JP7401101B2 - Conveyed object alignment method and conveyed object alignment system - Google Patents

Description

The present invention relates to a method for aligning conveyed objects and a conveyed object alignment system.

Traditionally, transport devices such as parts feeders have been used to transport items such as electronic components in a predetermined posture and then deliver them to various destination equipment such as inspection equipment, mounting equipment, transfer equipment, and taping equipment. There are known devices configured to supply In this type of conveyor, the posture of the conveyed object on the conveyance path is determined by visual measurement, and according to the determination result, the conveyed object is removed from the conveyance path by blowing airflow toward the conveyed object. The posture of the conveyed objects is made uniform by removing them from the ground or by rotating the conveyed objects and changing their posture.

By the way, some transported items include magnetic materials, such as multilayer ceramic capacitors. For transported objects that include such magnetic materials, it is possible to detect the orientation of the transported object using magnetism or to change the orientation using magnetic force. Various methods have been proposed (see Patent Document 1) and methods for changing posture (see Patent Documents 2 to 4 below).

Japanese Patent Application Publication No. 2014-130912 Japanese Patent Application Publication No. 5-229634 Publication number 5-43468 Japanese Patent Application Publication No. 2011-18698

By the way, as mentioned above, the conveyed objects that can detect magnetic fields or change their posture by magnetic force include electronic components with external electrodes made of magnetic material and electronic components with internal electrodes made of magnetic material, such as multilayer ceramic capacitors. There is. For these parts, the orientation of the magnets is set to match the normal attitude so that the conveyed object is controlled in the normal attitude by magnetic force. For example, in Patent Document 4, the internal electrodes 3 of the electronic component 1 are all aligned in the direction of the magnetic flux of the first magnet 21 (see FIG. 1(c), FIG. 4, FIG. 8, and FIG. 11). . Further, in this document, the electronic component 1 is attracted to the conveyance surface by the magnetic attraction force of the second magnet 22, and the normal posture is maintained.

However, in recent years, transport devices are required to transport a large amount of fine objects, so it is necessary to reliably align the objects being transported at a high density, but the conventional methods described above cannot , since the posture of the conveyed objects is changed one by one, if the conveyance speed is increased as it is, when changing the posture of the conveyed objects, the change may not occur correctly due to interference between the conveyed objects before and after the object, or the change may not occur correctly. When changing the posture of a conveyed object, the objects before and after the conveyed object may get caught up in the conveyed object, which may disturb the normal posture of the conveyed object. There is a problem that efficient alignment is not possible.

Therefore, the present invention is intended to solve the above problem, and its object is to provide a method for arranging conveyed objects that can efficiently and reliably align conveyed objects that are conveyed at high speed and high density without any hindrance using magnetic force. It is about providing.

In order to solve the above problems, a method for arranging conveyed objects according to the present invention includes a method in which a conveyed object including a magnetic material is conveyed along a conveying path in a conveying direction, and a magnet placed beside the conveying path is used. The attitude of the conveyed object is controlled according to the direction of the magnetic flux generated by the conveyance path, and the direction of the magnetic flux on the conveyance path changes in the conveyance direction. In this method, in the upstream conveyance process in which the conveyed object approaches the magnet as it is conveyed on the conveyance path, the conveyed object on the conveyance path is aligned in a first conveyance posture. The alignment direction that should coincide with the conveyance direction in the first conveyance posture of the conveyed objects is aligned to a second conveyance posture that does not coincide with the conveyance direction, and the magnetic repulsion between the conveyed objects causes the forward and backward conveyance. In the downstream conveyance process in which the dispersion of the intervals in the conveyance direction of the objects is reduced, and then the conveyed objects move away from the magnets by being conveyed on the conveyance path, the conveyed objects on the conveyance path: By gradually changing the posture according to a change in the direction of the magnetic flux on the conveyance path in the conveyance direction, the first conveyance posture is finally reached in which the alignment direction coincides with the conveyance direction. , align the conveyed objects. According to this, the direction of the magnetic flux gradually changes after the magnetic flux is aligned to the second transporting position using a strong magnetic field, and is gradually guided to the first transporting position using a gradually weakening magnetic field, thereby achieving a high transporting speed. can be efficiently and reliably aligned without causing any trouble.

In the present invention, it is preferable that the conveyance object has a longitudinal direction, and the longitudinal direction is the alignment direction that coincides with the conveyance direction in the first conveyance posture. According to this, in the process of the conveyance object approaching the magnet, the longitudinal direction of the conveyance object is aligned in the second conveyance posture which does not coincide with the conveyance direction on the conveyance path, so that the forward and backward movement of the conveyance object is performed. Since the distance between the objects to be transported becomes easier to widen, it becomes easier to even out the variations in the distance, and it becomes possible to finally align the objects to be transported in a more orderly manner in the first transport attitude. In this case, it is preferable that the second transport attitude is such that the longitudinal direction is perpendicular to the transport direction. According to this, the interval between the conveyed objects can be further widened when they are aligned in the second posture, so it becomes easier to even out the dispersion in the interval, and it is possible to finally align the conveyed objects more orderly. It becomes possible.

