JP6816363B2 - Controls, control methods, programs and transport systems - Google Patents

Description

The present invention relates to control devices, control methods, programs and transport systems.

A prepreg supply device capable of transporting a prepreg as an object to be transported is known. For example, Patent Document 1 proposes a prepreg supply device in which a prepreg is sucked and lifted by a suction pad that is rotated by a cylinder or the like, the suction pad is moved laterally, and then the prepreg is grasped and conveyed by a chuck carrier.

However, in the conventional prepreg supply device, it may take time to set for properly transporting the object to be transported. At the time of transportation, it is desirable to change the setting for transportation such as adsorption conditions (adsorption force) according to the attributes (type (product name), size, thickness, etc.) of the object to be transported. If the object is to be transported with a known attribute, it can be configured to make a pre-registered setting according to this attribute. However, for an object to be transported with an unknown attribute, it may be necessary to manually set the items to be transported.

The present invention has been made in view of the above, and an object of the present invention is to provide a control device, a control method, a program, and a transfer system that enable more efficient transfer of an object to be conveyed.

In order to solve the above-mentioned problems and achieve the object, the present invention comprises a levitation means for floating the loaded object to be transported by using air, and a holding member for holding and separating the levitation object to be transported. It is a control device that controls the separation device provided with the above, and determines the acquisition unit that acquires the attribute information of the transported object and the registered attribute information that matches the acquired attribute information, and acquires the attribute information. If there is no matching registered attribute information, it operates according to the decision unit that determines the attribute information similar to the acquired attribute information among the registered attribute information and the conditions determined according to the determined attribute information. As described above, the levitation means and the setting unit for setting the holding member are provided, and the attribute information includes at least the size of the transported object, the type of the transported object, and the thickness of the transported object. Including one, the determination unit prioritizes the size over the type and the thickness to determine whether the attribute information is similar.

According to the present invention, there is an effect that the object to be transported can be transported more efficiently.

FIG. 1 is a diagram showing an example of the overall configuration of the transport system of the present embodiment. FIG. 2 is an explanatory diagram showing a hardware configuration example of the control device. FIG. 3 is a perspective view schematically showing a part of the inside of the separating device. FIG. 4 is a diagram showing an example of arrangement of units. FIG. 5 is a block diagram showing an example of the functional configuration of the control device and the separation device. FIG. 6 is a diagram showing an example of a data structure of registration information. FIG. 7 is a flowchart showing an example of the setting process. FIG. 8 is a diagram showing an example of the acquired sheet information. FIG. 9 is a diagram showing an example of the acquired sheet information. FIG. 10 is a diagram showing an example of correspondence between size and arrangement. FIG. 11 is a diagram showing a specific example of each unit arrangement. FIG. 12 is a diagram showing a specific example of each unit arrangement. FIG. 13 is a diagram showing a specific example of each unit arrangement. FIG. 14 is a diagram showing a specific example of each unit arrangement. FIG. 15 is a diagram showing a specific example of each unit arrangement. FIG. 16 is a diagram showing a specific example of each unit arrangement.

An embodiment of a control device, a control method, a program, and a transport system according to the present invention will be described in detail with reference to the accompanying drawings.

The control device of the present embodiment controls a separation device that conveys an object to be conveyed such as a prepreg. The control device acquires attribute information indicating the attributes (type, size, thickness, etc.) of the transported object, and determines whether the attribute information has already been registered. If registered, the control device sets the separation device so as to transport the object to be transported under the conditions determined according to the registered attribute information. If not registered, the control device determines the attribute information similar to the acquired attribute information, and sets the separation device so as to transport the object to be transported under the conditions determined according to the determined attribute information. As a result, even if the transported object has an unregistered (unknown) attribute, manual setting or the like becomes unnecessary, and the transported object can be transported more efficiently.

In the present embodiment, the case where the object to be transported is a prepreg will be described as an example. The prepreg is an example of an object to be transported, and includes a thin plate-shaped or sheet-shaped member that can be transported by the transport system of the present embodiment. The objects to be transported include resin, protective paper on the front and back surfaces, metal leaf such as copper foil, electronic circuit board material subjected to plating treatment, paper, special film, plastic film, and sheet for electronic circuit board such as prepreg. Can include. The object to be conveyed by the transfer system is not limited to the prepreg.

