JP5675648B2 - Rotational positioning method and rotational positioning system - Google Patents

Description

  The present invention relates to a rotational positioning method and a rotational positioning system in which a workpiece such as a container transported by a conveyor is rotated around a central axis in a transport direction by a rotational positioning device and directed in a certain direction.

  2. Description of the Related Art Conventionally, there is a horizontal rotational positioning device that rotates a plurality of workpieces conveyed by a conveyor around a rotation center axis parallel to the conveyance direction (horizontal direction) and directs the workpiece in a fixed direction, and a rotational positioning method using the device. Has been devised (for example, see Patent Document 1). Further, a rotational positioning device that mechanically follows a conveyor for driving a workpiece to maintain the contact of the workpiece with the driving roller and a rotational positioning method using the device have been devised (for example, (See Patent Document 2).

  These rotary positioning devices start rotation of the loaded workpiece, detect the mark on the workpiece surface with a sensor, rotate the workpiece by a fixed positioning angle from the time of detection, and stop the workpiece in a certain direction. it can. However, rotational positioning by the rotary positioning device requires time from the start of rotation of the workpiece to mark detection, and time from mark detection to rotation after stopping at a certain positioning angle. There was a limit to efficiency. On the other hand, in order to improve the efficiency of rotational positioning, it is considered to use two rotational positioning devices. When two rotational positioning devices are used, a method of arranging two rotational positioning devices in parallel and a method of arranging them in series can be considered. When two rotational positioning devices are arranged in parallel, a diverter and a merger are required, and the cost increases. Therefore, it is preferable to arrange them in series.

  When two rotational positioning devices are arranged in series, one rotational positioning device arranged at the rear in the conveying direction performs the rotational positioning of the odd-numbered workpiece, and the other rotational positioning devices are arranged at the front in the conveying direction. The rotational positioning device can perform rotational positioning of the even-numbered workpieces, thereby improving rotational positioning efficiency. In this single rotary positioning device, the workpiece rotates at a constant speed until it rotates at a constant speed, rotates at a constant speed until a mark is detected, detects the workpiece, rotates at a fixed positioning angle, and stops the workpiece. Rotate at a reduced speed until However, since the position of the mark of the workpiece that has been loaded is irregular, it may be necessary to perform one rotation at a constant speed until the mark is detected. Furthermore, since the rotation amount of the fixed positioning angle rotation after the workpiece is detected is selected and set in advance from 0 to 1 rotation in consideration of the work design and the like, it may be one rotation depending on the selection. There is. For this reason, the time required for rotational positioning is a maximum of (acceleration time) + (one rotation time) + (one rotation time) + (deceleration time). Therefore, it is necessary to improve the efficiency of rotational positioning. Further, when a workpiece already positioned by the upstream rotary positioning device passes through the downstream rotary positioning device, there is a possibility that the already positioned workpiece is displaced due to vibration. For this reason, it is necessary to improve the reliability of rotational positioning.

Japanese Utility Model Publication No. 54-62283 JP-A-4-173616

  An object of the present invention is to provide a rotational positioning method and a rotational positioning system that can improve the efficiency and reliability of rotational positioning.

The rotational positioning method of the present invention is a rotational positioning method in which a workpiece conveyed by a conveyor is rotated around a rotation center axis parallel to the conveyance direction and directed in a certain direction. A driving roller for rotating around a parallel rotation center axis is provided, and the workpiece is moved around the rotation center axis by following the conveyor while the driving roller is in contact with the workpiece being conveyed. A rotational positioning method in which two rotational positioning devices that rotate and stop the workpiece when the rotated workpiece is oriented in a certain direction are arranged in series in the conveying direction, and are arranged behind the conveying direction. Another rotation positioning device rotates the workpiece around the rotation center axis, and a sensor detects a mark on the surface of the workpiece. A step of stopping the rotation of the workpiece, and another rotation positioning device arranged in front of the conveyance direction stops the rotation of the workpiece after rotating the workpiece whose rotation has been stopped by a predetermined positioning angle. And a step.

  The rotational positioning method of the present invention is characterized in that, in the rotational positioning method, the rotational direction of the workpiece by the one rotational positioning device is opposite to the rotational direction of the workpiece by the other rotational positioning device. .