In the present invention, it is preferable that the conveyed object includes the magnetic body in such a manner that the conveyed object is stabilized in a posture in which the alignment direction is along the direction of the magnetic flux. According to this, since the alignment direction of the conveyed objects can be controlled by the direction of the magnetic flux, the magnetic flux distribution can be adjusted in such a manner that the alignment state in the desired first conveyance posture can be obtained after the conveyed objects are arranged in the second conveyance posture. This can be easily achieved by adjusting the strength and position of the magnet. In this case, it is desirable that the alignment direction be the longitudinal direction of the conveyed objects. Further, it is preferable that the second transporting attitude is such that the alignment direction is perpendicular to the transporting direction. Further, in this case, it is preferable that the magnet includes a magnetic pole facing in a direction perpendicular to the conveyance direction with respect to the conveyance path. However, the magnet may be arranged so that the direction in which the pair of magnetic poles are connected to the conveyance path is parallel to the conveyance direction.

In the present invention, in the downstream conveyance process, as the conveyance object is conveyed in the conveyance direction and the magnetic influence of the magnets on the attitude of the conveyance object decreases, the magnetic flux on the conveyance path increases. It is preferable that the direction asymptotically approaches from a second direction corresponding to the second transport attitude to a first direction corresponding to the first transport attitude. According to this, the posture of the conveyed object can smoothly change from the second conveyance posture to the first conveyance posture, and the direction of the magnetic flux changes to the first conveyance posture before the magnetic influence of the magnet disappears. Since the object will not cross the direction, the first transport attitude of the object to be transported will not be disturbed.

In the present invention, it is preferable that the conveyance path is configured to convey the object by reciprocating vibrations directed forward and diagonally upward in the conveyance direction. According to this, the conveyed object is conveyed on the conveyance path in a floating state due to the vibrations, so that the posture of the conveyed object can be easily and highly accurately controlled by magnetism.

In the present invention, it is preferable that the conveyance path includes a conveyance bottom portion having a concavely curved cross-sectional profile. In this case, it is preferable that the conveyance bottom surface portion having a circular groove such as an arc shape or a U-shape, or another concave curved cross-sectional profile has a shape that reduces the contact area with the conveyed object compared to a flat surface. Specifically, it is desirable that the radius of curvature R of the conveyance bottom surface portion is larger than half of the maximum dimension K of the conveyed object. Further, when the conveyed object is in the shape of a rectangular parallelepiped, the maximum dimension K is the square root of the sum of squares of length L, width W, and height H, that is, K=(L ² +W ² +H ² ) ^1/ It becomes ² . Here, when L>W and L>H, it is particularly desirable that the radius of curvature R is larger than (1/2)L. Note that the radius of curvature R of the conveyance bottom surface portion may have a different value depending on the location. However, it is desirable that the entire concave curved portion has a radius of curvature R that satisfies the above conditions.

Next, the conveyed object alignment system according to the present invention includes a conveyed object including a magnetic material, a conveyance path along which the conveyed object is conveyed in the conveyance direction, and a conveyance path arranged beside the conveyance path, a magnet that forms a magnetic flux distribution that affects the conveyance posture of the conveyed objects on the conveyance path over at least a predetermined range of directions, and a conveyed object alignment system that aligns the conveyed objects in a first conveyance posture. The magnetic flux distribution is configured such that the conveyance object is transported in the upstream conveyance path region in the predetermined range where the conveyance object approaches the magnet as it is conveyed in the conveyance direction on the conveyance path. The direction of the magnetic flux gradually changes in the conveying direction, and the object is conveyed in the conveying direction on the conveying path in a manner that gradually leads to a second conveying posture different from the first conveying posture. In the downstream conveyance path region where the object moves away from the magnet, the magnetic flux gradually increases in the conveyance direction in such a manner that the conveyed object is gradually guided from the second conveyance posture to the first conveyance posture. direction is changing.

In the present invention, it is preferable that the conveyance object has a longitudinal direction, and the longitudinal direction coincides with the conveyance direction in the first conveyance posture. In this case, it is preferable that the second transport attitude is such that the longitudinal direction is perpendicular to the transport direction.

In the present invention, it is preferable that the conveyed object includes the magnetic body in such a manner that the conveyance object is stabilized in a posture in which a direction that coincides with the conveyance direction in the first conveyance posture is along the direction of the magnetic flux. In this case, it is desirable that the matching direction be the longitudinal direction of the conveyed object. Further, it is preferable that the second transporting attitude is such that the matching direction is perpendicular to the transporting direction. Further, in this case, it is preferable that the magnet includes a magnetic pole facing in a direction perpendicular to the conveyance direction with respect to the conveyance path.