Specifically, the object to be transported is an object that can be transported and loaded by the transport system. The shape of the object to be transported is not limited, and may be either a sheet shape or a three-dimensional object. In the present embodiment, the case where the object to be transported is in the form of a sheet will be described.

The transport system of the present embodiment is particularly useful for transporting objects to be transported having the following characteristics. Specifically, the object to be transported is preferably one that requires careful handling during transportation and loading due to its characteristics such as vulnerability, flammability, and flexibility.

The prepreg is a semi-curable sheet-like member. It is known that prepregs are vulnerable to scratches (low wear resistance), highly ignitable, and highly flexible. Therefore, the prepreg is a sheet-like member that requires attention for transportation and loading from the viewpoints of suppressing scratching, suppressing ignition, and suppressing bending and bending.

In the present embodiment, the prepreg will be described as being a rectangular sheet-like member cut or molded to a predetermined size.

FIG. 1 is a diagram showing an example of the overall configuration of the transport system of the present embodiment. As shown in FIG. 1, the transport system 100 includes a control device 200 and a separation device 110.

The control device 200 controls the separation and supply of the prepreg by the separation device 110. Details of the function of the control device 200 will be described later.

The separation device 110 separates and conveys the prepreg sheets (sheet-shaped prepregs) laminated in a cut state one by one. The prepreg sheet is an example of an object to be transported, and an object to be transported other than the prepreg sheet may be used. The separation device 110 may be a mechanism for supplying the prepreg sheet, and its mode is not limited. The separation device 110 may be a mechanism for automatically supplying the sheet-shaped prepreg, or may be a mechanism for supplying the roll-shaped prepreg after cutting it. Further, the separation device 110 may be a mechanism for manually supplying the prepreg sheet. Further, the separation device 110 may be a combination of at least two or more of these mechanisms (automatic supply, supply after cutting, and supply by manual feed).

Any process can be applied to the process for the prepreg supplied by the separator 110. For example, the prepreg supplied by the separation device 110 may be inspected while being conveyed, and the conveying direction may be branched according to the inspection result.

As shown in FIG. 1, the separation device 110 includes a separation / transfer unit 111, a dust processing unit 112, a blower 113, and an elevating carriage 114. The separation transport unit 111 includes a suction fan 111a and a transport belt 111b.

The elevating trolley 114 is a trolley on which a prepreg seat is placed, and moves up and down according to the amount of the prepreg seat. The suction fan 111a is a means for sucking the prepreg sheet on the uppermost surface. The dust processing unit 112 is a portion that draws in and stores dust and the like of the sheet material scattered by the blower 113 when the prepreg sheet is supplied. The dust processing unit 112 may include a replaceable filter or the like that filters out dust. The separation transport unit 111 attracts the prepreg sheet to the transport belt 111b by the suction force of the suction fan 111a, and sequentially transports the sucked prepreg sheet to a subsequent device (inspection transfer device or the like).

FIG. 2 is an explanatory diagram showing a hardware configuration example of the control device 200 according to the present embodiment. The control device according to the present embodiment connects to a control device such as a CPU (Central Processing Unit) 51 and a storage device such as a ROM (Read Only Memory) 52 or a RAM (Random Access Memory) 53 to communicate with each other. It includes a communication I / F 54 for performing communication, a display 55, a bar code reader 56, and a bus 61 for connecting each part. The control device 200 can be configured by, for example, an ordinary computer.

FIG. 3 is a perspective view schematically showing a part of the inside of the separating device 110. As shown in FIG. 3, the separation device 110 includes a mounting table 131, a front fence 132, an end fence 133, a side air unit 134, a suction transfer unit 135, and a front air unit 136.

As shown in FIG. 3, a plurality of side air units 134, suction transfer units 135, and front air units 136 are provided. The number of each unit is not limited to FIG. Further, only one of the side air unit 134, the suction transfer unit 135, and the front air unit 136 may be provided.

