KR20220074733A - Posture control method for conveying objects and conveying system - Google Patents

Abstract

Provided are a method for controlling the attitude of a transported object and a transport system using the same, which can increase the reliability of attitude control of a transported object compared to the prior art.
The attitude control method according to the present invention is a direction for controlling the conveying attitude of the conveyed object by spraying an airflow to the conveyed object on the conveying path in the process in which the conveyed material is conveyed along the conveying path in the conveying direction, wherein the conveyed object is conveyed The attitude of the conveyed object is changed by making the conveyed object float on the furnace by the first airflow and by rotating the conveyed object floating on the conveying path by the second airflow.

Description

A method of controlling the attitude of a conveyed object and a conveying system

The present invention relates to a method for controlling the attitude of a conveyed object and a conveying system.

BACKGROUND ART [0002] Conventionally, as a transport device such as a parts feeder, one configured to align transported objects such as electronic components in a predetermined posture while transporting them has been known. In this type of conveying apparatus, the attitude of the conveyed object on the conveying path is determined by external measurement, and the conveyed object having an unsuitable posture is removed from the conveying path by, for example, blowing an airflow to the conveyed material according to the determination result. By removing or rotating the conveyed object and changing its posture, the attitude of the conveyed object is provided.

By the way, in order to change the attitude of the conveyed object, the attitude of the conveyed object on the conveyance path is set to a position in which the conveyed material being conveyed in an inappropriate attitude is inverted by the airflow, and this is merged with the original conveying train composed of conveyed material which did not need to be reversed. There is known a method for controlling the attitude of a conveyed object to have a (see Patent Document 1 below). In this case, in many cases, a step is formed on the conveying path to reliably reverse the conveyed material, and the conveyed material subjected to an airflow is reliably rotated while being caught by the step. Also, as a method of changing the attitude of a transported object, a method of changing the attitude in a lateral bow shape by applying an airflow to the bottom of the transported object (refer to Patent Document 2 below), A method of rotating the (see Patent Document 3 below) and the like have been proposed in various ways.

Japanese Patent Laid-Open No. 2000-264430 Japanese Patent Laid-Open No. 7-228332 Japanese Patent Laid-Open No. 10-053320

However, in changing the attitude of the conveyed object as described above, it is necessary to invert the conveyed material disposed on the conveying path by the airflow. Since a large airflow pressure is required to reverse the conveyed material, it is difficult to adjust the airflow pressure to prevent reversal from occurring due to insufficient airflow pressure or over-rotation due to excessive airflow pressure. As a method for solving this problem, as described above, a step is provided in the reversing direction to make it easier to reverse the conveyed material. However, this does not change the point that a large airflow pressure is required at the start of the initial rotational operation of the conveyed material. Since the difficulty of adjusting the pressure does not change much, there is a problem that the certainty of changing the posture of the conveyed object cannot be obtained.

In addition, in the conventional method, when the conveyed material is reversed, it moves to the side deviating from the original conveying path in the width direction, so it is necessary to merge the reversed conveyed material with the original conveying row made up of conveyed products that did not need to be reversed, In that case, there is a problem in that the conveyance posture is disturbed, that the attitude of the conveyed object reversed by the conveyed object before and after the original conveyance train is changed, or that the attitude before and after the original conveyance train is changed. In particular, in recent conveying apparatuses, since it is required to convey a large amount of fine conveyed materials, it is becoming difficult to merge the reversed conveyed material with the original conveying train conveyed at high speed and high density. have. Furthermore, when the reversed conveyed material is merged into the original conveying row on the round groove-shaped conveying path, a certain conveying distance is required to establish the conveying posture of the conveying train. Since a certain length of the conveying path is required, there is also a problem that the compaction of the conveying apparatus is difficult.

Accordingly, the present invention is to solve the above problem, and an object thereof is to provide a method for controlling the attitude of a conveyed object and a conveying system using the same, which can increase the reliability of attitude control of the conveyed object compared to the prior art.

In order to solve the above problems, in the method for controlling the attitude of a conveyed object according to the present invention, the conveying attitude of the conveyed object is controlled by spraying an air stream to the conveyed object on the conveying path while the conveyed object is conveyed along the conveying path in the conveying direction. As a method, the attitude of the conveyed object is changed by levitating the conveyed object on the conveying path by a first airflow and rotating the conveyed material floating on the conveying path by a second airflow. . According to this, since the conveyed object is levitated by the first airflow on the conveyance path and the floated conveyed material is rotated by the second airflow, interference by the conveying surface of the conveying path when the attitude of the conveyed object is changed is prevented. Since it becomes difficult to generate|occur|produce, the conveyance attitude|position can be changed more reliably.