In the present invention, in the downstream conveyance path region, as the conveyance object is conveyed in the conveyance direction and the magnetic influence of the magnet on the posture of the conveyance object decreases, the It is preferable that the direction of the magnetic flux asymptotically approaches from a second direction corresponding to the second transport attitude to a first direction corresponding to the first transport attitude.

In the present invention, the conveyance object is determined at a location on the downstream side of the downstream conveyance path region where the conveyance objects are aligned and conveyed in the first conveyance posture, and the conveyance object is determined according to the determination result. It is preferable to further include a discrimination control section that controls the conveyed object. Examples of the discrimination control section include a discrimination and removal section that excludes defective products and objects with a bad posture from the conveyance path, and a discrimination reversal section that rotates and changes the posture of conveyed objects with a bad posture.

According to the present invention, it is possible to provide a method for arranging conveyed objects that can efficiently and reliably align conveyed objects that are conveyed at high speed and high density using magnetic force without any trouble.

1 is a plan view of an example of a vibrating conveyance device that constitutes an embodiment of a conveyance object alignment system for realizing a conveyance object alignment method according to the present invention; FIG. It is a side view of the same vibrating conveyance device. FIG. 2 is an explanatory external view (a) consisting of a front view and a side view of the conveyed object of the same embodiment, and a cross-sectional configuration diagram (b) consisting of a front sectional view and a side sectional view. It is an explanatory view showing a stable posture in a magnetic field of a conveyed object of the same embodiment. It is a schematic block diagram which shows the positional relationship of the magnet and conveyance path of the same embodiment. FIG. 4 is an explanatory diagram showing a predetermined range of a conveyance path where a magnetic field generated by a magnet of the same embodiment affects the conveyance posture of a conveyed object. FIG. 3 is an explanatory diagram showing a wider range of the conveyance path in the same embodiment.

Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, with reference to FIGS. 1 and 2, a vibrating conveyance device that constitutes a conveyed object alignment system according to the present invention will be explained. This vibration type conveyance device 100 includes a conveyance object supply section 110 installed on an installation table 101, a first conveyance section 120 that conveys the conveyance objects supplied from the conveyance object supply section 110, and a second conveyance section. A second transport section 130 that transports the objects supplied from 120 is provided. Since the first conveyance section 120 and the second conveyance section 130 are equipped with a vibrator, they are mounted on a support base 102 installed on the installation base 101 via a vibration absorbing material (such as a coil spring) for vibration isolation. The conveyed object supply section 110 includes a drive section 111 and a hopper 112 attached to the drive section 111, and discharges the conveyed objects on the hopper 112 to the first conveyance section 120.

The first transport unit 120 is a so-called bowl-shaped parts feeder that includes a rotational vibration exciter 121 and a bowl-shaped vibrating body 122 mounted on the rotational vibration exciter 121. The vibrating body 120 is provided with a conveyance path 122t spirally rising from the inner bottom, and the object to be conveyed supplied to the inner bottom thereof is gradually raised along the conveyance path 122t by the rotational vibration given by the rotary vibrator 121. While doing so, line them up.

The second transport unit 130 is a so-called linear feeder that includes a linear vibrator 131 and linear vibrators 132 and 133 mounted on the linear vibrator 131. Here, the vibrating body 132 includes a linear supply conveyance path 132t connected to the outlet end of the conveyance path 122t. Further, the vibrating body 133 includes a conveyance path 133t extending in parallel with the conveyance path 132t, and this conveyance path 133t receives the conveyed object removed from the conveyance path 132t and conveys it in the opposite direction to the conveyance path 132t. This is a recovery conveyance path for conveying objects and returning the conveyed objects into the vibrating body 122.

A magnet 137 is arranged beside the transport path 132t. The magnet 137 is not limited to various types of permanent magnets such as neodymium magnets, but may also be an electromagnet. The magnet 137 is attached to a mounting member 136 held via a support arm 135 attached to a support member 134 mounted on the support base 102. In the illustrated example, the support arm 135 passes above the vibrating bodies 132 and 133 with respect to the supporting member 134 installed on the vibrating body 133 side, so that the mounting member 136 is disposed on the vibrating body 132 side. By doing so, the magnet 137 is arranged at a position adjacent to the vibrating body 132 from the side opposite to the support member 134. In the illustrated example, the vibrating bodies 132 and 133 are made of a non-magnetic material such as (non-magnetic) stainless steel such as SUS303 or 304, aluminum, or an aluminum alloy such as A5051 or A5052, as will be described later.