  Further, in the rotational positioning method of the present invention, in the rotational positioning method, the one rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and marks the surface of the workpiece. The rotation of the workpiece is stopped after rotating by a predetermined excessive angle from the time when the sensor detects, and another rotation positioning device arranged in front of the transport direction moves the workpiece whose rotation has been stopped before the rotation center axis. The rotation of the workpiece is stopped after rotating a fixed positioning angle after the sensor detects the mark on the surface of the workpiece.

The rotational positioning system of the present invention is a rotational positioning system in which a workpiece conveyed by a conveyor is rotated around a rotation center axis parallel to the conveyance direction and directed in a certain direction, and the workpiece being conveyed is conveyed. A driving roller for rotating around a rotation center axis parallel to the direction is provided, and the workpiece is moved following the conveyor in a state in which the driving roller is in contact with the workpiece being conveyed; Two rotation positioning devices that rotate around and stop the workpiece when the rotated workpiece is oriented in a certain direction are arranged in series in the conveyance direction, and are arranged behind the conveyance direction. The rotary positioning device rotates the workpiece around the rotation center axis, and a sensor detects a mark on the surface of the workpiece. To stop the rotation of the workpiece, and the other rotation positioning device disposed in front of the conveyance direction stops the rotation of the workpiece after rotating the workpiece whose rotation has been stopped by a predetermined positioning angle. Features.

  In the rotational positioning system of the present invention, in the rotational positioning system, the rotational direction of the workpiece by the one rotational positioning device is opposite to the rotational direction of the workpiece by the other rotational positioning device.

  Further, in the rotational positioning system of the present invention, in the rotational positioning system, the one rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and marks the surface of the workpiece. The rotation of the workpiece is stopped after rotating by a predetermined excessive angle from the time when the sensor detects, and another rotation positioning device arranged in front of the conveyance direction causes the workpiece whose rotation has been stopped to be The rotation of the workpiece is stopped after rotating by a fixed positioning angle after the sensor detects the mark on the surface of the workpiece.

  Further, in the rotational positioning system of the present invention, in the rotational positioning system, the one rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and marks the surface of the workpiece. The rotation of the workpiece is stopped after rotating by a predetermined excessive angle from the time when the sensor detects, and another rotation positioning device arranged in front of the conveyance direction causes the workpiece whose rotation has been stopped to be The rotation of the workpiece is stopped after rotating by a fixed positioning angle after the sensor detects the mark on the surface of the workpiece.

  Further, in the rotational positioning system of the present invention, in the rotational positioning system, the one rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and marks the surface of the workpiece. The rotation of the workpiece is stopped after rotating by a predetermined excessive angle from the time when the sensor detects, and another rotation positioning device arranged in front of the conveyance direction causes the workpiece whose rotation has been stopped to be The rotation of the workpiece is stopped after rotating by a fixed positioning angle after the sensor detects the mark on the surface of the workpiece.

  According to the rotational positioning method and rotational positioning system of the present invention, one rotational positioning device performs acceleration rotation until the workpiece rotates at a constant speed, performs constant rotation until a mark is detected, and until the workpiece stops. While rotating at a reduced speed, the other rotary positioning devices perform accelerated rotation until the workpiece rotates at a constant speed, rotate at a fixed positioning angle, and perform reduced rotation until the workpiece stops. The positioning time can be shortened and work efficiency can be improved. In particular, in other rotary positioning devices, workpieces in the same direction are conveyed, so it is sufficient to rotate them by a fixed positioning angle. Therefore, in one rotational positioning device, acceleration rotation is performed until the workpiece rotates at a constant speed, rotation is performed at a constant speed until a mark is detected, workpiece is detected, rotation is performed at a certain positioning angle, and the workpiece is rotated. The rotational positioning time of the workpiece can be reduced as compared with the case where the decelerated rotation is performed until it stops. Moreover, the length of the workpiece conveyance path (guide roller etc.) of one rotation positioning device can be shortened, and the space can be reduced. Further, it is possible to prevent the rotation positioning from becoming impossible because a plurality of workpieces are placed on one workpiece conveyance path (guide roller or the like), and the rotation positioning operation can be performed reliably.