Each unit may be movably installed so that the arrangement of the plurality of units can be changed according to the attributes of the prepreg. For example, it may be possible to change the number of units to be used among the plurality of units and the position of the units to be used according to the size of the prepreg. The position of the unit may be changed manually by the user or by a drive mechanism controlled by a control device 200 or the like.

FIG. 4 is a diagram showing an example of arrangement of units. FIG. 4 is a schematic view of the separation device 110 when observed from above. As shown in FIG. 4, each unit may be movable in a direction orthogonal to the supply direction of the prepreg, for example. The suction transfer unit 135 and the side air unit 134 may be further movable in parallel with the supply direction of the prepreg.

Return to FIG. In the following, the coordinate system shown by the X-axis, Y-axis, and Z-axis of FIG. 3 may be used for explanation. The X-axis, Y-axis, and Z-axis are orthogonal to each other. The X-axis is the axis in the length direction of the separator 110. The Y-axis is the axis in the width direction of the separating device 110. The Z axis is the axis in the height direction of the separating device 110.

The mounting table 131 has a plurality of transfer rollers 131a. The sheet S is placed on a plurality of transfer rollers 131a. The separation device 110 transports the uppermost sheet S1 of the sheet bundles mounted on the mounting table 131 in the transport direction D. The transport direction D is the direction in which the separation device 110 transports the sheet, and is along the X axis. The transport direction D may be a direction that intersects the X-axis.

The front fence 132 is arranged so as to be adjacent (contact) to the end (front end) of the sheet bundle mounted on the mounting table 131 in the transport direction D. The front fence 132 positions the front end of the seat bundle.

The end fence 133 is arranged so as to be adjacent (contact) to the end (rear end) of the sheet bundle mounted on the mounting table 131 in the direction opposite to the transport direction D. In other words, the end fence 133 is located on the upstream side in the transport direction D with respect to the sheet bundle arranged on the mounting table 131. The end fence 133 restricts the movement of the sheet bundle to the upstream side in the transport direction D, and positions the rear end of the sheet bundle.

The side air unit 134 injects gas air (hereinafter, also referred to as air) toward the placed sheet. The air injected from the side air unit 134 is used, for example, for floating a sheet placed on the mounting table 131 and separating a part of a plurality of sheets held on the suction transfer unit 135. The side air unit 134 may be integrally formed with a side fence for regulating the position of the prepreg in the width direction (Y-axis direction).

The arrangement position of the side air unit 134 may be changed in the width direction of the sheet bundle. The arrangement position of the end fence 133 may be changed in the length direction of the sheet bundle (direction along the X axis). The positions of the end fence 133 and the side air unit 134 are changed according to, for example, the size of the seat bundle.

The suction transport unit 135 is a unit for sucking and transporting the surfaced prepreg. The suction transfer unit 135 includes, for example, a suction air unit (for example, the suction fan 111a in FIG. 1), a negative pressure air chamber, and a transfer belt (for example, the transfer belt 111b in FIG. 1). The suction air unit injects air for sucking the uppermost sheet of the sheet bundle. The conveyor belt is, for example, an endless belt member having a large number of suction holes communicating with a negative pressure air chamber. The negative pressure air chamber is sucked by the air injected by the suction air unit to maintain the negative pressure state, and sucks the prepreg on the uppermost surface through the suction holes of the transport belt. By rotationally driving the transport belt while the prepreg is sucked, the prepreg is transported in the transport direction D. The configuration of the suction transport unit 135 is not limited to this, and any configuration may be used as long as the prepreg can be sucked and transported.

In this embodiment, an example of a holding member that attracts, holds, and separates by negative pressure due to air suction is shown, but if the prepreg can be held, not only air but also electrostatic suction and the like are included. ..

The front air unit 136 faces the front end of the seat bundle mounted on the mounting table 131. In other words, the front air unit 136 is provided on the downstream side in the transport direction D with respect to the mounting table 131. The front air unit 136 sends and stores pressurized air from the outside, and ejects the air toward the sheet bundle.

Air (air that is a gas) also includes statically eliminated air and other gases that are used to levitate and separate sheets one by one. In particular, since the prepregs containing carbon fibers are in close contact with each other due to the action of static electricity and are difficult to separate easily, the front air unit 136 may blow the static-eliminated air onto the bundle of sheets in the laminated state. ..

