valve when receiving the command signal;
has a
The airflow control system for conveyed objects according to claim 1 or 2. The on-off valve drive unit is
a drive waveform generator that generates the drive waveform corresponding to the drive element data;
a drive signal output unit that outputs the drive signal having the drive waveform to the on-off valve;
has a
The airflow control system for conveyed objects according to claim 3. The drive element data indicates a numerical value expressing the mode of the drive waveform,
The airflow control system for conveyed objects according to claim 3 or 4. an airflow mode detector that detects the airflow mode of the airflow path;
an on-off valve driving mode correction unit that modifies the mode of opening/closing control of the on-off valve by the on-off valve control driving unit based on the detection mode of the airflow mode detector when the on-off valve is in the open state;
further comprising
An airflow control system for conveyed objects according to any one of claims 1-5. The on-off valve control drive unit is configured to be capable of outputting a plurality of types of drive signals whose temporal factors change according to the determination result.
An airflow control system for conveyed objects according to any one of claims 1-6. the temporal component is the number of drive pulses of the drive signal;
The airflow control system for conveyed objects according to claim 7. wherein the temporal factor is the duty ratio of the drive signal;
The airflow control system for conveyed objects according to claim 7 or 8. wherein the temporal element is the time width of the drive signal;
An airflow control system for conveyed objects according to any one of claims 7-9. The on-off valve control drive unit is configured to be capable of outputting a plurality of types of the drive signal whose intensity changes according to the determination result,
An airflow control system for conveyed objects according to any one of claims 1-10. The on-off valve is a piezoelectric valve,
Airflow control system for conveyed objects according to any one of claims 1-11. an airflow control system for conveyed objects according to any one of claims 1 to 12;
a conveying mechanism that conveys the article along the conveying path;
A conveying device comprising a The transport mechanism transports the transported object by vibrating the transport path.
14. A transport device according to claim 13.

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