It is a figure which shows the rotational positioning apparatus used for the rotational positioning method and rotational positioning system of this invention, The figure (a) is a top view, The figure (b) is a side view. It is a block diagram which shows the rotation positioning device of FIG. It is a flowchart for demonstrating the action | operation of one rotation positioning device. It is a flowchart for demonstrating the action | operation of another rotation positioning device. It is a graph for demonstrating the effect | action of the rotation positioning method and rotation positioning system of this invention. It is a figure explaining the operation | movement of the rotation positioning method and rotation positioning system of this invention theoretically, The figure (a) is a figure which shows the workpiece | work in one rotation positioning device, The figure (b) is another rotation. It is a figure which shows the workpiece | work in a positioning device.

  Next, embodiments of a rotational positioning method and a rotational positioning system according to the present invention will be described in detail based on the drawings.

  In FIG. 1, reference numeral 100 denotes the rotational positioning system of the present invention. Reference numerals 10 (a) and 10 (b) are rotational positioning devices used in the rotational positioning method and rotational positioning system 100 of the present invention, and the containers (workpieces) 14 transported by the conveyor 12 are transported in the transport direction (X-axis). Rotation positioning device that rotates around a rotation center axis C1 parallel to the direction) and directs it in a certain direction.

The rotational positioning device 10 (a) rotates the drive roller 16 (a) brought into contact with the transported container 14 (a) around the rotation center axis C2 to cause the container 14 (a) to move around the rotation center axis C1. Rotating means 18 (a) that rotates around, and when the sensor 21 (a) detects a mark on the surface of the workpiece 14 (a), the rotation of the container 14 (a) is stopped 20 (a), and the container 14 (a) The drive roller 16 (a) brought into contact with the drive roller 16 is caused to follow the conveyor 12 by electrical control of a servo motor, and the follow drive means 22 (a) for maintaining the contact of the container 14 (a) with the drive roller 16 (a). ) And. The rotational positioning device 10 (b) rotates the drive roller 16 (b) brought into contact with the container 14 (b) being conveyed around the rotation center axis C2 to move the container 14 (b) about the rotation center axis C1. Rotating means 18 (b) for rotating around, stopping means 20 (b) for stopping when the container 14 (b) is directed in a certain direction, and driving roller 16 (b) in contact with the container 14 (b) And follow-up drive means 22 (b) for keeping the container 14 (b) in contact with the drive roller 16 (b) by following the conveyor 12 by electrical control of the servo motor.

  The rotational positioning method according to the present invention is a rotational positioning method in which two rotational positioning devices 10 (a) and 10 (b) are arranged in the conveying direction of the conveyor 12. The rotational positioning system 100 of the present invention is a rotational positioning system that rotates a container (workpiece) 14 being conveyed by the conveyor 12 around a rotation center axis C1 parallel to the conveying direction and directs the container 14 in a certain direction. Rotation positioning devices 10 (a) and 10 (b) that rotate the container 14 being conveyed around the rotation center axis C1 and stop when the container 14 to be rotated is directed in a certain direction are connected in series in the conveyance direction. It is arranged and arranged. One rotational positioning device 10 (a) disposed rearward in the transport direction rotates the container 14 (a) around the rotation center axis C1, and the sensor 21 (a) marks the mark on the surface of the container 14 (a). By detecting, the rotation of the container 14 (a) is stopped, and when the mark is detected, the other rotation positioning device 10 (b) disposed in front of the conveyance direction stops the rotation by the one rotation positioning device 10 (a). The rotation of the container 14 (b) is stopped after the container 14 (b) is rotated by a certain positioning angle. The rotation direction of the container 14 (a) by one rotational positioning device 10 (a) is opposite to the rotation direction of the container 14 (b) by another rotational positioning device 10 (b).

  The conveyor 12 includes a guide bar 24 on which the container 14 is placed, a chain 25 that is rotated by a rotation driving unit (not shown), and a hook 26 that moves the container 14 by pressing the container 14 in the X-axis direction by the rotation of the chain 25. It is prepared for. The hooks 26 are fixed to the chain 25 at equal intervals, so that the plurality of containers 14 can be conveyed at equal intervals.