The front air unit 136 blows air toward the front end of the seat bundle to lift at least one seat from the seat bundle. If the blown air is warm air, a dehumidifying effect on the sheets is added, and the plurality of sheets can be separated more effectively.

The front air unit 136 can stop the injection of air. For example, the front air unit 136 stops the injection of air by closing the opening (nozzle) into which the air is injected. The front air unit 136 may stop the injection of air by another method.

The front air unit 136 raises at least one sheet including the uppermost sheet to the height of the suction transfer unit 135 by blowing air toward the front end surface of the sheet bundle arranged on the mounting table 131.

When the suction air unit operates as the sheet floats, the negative pressure air chamber of the suction transfer unit 135 is brought into a negative pressure state. Therefore, the sheet on the uppermost surface is adsorbed on the suction transport unit 135. In other words, the suction transfer unit 135 holds the uppermost sheet floated by the front air unit 136.

Another sheet may be in close contact with the uppermost sheet held by the suction transfer unit 135. The side air unit 134 injects air to separate the sheet held by the suction transfer unit 135 from the other sheets.

In this embodiment, an example of a separation device including a levitation means for levitation of a material to be conveyed by injection of air and a holding member for sucking, holding and separating by negative pressure by air suction is shown. The holding member is provided with a levitation holding member that also functions as a levitation means for holding and levitation of the material to be transported by moving in the stacking direction of the material to be transported, and also includes a separating device for separating the material to be transported.

The suction transport unit 135 transports the held sheet to a target transport destination. The transport direction D is the direction in which the suction transport unit 135 transports the sheet S.

Next, a functional configuration example of the control device 200 and the separation device 110 will be described. FIG. 5 is a block diagram showing an example of the functional configuration of the control device 200 and the separation device 110.

As shown in FIG. 5, the separating device 110 includes a floating upper portion 101 (floating means), a holding member 102, and a control unit 103.

The levitation portion 101 levitates the loaded object to be transported. The floating upper portion 101 corresponds to, for example, at least one of the front air unit 136 and the side air unit 134 in FIG.

The holding member 102 holds and separates the surfaced object to be transported. The holding member 102 corresponds to, for example, the suction transport unit 135 of FIG.

The control unit 103 controls the entire processing of the separation device 110. For example, the control unit 103 controls the floating upper portion 101 and the holding member 102 to operate according to the settings from the control device 200.

Next, the configuration of the control device 200 will be described. The control device 200 includes a reading unit 221, a display unit 222, a storage unit 223, an acquisition unit 201, a determination unit 202, a setting unit 203, a display control unit 204, an execution control unit 205, and a storage control unit. It is equipped with 206.

The reading unit 221 reads information from the object to be transported. For example, the reading unit 221 reads the sheet information from a bar code or the like in which the sheet information of the prepreg is coded. The coded sheet information may be printed on, for example, a recording medium carried along with a bundle of prepregs mounted on the mounting table 131. The reading unit 221 corresponds to, for example, the barcode reader 56 of FIG. The sheet information is information about the prepreg, and includes, for example, identification information (sheet No.) for identifying the prepreg and attribute information. The sheet information is not limited to this, and at least any information that can identify the attribute information is sufficient. For example, the attribute information itself may be used as sheet information. Further, when the sheet No. and the attribute information have a one-to-one correspondence, the information including the sheet No. may be used as the sheet information without including the attribute information.

The method of reading information is not limited to the method using a barcode. For example, a code by another method such as a QR code (registered trademark) may be used. The information printed on the prepreg may be acquired by character recognition or the like without coding. Further, the reading unit 221 (bar code reader 56) may be provided in a device other than the control device 200 (for example, the separating device 110) so as to receive information from this device.

The display unit 222 displays information, and corresponds to, for example, the display 55 of FIG.

The storage unit 223 stores information used for various processes. For example, the storage unit 223 stores the registration information in which the sheet number, the attribute information, and the setting information are associated with each other. The setting information is information representing the transport conditions of the separation device 110 when transporting the prepreg of the corresponding sheet number.