Next, referring to FIGS. 3 and 4, the conveyed object according to the present invention will be described. The conveyance object CA conveyed in this embodiment has a rectangular parallelepiped shape, as shown in FIG. The conveyed object CA in the illustrated example is a multilayer ceramic capacitor that is provided with external electrodes OE1 and OE2 on both ends thereof and a plurality of internal electrodes IE1 and IE2 that are sandwiched between dielectric materials DE such as ceramic layers. The internal electrodes IE1 and IE2 may be made of Ni, and the external electrodes OE1 and OE2 may be made of Cu. In such an example, since the internal electrodes IE1 and IE2 are surrounded by a non-magnetic material such as a ceramic layer which is a dielectric material DE, and the material Ni is a ferromagnetic material, the conveyed object CA is , strongly affected by magnetic fields. In the illustrated example, the alignment direction of the axis CAx (coinciding with the longitudinal direction in the illustrated example) of the conveyed objects CA coincides with the longitudinal direction of the internal electrodes IE1 and IE2. The alignment direction of the alignment direction (longitudinal direction) axis CAx coincides with the conveyance direction F in the first conveyance posture, which is the normal posture of the conveyed object CA.

As shown in FIG. 4, when the conveyed object CA is placed in the magnetic field (magnetic flux distribution) generated between the pair of magnetic poles Ms of the magnet M, the longitudinal direction of the internal electrodes IE1 and IE2, which are ferromagnetic materials (as shown in FIG. Since magnetic polarization occurs in the direction of the length L) and becomes stable, the conveyed object CA is guided to a posture in which the direction of the length L is along the direction of the magnetic flux. In addition, since the internal electrodes IE1 and IE2 are also along the direction of the width W, when comparing the direction of the width W and the direction of the height H, it is better when the direction of the width W is along the direction of magnetic flux. This is more stable than when the direction of the height H is along the direction of magnetic flux.

As shown in FIG. 5, in the illustrated example, one magnetic pole 137a of the magnet 137 is installed so as to face the conveyance path 132t of the vibrating body 132. Here, the conveyance path 132t facing the magnet 137 is a circular groove-shaped conveyance path portion 132tr including a bottom portion 132trb having a concave curved cross-sectional profile. The cross-sectional profile may be arc-shaped or U-shaped, but is preferably a smooth curved shape that allows the attitude of the conveyed object CA to be easily changed. For example, the concave curved shape of the bottom surface portion 132trb of the conveyance path portion 132tr has a radius of curvature R with respect to the length L of the conveyed object CA, which satisfies the condition expressed by the formula R>(1/2)·L. It is set as follows. More generally, in the above formula, instead of the length L, the maximum dimension K of the conveyed object CA is the square root of the sum of squares of the length L, width W, and height H ( L ² + W ² + H ² ) ^1/2 can also be used. In the illustrated example, the cross-sectional shape of the bottom portion 132trb perpendicular to the conveying direction F is an arc with a constant radius of curvature R, but the radius of curvature R may vary within the bottom portion 132trb. In this case, it is sufficient that the average value of the radius of curvature R of the bottom surface portion 132trb satisfies the above conditions. However, it is more desirable if the radius of curvature R satisfies the above conditions over the entire bottom surface portion 132trb. Note that the upper limit of the radius of curvature R is preferably 5 times or less, and preferably 3 times or less, the above-mentioned L and K.

Further, as shown in FIG. 5, the magnetic pole 137a of the magnet 137 is arranged to face the transport path portion 132tr in the horizontal direction. However, the magnetic pole 137a of the magnet 137 may be arranged to face the transport path portion 132tr from above and below diagonally. Furthermore, if the conveyance direction to be aligned is different from the example, the direction connecting the pair of magnetic poles may be parallel to the conveyance direction F of the conveyance path, and the magnetic poles may be arranged so as to face each other from above or below. I don't mind.

The vibrating body 132 shown in FIG. 5 is actually a transport block that is a part of the vibrating body 132 and includes a transport path 132t. As described above, this conveyance block is preferably made of a nonmagnetic material such as nonmagnetic stainless steel, aluminum, or an aluminum alloy. This is because the magnetic flux Φm passes through the transport block, so it is difficult to affect the direction of the magnetic flux on the transport path 132t. This is especially true when the transport path 132t itself is in the shadow of the transport block when viewed in the direction of the magnetic flux Φm from the magnetic pole 137a of the magnet 137, as in the illustrated example.

As shown in FIG. 6, the magnetic field (magnetic flux distribution) formed by the magnet 137 forms a magnetic flux Φm as shown by the two-dot chain line in the figure. Here, the magnetic flux Φm is represented by the product of the surface area Sm of the magnetic pole 137a (Ms) and the magnetic flux density Bm on the magnetic pole 137a (Ms). Further, the distance Dm between the magnetic pole 137a (Ms) and the closest position 132tr0 of the transport path portion 137tr is set according to the magnitude of the magnetic flux Φm. In this embodiment, since the magnet 137 is installed with the magnetic pole 137a facing the conveyance path 132t, the closest position 132tr0 is a position directly facing the magnetic pole 137a.