  The rotation means 18 (a) includes a drive roller 16 (a), a rotation drive mechanism including a rotation servomotor 17 (a) for rotating the drive roller 16 (a) about the rotation center axis C2, and a guide bar. 24 and the rotational positioning device 10 (b), the container 14 (a) can be transferred, and a guide roller (work transport path) 27 (a) that can freely rotate around the rotation center axis C3. I have. By rotating the drive roller 16 (a) in contact with the container 14 (a) and rotating the guide roller 27 (a) around the rotation center axis C3, the container 14 (a) is rotated around the rotation center axis C1. Can be rotated around. The rotating means 18 (b) has the same configuration as the rotating means 18 (a).

  The stopping means 20 (a) is composed of a servo motor for rotation 17 (a) and a sensor 21 (a) for detecting a mark attached to a fixed position on the outer peripheral side surface of the container 14 (a). The stopping means 20 (b) is composed of a rotating servo motor 17 (b). In addition, the aspect of sensor 21 (a) is not specifically limited, such as a reflective fiber sensor or a photoelectric sensor.

  As shown in FIG. 2, the tracking drive means 22 (a) detects the amount of rotation of the chain 25 of the conveyor 12 and transmits it to the control means 32, and moves the drive roller 16 (a) in the X-axis direction. The X-axis servomotor 30 (a) to be controlled, and the control means 32 for controlling the X-axis servomotor 30 (a) based on detection by the encoder 28. The control means 32 also controls a Z-axis servomotor 34 (a) that moves the drive roller 16 (a) in the Z-axis direction. The follower drive unit 22 (b) has the same configuration as the follower drive unit 22 (a).

  The operation of the rotational positioning method and rotational positioning system of the present invention using such rotational positioning devices 10 (a) and 10 (b) will be described below with reference to the flowcharts of FIGS. The following actions are achieved based on a program stored in the control means 32. FIG. 3 shows the operation of the rotational positioning device 10 (a), and FIG. 4 shows the operation of the rotational positioning device 10 (b). .

  When positioning the plurality of containers 14, when the rotational positioning process including the rotational positioning devices 10 (a) and 10 (b) is operated, the chain 25 is driven to rotate, and the plurality of containers 14 are spaced at regular intervals by the hooks 26. It is sent in the positive direction of the X-axis while being arranged, and is sent to the top of the guide rollers 27 (a) and 27 (b). When a detection means such as a sensor (not shown) detects the containers 14 (a) and 14 (b) being carried in, the control means 32 causes the X-axis servomotors 30 (a) and 30 (b) and the Z-axis servomotor 34 (a). 3 and 4, the driving roller 16 (a) located at the origin approaches the container 14 (a) and comes into contact with the driving roller 16 located at the origin as shown in FIGS. 3 and 4. (B) approaches and contacts container 14 (b). At this time, the control means 32 calculates the moving speed of the chain 25 based on the rotation amount of the chain 25 transmitted from the encoder 28, and the driving roller 16 (a) at the same speed as this moving speed in the X-axis direction. And 16 (b) are preferably moved. As shown in FIG. 1 (b), the driving rollers 16 (a) and 16 (b) move obliquely downward to approach the containers 14 (a) and 14 (b), and the containers 14 (a) and 16 (b) The impact at the time of contact with 14 (b) is alleviated.

  Next, in the rotational positioning device 10 (a), as shown in FIG. 3, the control means 32 drives the rotation servomotor 17 (a) to drive the drive roller 16 (a) to rotate, thereby causing the container 14 to rotate. Rotate (a). Further, the X-axis servo motor 30 (a) is driven to start the movement of the driving roller 16 (a) in the positive X-axis direction. At this time, the control means 32 calculates the moving speed of the chain 25 based on the rotation amount of the chain 25 transmitted from the encoder 28, and moves the driving roller 16 (a) at the same speed as this moving speed, The drive roller 16 (a) is caused to follow the conveyor 12. Next, when the sensor 21 (a) detects the mark on the surface of the container 14 (a), as shown in FIG. 3, the control means 32 stops the rotation of the driving roller 16 (a) and the container 14 (a). Stop rotating. During the acceleration of the container 14 (a), the rotational operation is unstable due to sliding with the driving roller 16 (a), etc., so that the mark detection is not performed during the acceleration and the mark detection is performed during the rotation at a constant speed. Do. Here, in FIG. 5A, h11 is a time required for acceleration of the rotational drive of the drive roller 16 (a), and h12 is a sensor after the drive roller 16 (a) starts rotating at a constant speed. 21 (a) is the time until the mark on the surface of the container 14 (a) is detected, and h13 is the driving roller 16 (a) after the sensor 21 (a) detects the mark on the surface of the container 14 (a). Is the time until the rotational drive is completely stopped.