FIG. 6 is a diagram showing an example of a data structure of registration information. As shown in FIG. 6, the registration information includes a sheet number, a product name, a size, a thickness, a separation levitation condition, and an adsorption transfer condition. The product name, size, and thickness are examples of attribute information. Separation levitation conditions and adsorption transfer conditions are examples of setting information.

The separate levitation condition indicates the operating condition of the levitation top 101. For example, the separate levitation condition represents the flow rate of air ejected by the levitation portion 101 (front air unit 136, etc.). The suction and transport conditions indicate the operating conditions of the holding member 102. For example, the suction transport condition represents the flow rate of air ejected by the holding member 102 (suction transport unit 135 or the like). The separation levitation condition and the adsorption transfer condition may be expressed by, for example, a ratio to the maximum flow rate. FIG. 6 shows an example of a flow rate when the maximum flow rate is 100.

The setting information is not limited to the example of FIG. 6, and may be any information as long as it determines the operation of the separation device 110. Further, the storage unit 223 can be composed of any commonly used storage medium such as an HDD (Hard Disk Drive), an optical disk, a memory card, and a RAM.

Returning to FIG. 5, the acquisition unit 201 acquires the attribute information of the transported object. For example, the acquisition unit 201 acquires the sheet information read by the reading unit 221. Since the sheet information includes the attribute information, acquiring the sheet information is equivalent to acquiring the attribute information. The method of acquiring sheet information (attribute information) is not limited to this. For example, the acquisition unit 201 may be configured to acquire the attribute information input by the user using an input device such as a keyboard.

The determination unit 202 determines the attribute information corresponding to the acquired attribute information among the attribute information included in the registration information. For example, the determination unit 202 determines the registered attribute information that matches the acquired attribute information. The registered attribute information is attribute information included in the registration information stored in the storage unit 223. If there is no registered attribute information that matches the acquired attribute information, the determination unit 202 determines the attribute information similar to the acquired attribute information among the registered attribute information. The method of determining similar attribute information will be described later.

The setting unit 203 sets the operating conditions of the separation device 110. For example, the setting unit 203 sets the floating upper portion 101 and the holding member 102 so as to operate according to the conditions determined according to the determined attribute information. The setting method may be any method. For example, the setting unit 203 notifies the control unit 103 of the separation device 110 of the separation levitation condition and the suction transfer condition associated with the determined attribute information. The control unit 103 operates the floating upper portion 101 and the holding member 102 according to the notified conditions.

The display control unit 204 controls the display of various information on the display unit 222. For example, when the registered attribute information that matches the attribute information acquired by the acquisition unit 201 does not exist, the display control unit 204 selects one or more attribute information similar to the acquired attribute information among the registered attribute information. It may be displayed on the display unit 222. As a result, the user can select desired attribute information from the displayed attribute information. In this case, the determination unit 202 may determine the attribute information selected by the user as the attribute information corresponding to the acquired attribute information.

The execution control unit 205 controls the supply processing of the transported object by the separation device 110. For example, the execution control unit 205 instructs the separation device 110 to start and end the supply process of the transported object.

The storage control unit 206 controls the writing of information to a storage medium such as the storage unit 223 and the reading of information.

Next, the setting process by the control device 200 according to the present embodiment configured in this way will be described with reference to FIG. 7. FIG. 7 is a flowchart showing an example of the setting process in the present embodiment.

The acquisition unit 201 acquires sheet information from a barcode printed on a recording medium or the like carried along with the prepreg by using a reading unit 221 or the like (step S101). The determination unit 202 determines whether or not the acquired sheet information is the sheet information registered in the storage unit 223 (step S102). For example, the determination unit 202 determines whether the acquired sheet information is included in any of the registration information stored in the storage unit 223.

When the registered sheet information is used (step S102: Yes), the setting unit 203 sets the separation levitation condition and the adsorption transfer condition based on the registered sheet information (step S104). For example, the setting unit 203 acquires the separation levitation condition and the suction transfer condition associated with the registered sheet information (attribute information) from the registration information, and sets the acquired conditions in the separation device 110.

If it is not the registered sheet information (step S102: No), the determination unit 202 determines the sheet information (attribute information) similar to the acquired sheet information among the registered sheet information (step S103). The setting unit 203 sets the separation levitation condition and the adsorption transfer condition based on the determined sheet information (step S104).