Based on the closest position 132tr0 on the conveyance path 132t, when the object CA is conveyed on the conveyance path 132tr along the conveyance direction F, the upstream conveyance path is upstream from the nearest position 132tr0. In the region 132tr1, as the conveyed object CA gradually approaches the magnet 137 as it is conveyed, in this upstream conveying process, the magnetic flux density on the conveying path 132t gradually increases, and the conveyed object CA gradually approaches the magnet 137. The direction of the magnetic flux Φm on the path 132tr gradually changes from the conveyance direction F toward the direction (width direction) orthogonal to the conveyance direction F. On the other hand, in the downstream conveyance path region 132tr2 downstream of the nearest position 132tr0, as the conveyance object CA is conveyed, it gradually moves away from the magnet 137 (goes away from it). During the conveyance process, the magnetic flux density on the conveyance path 132t gradually weakens, and the direction of the magnetic flux Φm gradually changes from a direction perpendicular to the conveyance direction F toward the conveyance direction F.

In this embodiment, in the conveyance path portion 132tr, the direction of the magnetic flux is determined at the most upstream part within the magnetic influence range 132trs of the conveyance path where the magnetic influence of the magnet 137 acts on the conveyed object CA on the conveyance path 132t. The direction of the magnetic flux coincides with the direction F, and the direction of the magnetic flux is perpendicular to the conveyance direction F at the nearest position 132tr0, and furthermore, the direction of the magnetic flux coincides with the conveyance direction F again at the most downstream part. Note that the above-mentioned magnetic influence refers to the influence of the magnet 137 on the attitude change of the conveyed object CA on the conveyance path 132t. That is, the magnetically influenced range 132trs of the conveyance path is a range viewed in the conveyance direction F of the conveyance path 132t in which the attitude of the conveyed object CA is influenced by the direction of the magnetic flux of the magnet 137. In this embodiment, the conveyed object CA is conveyed in a floating state for a large period of time on the conveyance path 132t by vibration conveyance, and the bottom surface portion 132trb is formed in a concave curved shape in the conveyance path portion 132tr. Since the contact area with the conveyed object CA is small, the attitude of the conveyed object CA can be changed very easily.

Normally, on the conveyance path 132t, the conveyance object CA is conveyed in the conveyance direction F in various postures. In particular, in a vibrating conveyance device, since the conveyed object CA moves in a floating state due to the vibration of the vibrating body 132, the attitude of the conveyed object CA tends to fluctuate, and unless it is subject to restrictions in the width direction, the conveyance path As shown in the upstream portion of the magnetic influence range 132trs, the conveyance postures and intervals during conveyance of the conveyed objects CA also vary. In this state, when the conveyed object CA advances through the upstream conveyance path region 132tr1, the magnetic influence gradually increases, as shown in the magnetic attraction force Q shown in FIG. Since the alignment direction (longitudinal direction) axis CAx, which is the direction of the length L of the conveyed objects CA, also gradually inclines. Eventually, in the vicinity of the closest position 132tr0, the direction of the magnetic flux is perpendicular to the transport direction F, and the alignment direction axis CAx of the transported objects CA is also perpendicular to the transport direction F. Note that in this upstream conveyance path region 132tr1, the conveyed objects CA receive a slight magnetic attraction force Q due to the component of the magnetic flux in the conveying direction F, so the conveyance speed and interval between the conveyed objects CA slightly increase. In addition, in the illustrated example, there are many conveyed objects CA whose longitudinal directions are initially along the conveying direction F, and then, due to the magnetic influence of the magnet 137, the conveyed objects CA gradually become oriented so that their longitudinal directions are perpendicular to the conveying direction F. , the distance between the conveyed objects CA on the conveyance path 132t gradually increases.

The conveyance object CA in the vicinity of the nearest position 132tr0 is in a posture (second conveyance posture) in which the alignment direction (longitudinal direction) axis CAx is perpendicular to the conveyance direction F (second conveyance posture). magnetize). At this time, a repulsive force is generated between the front and rear conveyed objects CA, which are magnetized in the same direction and in the same posture, so that the mutual distance increases, and as a result, the variation in mutual spacing is reduced. be done. In an ideal situation, the intervals between the plurality of conveyed objects CA at a location close to the closest position 132tr0 are approximately equal in the front and back.