  On the other hand, in the rotation positioning device 10 (b) in the subsequent process, the control means 32 drives the rotation servomotor 17 (b) to drive the drive roller 16 (b) to the drive roller 16 (b) as shown in FIG. The container 14 (b) sent from the rotational positioning device 10 (a) is rotated in the opposite direction to the container 14 (a) of the rotational positioning device 10 (a) by being driven to rotate in the opposite direction to a). Let Further, the X-axis servomotor 30 (b) is driven to start the movement of the driving roller 16 (b) in the positive X-axis direction. At this time, the control means 32 calculates the moving speed of the chain 25 based on the rotation amount of the chain 25 transmitted from the encoder 28, and moves the driving roller 16 (b) at the same speed as this moving speed, The driving roller 16 (b) is caused to follow the conveyor 12. Next, as shown in FIG. 4, the control means 32 stops the rotation of the drive roller 16 (b) after rotating the drive roller 16 (b) by a fixed positioning angle in the opposite direction to the drive roller 16 (a). The constant positioning angle is an angle for orienting the container 14 (b) in a constant direction, and is set in advance in the memory of the control means 32. Here, in FIG. 5B, h22 is a time required for acceleration of the rotational drive of the drive roller 16 (b), and h22 is controlled after the drive roller 16 (b) starts rotating at a constant speed. This is the time until the means 32 commands rotation stop, and h23 is from when the control means 32 commands the drive roller 16 (b) to stop rotation until the drive roller 16 (b) completely stops the rotation drive. Is the time.

  Here, since the rotation direction of the container 14 (a) in the rotation positioning device 10 (a) is opposite to the rotation direction of the container 14 (b) in the rotation positioning device 10 (b), as shown in FIG. The mark position A when the sensor 21 (a) detects the mark on the container 14 (a) coincides with the position D at which the container 14 (b) starts rotating at a certain positioning angle. For this reason, accurate positioning is possible. In FIG. 6, B is the mark position when the container 14 (a) has completely stopped rotating, and C is the mark position when the container 14 (b) starts reverse rotation acceleration. That is, one rotational positioning device 10 (a) rotates the container 14 (a) around the rotation center axis C1, and the container 14 (a) detects the mark on the surface of the container 14 (a) when the sensor 21 (a) detects the mark. If the configuration is such that the rotation of (a) is stopped and the rotation positioning device 10 (b) stops the rotation of the container 14 (b) after rotating the container 14 (b) by a certain positioning angle. The position A of the mark when the sensor 21 (a) detects the mark of the container 14 (a) coincides with the position D at which the container 14 (b) begins to rotate at a fixed positioning angle, which is theoretically accurate. In principle, the rotational positioning method as described above may be used. However, in reality, when the container 14 is transferred from the rotational positioning device 10 (a) to the rotational positioning device 10 (b), the container 14 is rotated at some angle by vibration, that is, the orientation of the container 14 is changed. The following rotational positioning method using the sensor 21 (b) is employed for the reason that it may be mutated.