Next, a specific example of the setting process will be described. 8 and 9 are diagrams showing an example of the acquired sheet information. FIG. 8 is an example when the registered sheet information is acquired. FIG. 9 is an example when unregistered sheet information is acquired.

When the sheet information of FIG. 8 is acquired, the determination unit 202 determines that the attribute information included in the registration information in the first row of FIG. 6 matches the acquired attribute information. As a result, the setting unit 203 sets the separation levitation condition (= 70) and the adsorption transfer condition (= 80) included in the registration information in the first line in the separation device 110.

When the sheet information of FIG. 9 is acquired, the determination unit 202 determines that the registration information of, for example, FIG. 6 does not include this sheet information. In this case, the determination unit 202 determines the sheet information similar to the sheet information of FIG.

The determination unit 202 determines similar sheet information (attribute information) in the following order of priority, for example.
(A1) Sheet information with the same or similar size (length, width) (A2) Sheet information with the same type (product name) (A3) Sheet information with the same or similar thickness

For example, since the size of the sheet information in FIG. 9 is closer to the registration information in the second row of FIG. 6 than the registration information in the third row of FIG. 6, the determination unit 202 is set to 2 in FIG. Determine the attribute information in the line as similar attribute information.

Since changing the size has a large effect on the flow rate of air used for ascent, etc., the size is prioritized when deciding. The rigidity of the prepreg changes depending on the type of prepreg, which affects the required air flow rate. Therefore, next to the size, similar sheet information is determined based on the type. Rigidity may be acquired as attribute information instead of the type. The priority at the time of decision is not limited to the above. For example, the sheet information having a large air flow rate may be prioritized.

(Modification example)
From the size of the prepreg, the arrangement of each unit of the side air unit 134, the suction transfer unit 135, and the front air unit 136 may be used as attribute information, and the seat information having the same arrangement may be determined.

FIG. 10 is a diagram showing an example of correspondence between size and arrangement. The sheet length L represents the length of the prepreg. The seat width W represents the width of the prepreg. As shown in FIG. 10, the number of each unit and the information for identifying the arrangement (unit arrangement) are associated with each combination of the range of the sheet length L and the range of the sheet width W.

For example, a prepreg having a seat length L of 300 and a seat width W of 300 is associated with unit arrangement A. In the unit arrangement A, the number of the suction transfer unit 135, the side air unit 134, and the front air unit 136 are 1, 2, and 1, respectively.

11 to 16 are diagrams showing specific examples of each unit arrangement. 11 to 16 are examples of arrangements corresponding to the unit arrangements A, B, C, D, E and F shown in FIG. 10, respectively. As shown in each figure, the number and arrangement of each unit is changed according to the size of the prepreg 504. The shaded units in each figure indicate the units to be operated. The range of sheet length / sheet width, the number of units, the arrangement of units, and the like shown in FIGS. 10 to 16 are examples, and are not limited thereto.

In the case of this modification, the determination unit 202 may determine similar sheet information (attribute information) in the following priority order, for example.
(B1) Sheet information with the same unit arrangement determined from the size (length, width) (B2) Sheet information with the same type (product name) (B3) Sheet information with the same or similar thickness

In order to extract the sheet information having the same unit arrangement in the above (B1), for example, the unit arrangement may be stored instead of the size of the registration information in FIG.

As described above, in the present embodiment, when the attribute information of the transported object is already registered, the control device is a separating device so as to transport the transported object under the conditions determined according to the registered attribute information. To set. If not registered, the control device determines the attribute information similar to the acquired attribute information, and sets the separation device so as to transport the object to be transported under the conditions determined according to the determined attribute information. As a result, even if the transported object has an unregistered (unknown) attribute, manual setting or the like becomes unnecessary, and the transported object can be transported more efficiently.

The program executed by the apparatus of this embodiment is provided by being incorporated in a ROM or the like in advance.

The program executed by the apparatus of this embodiment is a file in an installable format or an executable format and can be read by a computer such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk). It may be configured to be recorded on a recording medium and provided as a computer program product.

Further, the program executed by the apparatus of the present embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the program executed by the device of the present embodiment may be configured to be provided or distributed via a network such as the Internet.