When the conveyance object CA passes through the closest position 132tr0, it moves away from the magnet 137 as it advances in the conveyance direction F. Therefore, in the downstream conveyance path region 132tr2, contrary to the upstream conveyance path region 132tr1, the conveyance As the direction F progresses, the magnetic influence gradually decreases, and the direction of the magnetic flux gradually inclines from the direction perpendicular to the transport direction F, and gradually changes toward the transport direction F. Then, when the direction of the magnetic flux becomes close to the conveyance direction F and the alignment direction (longitudinal direction) axis CAx of the conveyed objects CA approaches the conveyance direction F in accordance with the magnetic flux, as shown in the magnetic attraction force Q shown in FIG. Then, the magnetic influence gradually decreases and no further change in posture occurs, so the conveyed objects CA are placed in a conveying posture (first position) in which the alignment direction (longitudinal direction) axis CAx coincides with the conveying direction F. 1) and continues downstream. At this time, the column of conveyed objects CA passes from the upstream conveyance path region 132tr1 to the nearest position 132tr0, so that the variation in posture and the dispersion in interval are reduced in the second conveyance posture. When the transporting position is restricted to the first transporting position by the path area 132tr2, an orderly alignment state can be obtained. However, in this alignment state, although the objects CA are aligned in the first conveyance posture in which the alignment direction axis CAx coincides with the conveyance direction F, in the case of the illustrated example, the internal electrode This may include both a posture in which a surface with a width W corresponding to the width direction of IE1 and IE2 faces the bottom portion 132trb, and a posture in which a surface with a height H faces the bottom portion 132trb.

In this embodiment, in the downstream conveyance path region 132tr2, as the conveyance object CA is conveyed in the conveyance direction F and the magnetic influence of the magnet 137 on the attitude of the conveyance object CA decreases, the conveyance path 132t is The direction of the magnetic flux Φm gradually approaches from the second direction corresponding to the second conveyance posture to the first direction corresponding to the first conveyance posture. As a result, the conveyed object CA is gradually guided from the second conveyance posture to the first conveyance posture, and may be subjected to a magnetic force that opposes this (for example, a magnetic force that returns it to the second conveyance posture). Therefore, even when the objects CA are transported at high speed and with high density, the objects CA can be efficiently and reliably aligned in the first transport posture. In order to form such a magnetic flux distribution, it is preferable to adjust the magnetic force of the magnet 137 and the distance Dm. In this embodiment, the position of the mounting member 136 is adjustable, so the distance Dm can be adjusted. However, for example, it is also possible to adjust the magnetic flux distribution by replacing the magnet 137, or by adjusting the electric power value such as the current value when using an electromagnet. In this case, by processing an image acquired by an imaging means such as a camera, the magnetic influence on the conveyed object, particularly the conveyance posture of the conveyed object in the nearest position 132tr0 and its surroundings and downstream conveyance area 132tr1, or It is further desirable to analyze the change mode and automatically control the distance Dm and the power value. For image processing in this case, AI such as pattern matching processing or a trained neural network can be used. It is preferable that the manual distance Dm and power value adjustment means and the automatic distance Dm and power value adjustment means are provided in the controller of the transport system.

FIG. 7 shows a wider range of the transport path 132t. The transport path 132t is provided with a transport path portion 132tp on the upstream side of the transport path portion 132tr, and the transport path portion 132tp has a transport path shape including a flat bottom portion 132tpb. This flat bottom surface portion 132tpb has a characteristic that the stability of the conveying posture of the conveyed object CA is relatively high. At this time, in the illustrated example, since the bottom surface portion 132tpb having a relatively wide width is provided in the conveyance path portion 132tp, the conveyed objects CA whose alignment direction (longitudinal direction) axis CAx is oriented in the width direction are also included. transported. Thereafter, in the conveyance path portion 132tr, the concave curved bottom surface portion 132trb facilitates changes in the conveyance posture of the conveyed object CA, so that the posture is caused by the magnetic action of the magnet 137 in the magnetic influence range 132trs of the conveyance path. Change is more likely to occur.

On the other hand, a transport path portion 132ts is connected to the downstream side of the transport path portion 132tr. In this conveyance path portion 132ts, the stability of the conveyance posture of the conveyed object CA is relatively high due to the conveyance path shape having the flat bottom surface portion 132tsb. Here, it is preferable that the width dimension of the conveyance path portion 132ts has a value corresponding to the first conveyance posture. In the illustrated example, since the alignment direction (longitudinal direction) of the first conveyance posture coincides with the conveyance direction F, the width of the bottom surface portion 132tsb is configured to be narrower than that of the upstream conveyance path portions 132tp and 132tr.