First, in the rotational positioning device 10 (a), after the sensor 21 (a) detects the mark on the surface of the container 14 (a), the container 14 (a) is stopped after being rotated by a fixed angle, and the rotational positioning device 10 is stopped. In (b), a rotational positioning method in which the container 14 (b) is stopped after the sensor 21 (b) has detected a mark on the surface of the container 14 (b) and then has been rotated by a fixed positioning angle may be employed. That is, in the rotation positioning device 10 (a), the container 14 (a) is not stopped at the moment when the sensor 21 (a) detects the mark on the surface of the container 14 (a), but is excessively rotated by a predetermined excessive angle. It is. In the case of this method, the driving roller 16 (a) is selected if the sensor 21 (a) detects a mark on the surface of the container 14 (a) and the constant excess angle from the stop of the container 14 (a) is less than half rotation. ) And the driving roller 16 (b) rotate in the opposite directions, so that in the rotational positioning device 10 (b), the sensor 21 (b) marks the mark on the surface of the container 14 (b) within a short period of less than half a rotation. It can be detected quickly. The constant excessive angle for extra rotation may be an angle determined by the operator himself or an angle inevitably determined experimentally from a variation in the orientation of the container 14 caused by vibration or inertia.

In the method in which the sensor 14 (a) rotates the container 14 (a) by a fixed excess angle from the moment when the mark on the surface of the container 14 (a) is detected, the fixed excessive angle is half or more. The driving roller 16 (a) and the driving roller 16 (b) may be rotated in the same direction. When the fixed excessive angle for extra rotation is more than half rotation , the sensor 21 (b) should be rotated on the surface of the container 14 (b) by rotating the driving roller 16 (a) and the driving roller 16 (b) in the same direction. This is because the mark can be quickly detected within a short time of less than half a rotation .

  Next, in the rotary positioning devices 10 (a) and 10 (b), the control means 32 drives the Z-axis servo motors 34 (a) and 34 (b) as shown in FIG. 1 (b). After the driving rollers 16 (a) and 16 (b) are moved in the positive direction of the Z-axis, the X-axis servo motors 30 (a) and 30 (b) are driven to drive the driving rollers 16 (a) and 16 (b). Is moved in the negative direction of the X axis to return the driving rollers 16 (a) and 16 (b) to the origin.

  According to the rotational positioning method and rotational positioning system of the present invention, the drive roller 14 (a) is rotated until the rotational positioning device 10 (a) detects the mark on the surface of the container 14 (a) as described above. Since the rotational positioning device 10 (b) in the subsequent process rotates the container 14 (b) until it faces a certain direction, the two rotational positioning devices 10 (a) and 10 (b) arranged in series can 14 rotational positioning can be performed sequentially.

  As mentioned above, although embodiment of this invention was described based on drawing, this invention is not limited to what was illustrated. For example, the shape of the workpiece for rotational positioning by the rotational positioning method and rotational positioning system of the present invention is not particularly limited. In addition, the technical scope of the present invention includes embodiments in which various improvements, modifications, and variations are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. Moreover, you may implement with the form which substituted any invention specific matter to the other technique within the range which the same effect | action or effect produces.

  According to the rotational positioning method and rotational positioning system of the present invention, while the rotational roller is rotated until one rotational positioning device detects a mark on the workpiece surface, the other rotational positioning device causes the workpiece to move in a certain direction. Since the two rotary positioning devices arranged in series are rotated until they face, the rotational positioning of a plurality of workpieces can be performed sequentially in an efficient and reliable manner. In addition, one rotational positioning device arranged at the rear in the transport direction performs rotational positioning of the workpiece loaded odd, and the other rotational positioning device disposed at the front in the transport direction rotates the workpiece loaded even. Compared to the rotational positioning method for positioning, the processing time per rotational positioning device is reduced. For this reason, it can utilize widely for the rotation positioning operation | work of a workpiece | work. Moreover, this invention can be utilized for packaging the container after arrange | positioning a pillow packaging machine downstream from this apparatus and carrying out rotation positioning.