In the present invention, after the conveyed object is rotated by the second airflow from the floating position by the first airflow and the attitude is changed, it is returned to the conveying path when the first airflow is no longer received. desirable. In particular, it is preferable to return to the position of the width direction corresponding to the conveyance position before floating on the said conveyance path when it stops receiving the said 1st airflow. According to this, there is no need to merge the conveyed material into the original conveying row after inverting the conveyed material in the width direction and moving it laterally as in the prior art. can For this reason, the conveyance attitude|position of the conveyed object conveyed at high speed and high density can be controlled without difficulty. Moreover, since the length in the conveyance direction for providing a conveyance attitude|position can also be reduced, a conveyance apparatus can be comprised compactly.

In the present invention, a conveyed object discrimination unit is set in a predetermined area in the conveying direction on the conveying path, and the presence or absence or control mode of the conveying posture of the conveyed material according to the determination result of the conveyed material determined by the conveyed material determination unit It is preferable that the conveyance attitude control part in which the selection of is performed is set. In this case, it is preferable that an image of the conveyed object is acquired in the conveyed object discrimination unit, and the conveyed object is discriminated by processing the image. In this case, it is preferable that the presence or absence of the first airflow and the second airflow is determined for each conveyed object in accordance with the determination result. Further, it is more preferable that the first airflow is continuously generated in the conveyance attitude control unit, and the presence or absence of the second airflow is determined according to the determination result for each conveyed object that has reached the conveyance attitude control unit. According to this, since the first airflow is continuously generated in the conveyance attitude control unit, all conveyed objects can be floated in the conveyance posture control unit, so that the time required for preparation for control of the conveying posture can be reduced, and the It is possible to quickly control the conveyance posture according to the need for posture control. In addition, by continuously generating the first air flow, instability such as variation in the floating posture (inclination angle with respect to the horizontal) of the conveyed object due to a shift in the start or end timing when the first air flow is generated intermittently can be suppressed. have.

In the present invention, a conveyance posture control unit for generating a first airflow and a second airflow is set, and in the conveyance posture control unit, an image representing a floating posture or a rotational posture of the conveyed object by an imaging means It is preferable to control the intensity of at least one of the first airflow and the second airflow according to the floating posture or the rotational posture detected by photographing the image and processing the image. According to this, it becomes possible to reliably control the conveyance attitude of the conveyed object by controlling the intensity of the airflow based on the image indicating the floating posture or rotational posture of the conveyed object.

Next, the conveying system according to the present invention comprises: a conveying path through which conveyed material is conveyed; and second airflow spraying means for rotating the conveyed object by injecting a second airflow to the conveyed object floating by the airflow of No. 1 . Further, in the present invention, the first airflow injection means and the second airflow injection means are not limited to the above-described method for controlling the attitude of the conveyed object, even when the conveyed material is excluded from or distributed on the conveying path. can be used

In the present invention, the conveying path includes a first conveyance surface and a second conveyance capable of disposing the conveyed material between the first conveying surface and the first conveying surface by providing a predetermined angle with respect to the first conveying surface. Preferably, it has a surface, and the second carrying surface is configured to rise as it moves away from the first carrying surface. In this case, it is preferable that the conveyed object is detached from the first conveyed surface by the first airflow and floats. Moreover, it is more preferable that the said conveyed material floats along the said 2nd conveyance surface by the said 1st airflow. According to this, by configuring so that the conveyed material is detached from the first conveying surface and floats along the second conveying surface, the conveyed object is separated from the first conveying surface by the first airflow, so that the In addition to being less susceptible to interference and easier to rotate, by floating along the second transport surface, the stability at the time of levitation and the reproducibility of the position of the levitation can be improved, so that the transport posture of the transported substance can be controlled more reliably. will do In this case, it is preferable that the said 2nd conveyance surface is an inclined surface. Here, the angle of inclination of the second conveying surface is preferably within the range of 20 degrees to 70 degrees, and more preferably within the range of 30 degrees to 60 degrees. Typically, the range of 45 to 50 degrees is most preferred. By setting the angle of the conveying surface within the above range, it is possible to achieve both stability and reproducibility of the floating state of the conveyed object, the avoidance of interference by the conveying surface of the conveyed object in the floating state and the ease of rotation of the conveyed object.

In the present invention, it is preferable that the first air flow jetting means includes a first branch opening to the first conveying surface. In addition, it is preferable that the second air flow jetting means includes a second branch opening to the second conveying surface. In this case, it is more preferable that the second branch port is formed at a position (height) corresponding to a position (height) of the conveyed object floating along the second conveyance surface by the first airflow. Moreover, it is preferable that the said 1st branch port is formed over the long range of the conveyance direction from the said 2nd branch port. Moreover, it is preferable that the said 1st branch port has a part arrange|positioned at the upstream side of the said conveyance path rather than the said 2nd branch port.