In this transport path portion 132ts, a determination control section 132S is set on the transport path 132t. This determination control unit 132S is set with a measurement area ME that is an area for determining the appearance, posture, and other characteristics of the conveyed object CA, and various measurements of the conveyed object CA are performed in this measurement area ME. By doing this, the conveyance object CA is determined, and depending on the determination result, the conveyance object CA is removed from the conveyance path 132t or the conveyance posture is reversed. In the case of the illustrated example, the conveyed object CA is determined by image processing based on the image taken by the camera CM, and the determination result is that the conveyed object CA is not suitable for being conveyed directly to the downstream side. If it comes out, the conveyed object CA is removed from the conveyance path 132t by the airflow blown from the blowhole OP, or the attitude of the conveyed object CA is changed by inversion or other rotational action. An example of the determination control unit 132S is a case where determination is made as to whether or not the rotational posture of the conveyed object CA around the alignment direction (longitudinal direction) axis CAx is appropriate.

Note that the method and apparatus of the present invention are not limited to the illustrated examples described above, and it goes without saying that various changes can be made without departing from the gist of the present invention. For example, in the embodiment described above, one magnetic pole 137a of the magnet 137 is oriented toward the closest position 132tr0 of the transport path 132t, and the direction of the magnetic flux generated by the magnet 137 is on the upstream side in the magnetic influence range 132trs of the transport path. A magnetic flux distribution is formed that substantially coincides with the transport direction F at the upstream end of the transport path region 132tr1 and the downstream end of the downstream transport path region 132tr2, and is orthogonal to the transport direction F near the closest position 132tr. However, the present invention is not limited to such a magnetic flux distribution. For example, the magnets are arranged so that the direction of arrangement of a pair of magnetic poles is parallel to the conveyance path 132t, and the direction of the magnetic flux is different between the upstream side and the downstream side. A magnetic flux distribution may be formed that is close to the direction perpendicular to the transport direction F and almost coincides with the transport direction F in the vicinity of the closest position 132tr0. In this case, the conveyed object is configured such that when the direction of the magnetic flux is perpendicular to the conveying direction F, the object is in the first conveying posture, and when the direction of the magnetic flux is coincident with the conveying direction F, it is in the second conveying posture. It would be fine if it had been done. Furthermore, in the above embodiment, a case has been described in which the alignment direction axis CAx of the carried objects CA is the longitudinal direction, and the attitude of the carried objects CA is determined by magnetic force so that the alignment direction axis CAx is along the direction of the magnetic flux Φm. However, the present invention is not limited to such a case, and the alignment direction axis CAx may be in a direction other than the longitudinal direction, and the alignment direction axis CAx may not be along the direction of the magnetic flux Φm, for example, the alignment direction axis CAx may be in a direction other than the longitudinal direction. The conveyed object CA may be stable along the direction orthogonal to the conveyed object CA.

DESCRIPTION OF SYMBOLS 100... Vibratory conveyance device, 101... Installation stand, 102... Support stand, 110... Conveyed object supply part, 112... Hopper, 120... First conveyance part, 130... Second conveyance part, 132... Vibrating body, 132t... Conveyance path, 132tr, 132tp, 132ts...transportation path portion, 132trs...magnetic influence range of the transport path, 132tr0...nearest position, 132tr1...upstream transport path region, 132tr2...downstream transport path region, 132trb, 132tpb, 132tsb... Bottom part, 137(M)...Magnet 137a(Ms)...Magnetic pole, Φm...Magnetic flux, Sm...Magnetic pole area, Bm...Magnetic flux density, CA...Carried object, CAx...Alignment direction axis, L...Length, W...Width, H...height, K...maximum dimension, Q...magnetic attraction force

Claims (13)