The program executed by the apparatus of the present embodiment has a module configuration including the above-mentioned parts, and as the actual hardware, the CPU (processor) reads the program from the ROM and executes the program, so that each part is the main. It is loaded on the storage device and each part is generated on the main storage device.

100 Conveyance system 101 Floating upper part 102 Holding member 103 Control unit 110 Separation device 111 Separation transfer unit 112 Dust processing unit 113 Blower 114 Lifting trolley 131 Mounting stand 132 Front fence 133 End fence 134 Side air unit 135 Suction transfer unit 136 Front air unit 200 Control device 201 Acquisition unit 202 Decision unit 203 Setting unit 204 Display control unit 205 Execution control unit 206 Storage control unit 221 Reading unit 222 Display unit 223 Storage unit

Japanese Unexamined Patent Publication No. 2003-31769

Claims (6)

A control device for controlling a separation device including a levitation means for floating a loaded object to be transported by using air and a holding member for holding and separating the levitation object to be transported.
The acquisition unit that acquires the attribute information of the transported object, and
Determines the registered attribute information that matches the acquired attribute information, and if there is no registered attribute information that matches the acquired attribute information, it is similar to the acquired attribute information among the registered attribute information. A decision unit that determines attribute information,
The levitation means and the setting unit for setting the holding member are provided so as to operate according to the conditions determined according to the determined attribute information.
The attribute information includes the size of the transported object, the type of the transported object, and at least one of the thickness of the transported object .
The determination unit prioritizes the size over the type and the thickness to determine whether the attribute information is similar.
Control device. The determination unit preferentially determines whether the attribute information is similar in the order of the size, the type, and the thickness.
The control device according to claim 1 . If there is no registered attribute information that matches the acquired attribute information, a display control unit that displays one or more attribute information similar to the acquired attribute information among the registered attribute information is further provided. ,
The determination unit determines the attribute information selected from the displayed attribute information.
The control device according to claim 1. A control method for controlling a separation device including a levitation means for levitation of a loaded object to be transported using air and a holding member for holding and separating the levitation object to be transported.
The acquisition step of acquiring the attribute information of the transported object and
Determines the registered attribute information that matches the acquired attribute information, and if there is no registered attribute information that matches the acquired attribute information, it is similar to the acquired attribute information among the registered attribute information. The decision step to determine the attribute information and
Including the levitation means and the setting step of setting the holding member so as to operate according to the conditions determined according to the determined attribute information.
The attribute information includes the size of the transported object, the type of the transported object, and at least one of the thickness of the transported object .
The determination step prioritizes the size over the type and thickness to determine if the attribute information is similar.
Control method. A computer that controls a separation device including a levitation means for floating the loaded object to be transported using air and a holding member for holding and separating the surfaced object to be transported.
The acquisition step of acquiring the attribute information of the transported object and
Determines the registered attribute information that matches the acquired attribute information, and if there is no registered attribute information that matches the acquired attribute information, it is similar to the acquired attribute information among the registered attribute information. The decision step to determine the attribute information and
The levitation means and the setting step of setting the holding member are executed so as to operate according to the conditions determined according to the determined attribute information.
The attribute information includes the size of the transported object, the type of the transported object, and at least one of the thickness of the transported object .
The determination step prioritizes the size over the type and thickness to determine if the attribute information is similar.
program. A transport system including a separation device and a control device for controlling the separation device.
The separation device
A levitation means that uses air to levitate the loaded object to be transported,
A holding member for holding and separating the surfaced object to be transported is provided.
The control device is
The acquisition unit that acquires the attribute information of the transported object, and
Determines the registered attribute information that matches the acquired attribute information, and if there is no registered attribute information that matches the acquired attribute information, it is similar to the acquired attribute information among the registered attribute information. A decision unit that determines attribute information,
The levitation means and the setting unit for setting the holding member are provided so as to operate according to the conditions determined according to the determined attribute information.
The attribute information includes the size of the transported object, the type of the transported object, and at least one of the thickness of the transported object .
The determination unit prioritizes the size over the type and the thickness to determine whether the attribute information is similar.
Transport system.

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