In the present invention, it further comprises a conveyance attitude control unit set in a predetermined area in the conveyance direction on the conveyance path, wherein the first airflow spraying means is configured such that the first airflow is continuously generated in the conveyance attitude control unit. Preferably, the second airflow spraying means is configured such that the second airflow is generated for each conveyed object that has reached the conveying posture control unit. On the other hand, the first airflow injection means may be configured to generate a first airflow for each of the conveyed objects in the conveying posture control unit.

In the present invention, in the conveying attitude control unit set to generate the first airflow and the second airflow, conveyed object discrimination means for discriminating the conveyed object to be controlled, and the conveyed object determination result in the conveyed object discrimination means Accordingly, it is preferable to further include the transport attitude control means for selecting the presence or absence of control of the transport posture in the transport posture control unit or the control mode. In this case, it is preferable that the conveyed object discrimination means acquires an image of the conveyed object in a conveyed material determination unit set upstream of the conveyed attitude control unit, and discriminates the conveyed material by processing the image.

In the present invention, in the conveyance posture control unit set to generate the first airflow and the second airflow, an image representing the floating or rotational posture of the conveyed object is photographed by an imaging means, and the image is processed by It is preferable to further include airflow control means for controlling the intensity of at least one of the first airflow and the second airflow according to the detected floating posture or the rotational posture.

In the present invention, the first air flow injection means includes a first air supply passage for supplying an air flow, a first injection passage communicating with the first air supply passage and facing the first branch port; , it is preferable to provide a first erection portion communicating with the first air supply passage and the first injection passage, and configuring an air flow discharge passage different from the first injection passage. Here, it is preferable that the angle difference between the air supply direction to the first air supply passage and the injection direction to the first injection passage is smaller than the angle difference between the air supply direction and the erection direction of the first erection unit. Further, it is preferable that the cross-sectional area of ventilation of the first injection passage is smaller than the cross-sectional area of ventilation of the first erection part. Furthermore, it is preferable that the first air supply air, the first injection passage, and the first erection part are configured on a surface facing the base block and the first block (by a groove structure on at least one surface, etc.) .

In addition, the second air flow injection means includes a second air supply passage for supplying an air flow, a second injection passage communicating with the second supply passage and facing the second branch port, and the second It is preferable to configure a second erection unit that communicates with the air supply passage and the second injection passage and constitutes an air flow discharge passage different from the second injection passage. Here, the angle difference between the air supply direction to the second air supply passage and the injection direction to the second injection passage is preferably smaller than the angle difference between the air supply direction and the erection direction of the second erection unit. In addition, it is preferable that the ventilation cross-sectional area of the second injection passage is smaller than the ventilation cross-sectional area of the second erection part. Furthermore, it is preferable that the second air supply air, the second injection passage, and the second erection section are configured on the surface opposite the base block and the second block (by a groove structure on at least one surface, etc.).

ADVANTAGE OF THE INVENTION According to this invention, the attitude control method of a conveyed object which can increase the certainty of the attitude|position control of a conveyed object by reducing the airflow pressure required for attitude|position control of a conveyed object compared with the prior art, and a conveyance system using the same can be provided. In particular, when the attitude of the conveyed object can be controlled as it is on the conveyance path, the conveyance attitude can be changed without removing the conveyed material from the conveyance train, so that it is not necessary to join the original conveyance train, thereby avoiding disturbance of the conveying posture can do. In addition, it is possible to control the conveying posture of conveyed materials conveyed at high speed and high density without any hindrance. Furthermore, since the length in the conveying direction for providing the conveying posture can also be reduced, the conveying apparatus can be configured compactly.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a plan view of an example of a vibrating conveying apparatus constituting an embodiment of a conveyed material alignment system for realizing a conveyed material alignment method according to the present invention.
Fig. 2 is a side view of the vibrating type conveying apparatus.
3 : is a front view (a) and a side view (b) of the conveyed object of the same embodiment.
4 is an explanatory view (a) to (d) showing an example of the attitude control mode of the conveyed object CA in the conveyance attitude control part of the same embodiment.
5 is an explanatory view (a) to (d) showing another configuration example of the conveyance posture control unit of the embodiment.
6 is an explanatory view (a) to (d) showing an example of the procedure of the attitude control mode at the time of conveyance in the conveyance attitude control part of the same embodiment.
7 is an explanatory view (a) to (f) showing another example of the procedure of the attitude control mode at the time of conveyance in the conveyance attitude control part of the same embodiment.
Fig. 8 is an explanatory view (a) to (d) showing a sequence of examples of combinations of posture control aspects at the time of conveyance in a plurality of conveyance posture control units according to the embodiment.
Fig. 9 is a schematic explanatory diagram showing an arrangement example of a plurality of conveyance posture control units according to the embodiment.
Fig. 10 is a schematic block diagram showing the overall configuration of the control system of the embodiment.
Fig. 11 is a schematic flowchart showing the overall schematic control procedure of the operation program of the embodiment.
12 is a cross-sectional view schematically showing an air flow supply path according to another embodiment.
13 shows a case in which a conveyed object is conveyed while spaced apart from the second conveying surface (a-1) and a case in which a conveyed material is conveyed while approaching or in contact with the second conveying surface (b-1) , the drawings (a-2) and (b-2) showing the floating position of the conveyed object in the conventional structure not provided with the airflow stabilizing structure, and the conveyed object when the airflow stabilizing structure of the other embodiment is used It is a drawing (a-3) and (b-3) showing the floating position.