In the process of transporting an object containing a magnetic material in a transport direction along a transport path, the posture of the transport object is controlled according to the direction of magnetic flux generated by a magnet placed beside the transport path, and A method in which the direction of the magnetic flux on the conveyance path is configured to change in the conveyance direction, thereby aligning the conveyed objects in a first conveyance posture on the conveyance path by magnetic force, the method comprising:
In the upstream conveyance process in which the conveyance object approaches the magnet as it is conveyed along the conveyance path, the conveyance object moves in the conveyance direction in the first conveyance attitude of the conveyance object on the conveyance path. The alignment direction that should coincide with the conveyance direction is aligned to a second conveyance posture that does not coincide with the conveyance direction, and the magnetic repulsion between the conveyance objects reduces the variation in the distance between the front and rear conveyance objects in the conveyance direction,
Thereafter, in a downstream conveyance process in which the conveyance object moves away from the magnet by being conveyed along the conveyance path, the conveyance object on the conveyance path moves in the direction of the magnetic flux on the conveyance path in the conveyance direction. By gradually changing the posture according to the change, the conveyed objects are aligned so that the alignment direction finally becomes the first conveying posture that coincides with the conveying direction ,
The conveyance path is made of a non-magnetic material and includes a conveyance bottom part having a concave cross-sectional profile along the width direction perpendicular to the conveyance direction, and the conveyance bottom part is formed of a non-magnetic material. A radius of curvature R in a range where R>L/2 with respect to the length L in the longitudinal direction of the conveyed object, or R>K/2 with respect to the maximum dimension K of the conveyed object, over both sides in the width direction with respect to the section. having a cross-sectional profile of
How to align conveyed items. The conveyed object has a longitudinal direction,
the longitudinal direction is the alignment direction that coincides with the conveyance direction in the first conveyance posture;
The method for aligning conveyed objects according to claim 1. The second conveyance posture is a posture in which the longitudinal direction is perpendicular to the conveyance direction.
The method for aligning conveyed objects according to claim 2. In the downstream conveyance process, as the conveyance object is conveyed in the conveyance direction and the magnetic influence of the magnets on the posture of the conveyance object decreases, the direction of the magnetic flux on the conveyance path is as follows: asymptotic from a second direction corresponding to the second transport attitude to a first direction corresponding to the first transport attitude;
The method for aligning conveyed objects according to any one of claims 1 to 3. The conveyed object includes the magnetic body in a manner in which the alignment direction is stabilized in a posture along the direction of the magnetic flux.
The method for aligning conveyed objects according to any one of claims 1 to 4. The conveyance path is configured to convey the conveyed object by reciprocating vibrations directed forward and diagonally upward in the conveyance direction.
The method for aligning conveyed objects according to any one of claims 1 to 5. The conveyance path includes a second conveyance path portion provided with a flat bottom portion provided upstream of the first conveyance path portion provided with the conveyance bottom portion, and a second conveyance path portion provided downstream of the first conveyance path portion. a third conveying path portion provided with a flat bottom surface;
The dimension in the width direction of the bottom portion of the second conveyance path portion is set such that the object can be conveyed in a state in which the conveyed object with the longitudinal direction facing the width direction is included,
The dimension in the width direction of the bottom surface portion of the third conveyance path portion is a value that allows the conveyance object in the first conveyance posture to be conveyed, and the width direction dimension of the bottom surface portion of the first conveyance path portion and configured to be narrower than the bottom surface portion of the second conveyance path portion .
The method for aligning conveyed objects according to any one of claims 1 to 6. a conveyance path along which the conveyance object is conveyed in the conveyance direction; and a conveyance path arranged beside the conveyance path and conveyed on the conveyance path over at least a predetermined range of the conveyance direction in the conveyance direction. A conveyance object alignment system comprising: a magnet that forms a magnetic flux distribution that affects the conveyance posture of objects, and aligns the conveyance objects in a first conveyance posture;
The magnetic flux distribution is configured to cause the conveyed object to move toward the first magnet in the upstream conveyance path region in the predetermined range where the conveyed object approaches the magnet as it is conveyed in the conveyance direction on the conveyance path. The direction of the magnetic flux gradually changes in the conveying direction in a manner that gradually leads to a second conveying posture different from the conveying posture, and
Directing the conveyed object from the second conveyance posture to the first conveyance posture in a downstream conveyance path region where the conveyance object moves away from the magnet as it is conveyed in the conveyance direction on the conveyance path. The direction of the magnetic flux gradually changes in the conveying direction in a manner that the magnetic flux is gradually guided,
The conveyance path is made of a non-magnetic material and includes a conveyance bottom part having a concave cross-sectional profile along the width direction perpendicular to the conveyance direction, and the conveyance bottom part is formed of a non-magnetic material. A radius of curvature R in a range where R>L/2 with respect to the length L in the longitudinal direction of the conveyed object, or R>K/2 with respect to the maximum dimension K of the conveyed object, over both sides in the width direction with respect to the section. having a cross-sectional profile of
Conveyed object alignment system. The conveyed object has a longitudinal direction,
the longitudinal direction matches the conveyance direction in the first conveyance posture;
The conveyed object conveyance system according to claim 8. The conveyed object includes the magnetic body in such a manner that the conveyance object is stabilized in a posture in which a direction coinciding with the conveyance direction in the first conveyance posture is along the direction of the magnetic flux.
The conveyance system according to claim 8 or 9. In the downstream conveyance path region, as the conveyance object is conveyed in the conveyance direction and the magnetic influence of the magnets on the posture of the conveyance object decreases, the direction of the magnetic flux on the conveyance path changes. , asymptotic from a second direction corresponding to the second conveyance posture to a first direction corresponding to the first conveyance posture;
The conveyed object conveyance system according to any one of claims 8 to 10. The conveyed objects are determined, and the conveyed objects are placed in a location downstream of the downstream conveyance path region where the conveyed objects are aligned and conveyed in the first conveyance posture. further comprising a discrimination control section that controls the
The conveyed object conveyance system according to any one of claims 8 to 11. The conveyance path is configured to convey the conveyed object by reciprocating vibrations directed forward and diagonally upward in the conveyance direction.
The conveyance system for conveyed objects according to any one of claims 8 to 12.

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