10 (a), 10 (b): Rotating positioning device 12: Conveyor 14 (a), 14 (b): Container (workpiece)
16 (a), 16 (b): Drive rollers 17 (a), 17 (b): Servo motors for rotation 18 (a), 18 (b): Rotating means 20 (a), 20 (b): Stopping means 21 (a), 21 (b): sensors 22 (a), 22 (b): follow-up drive means 24: guide bar 25: chain 26 (a), 26 (b): hooks 27 (a), 27 (b) ): Guide roller (work transfer route)
28: Encoder 30 (a), 30 (b): X-axis servo motor 32: Control means 34 (a), 34 (b): Z-axis servo motor 100: Rotation positioning system C1, C2, C3: Rotation center axis

Claims (8)

In the rotational positioning method in which the work being conveyed by the conveyor is rotated around a rotation center axis parallel to the conveyance direction and directed in a certain direction,
A drive roller is provided for rotating the workpiece being conveyed around a rotation center axis parallel to the conveyance direction,
Said being in contact with the drive roller to the work being conveyed to follow the movement to the conveyor, the workpiece is rotated about the rotational center axis, wherein when the workpiece is caused to the rotation is oriented in a predetermined direction A rotational positioning method in which two rotational positioning devices for stopping a workpiece are arranged in series in the conveying direction,
A step of rotating the workpiece around the rotation center axis, and stopping rotation of the workpiece by a sensor detecting a mark on the surface of the workpiece; A step of stopping the rotation of the workpiece after rotating the workpiece whose rotation has been stopped at a predetermined positioning angle by another rotation positioning device disposed in front of the conveyance direction;
A rotational positioning method including: The rotational positioning method according to claim 1, wherein the rotational direction of the workpiece by the one rotational positioning device is opposite to the rotational direction of the workpiece by the other rotational positioning device. One rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and after rotating the workpiece surface mark by a predetermined excessive angle from when the mark is detected by the sensor, Stop spinning,
Another rotation positioning device arranged in front of the conveying direction rotates the work whose rotation has been stopped around the rotation center axis, and rotates a fixed positioning angle after the sensor detects the mark on the surface of the work. The rotation positioning method according to claim 1, wherein the rotation of the workpiece is stopped after the rotation. One rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and after rotating the workpiece surface mark by a predetermined excessive angle from when the mark is detected by the sensor, Stop spinning,
Another rotation positioning device arranged in front of the conveying direction rotates the work whose rotation has been stopped around the rotation center axis, and rotates a fixed positioning angle after the sensor detects the mark on the surface of the work. The rotation positioning method according to claim 2, wherein the rotation of the workpiece is stopped after the rotation. In a rotary positioning system in which the work being conveyed by the conveyor is rotated around a rotation center axis parallel to the conveyance direction and directed in a certain direction,
A drive roller is provided for rotating the workpiece being conveyed around a rotation center axis parallel to the conveyance direction,
Said being in contact with the drive roller to the work being conveyed to follow the movement to the conveyor, the workpiece is rotated about the rotational center axis, wherein when the workpiece is caused to the rotation is oriented in a predetermined direction Two rotational positioning devices for stopping the workpiece are arranged in series in the conveying direction,
One rotational positioning device arranged rearward in the transport direction rotates the workpiece around the rotation center axis, and stops rotation of the workpiece by detecting a mark on the surface of the workpiece by a sensor,
The other rotational positioning device arranged in front of the conveyance direction stops the rotation of the workpiece after rotating the workpiece whose rotation has been stopped by a certain positioning angle,
Rotary positioning system. The rotational positioning system according to claim 5, wherein the rotational direction of the workpiece by the one rotational positioning device is opposite to the rotational direction of the workpiece by the other rotational positioning device. One rotational positioning device arranged at the rear of the conveying direction rotates the workpiece around the rotation center axis, and after rotating the workpiece surface mark by a predetermined excessive angle from when the mark is detected by the sensor, Stop spinning,
Another rotational positioning device arranged in front of the conveying direction rotates the work whose rotation has been stopped around the rotation center axis, and rotates a fixed positioning angle after a sensor detects a mark on the surface of the work. The rotation positioning system according to claim 5, wherein the rotation of the workpiece is stopped after the rotation. One rotational positioning device arranged at the rear of the conveying direction rotates the workpiece around the rotation center axis, and after rotating the workpiece surface mark by a predetermined excessive angle from when the mark is detected by the sensor, Stop spinning,
Another rotational positioning device arranged in front of the conveying direction rotates the work whose rotation has been stopped around the rotation center axis, and rotates a fixed positioning angle after a sensor detects a mark on the surface of the work. The rotation positioning system according to claim 6, wherein the rotation of the workpiece is stopped after the rotation.

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