Next, an embodiment of the present invention will be described with reference to the accompanying drawings. First, with reference to Figs. 1 and 2, a vibration-type conveying apparatus constituting the conveying system according to the present invention will be described. The vibrating conveying apparatus 100 includes a conveyed material supply unit 110 installed on a mounting table 101 , a first conveying unit 120 conveying conveyed material supplied from the conveyed material supply unit 110 , and the first conveying unit A second conveying unit 130 for conveying the conveyed material supplied from the 120 is provided. Since the first conveying unit 120 and the second conveying unit 130 are provided with a vibrator, they are attached to the support unit 102 installed on the mounting unit 101 via a vibration damping material (coil spring, etc.) do. The conveyed material supply unit 110 includes a driving unit 111 and a hopper 112 attached to the driving unit 111 , and discharges the conveyed material on the hopper 112 to the first conveying unit 120 .

The first carrying unit 120 is a so-called bowl-type parts feeder, which includes a rotary vibrator 121 and a bowl-type vibrating body 122 mounted on the rotary vibrator 121 . The vibrating body 122 has a conveying path 122t that rises spirally from the inner bottom, and by the rotational vibration applied by the rotary vibrator 121, the conveyed material supplied to the inner bottom is transferred to the conveying path 122t. ) and align it while ascending gradually.

The second conveying unit 130 is a so-called linear feeder including a linear vibrator 131 and linear vibrating bodies 132 and 133 mounted on the linear vibrator 131 . Here, the vibrating body 132 is provided with the linear conveying path 132t for supply connected to the exit end of the said conveyance path 122t. Moreover, the vibrating body 133 is provided with the conveyance path 133t extending in parallel with the conveyance path 132t, this conveyance path 133t receives the conveyed material removed from the conveyance path 132t, and the conveyance path ( 132t), it is a conveyance path for collection|recovery for conveying the conveyed object and returning the said conveyed material to the inside of the said vibrating body (122).

The conveyance path 132t is provided with conveyance posture control units 132S1 to 132S4. These conveying posture control units 132S1 to 132S4 are points for controlling the conveying attitude of the conveyed material CA according to the determination result of the conveyed material CA in the conveyed material discrimination unit to be described later. Specifically, the conveying posture control units 132S1 to 132S4 select a specific conveying posture of the conveyed material CA on the conveying path 132t from among a plurality of different conveying postures possible on the conveying path 132t. It is configured so that it is possible to change to .

The conveyed product CA according to the present embodiment is configured in a rectangular parallelepiped shape as shown in FIG. 3 . The conveyed object CA of the illustrated example is provided with external electrodes OE1 and OE1 at both ends, and the body portion CAB is provided between the external electrodes OE1 and OE2. An appropriate posture identification mark may be displayed on this body portion CAB as described later. In the illustrated example, the alignment direction of the conveyed material CA (corresponding to the longitudinal direction in the illustrated example) axis CAx is directed to the conveying direction F of the conveying path 132t in the normal conveying posture sort direction. However, if the normal conveying attitude of the conveyed object CA only needs to be that the direction of the alignment direction axis CAx faces the conveying direction F, the above attitude discrimination mark is particularly unnecessary, but the alignment direction of the conveyed product CA There is a distinction between the four rotational postures around the axis (CAx) and the two forward and backward postures corresponding to the front and rear directions of the alignment direction axis (CAx). If not, a posture discrimination mark is given to the body portion CAB to distinguish them.

4, the method or aspect of the attitude|position control of the conveyed object CA in the said conveyance attitude|position control part 132S1-132S4 (hereafter simply referred to as "132S") is shown. As shown to Fig.4 (a), the conveyance path 132t has the 1st conveyance surface 132ta and the 2nd conveyance surface 132tb, The 1st conveyance surface 132ta, and the 2nd A predetermined angle corresponding to the conveyed object CA is provided between the conveying surface 132tb and the conveyed object between the first conveying surface 132ta and the second conveying surface 132tb by the angle. (CA) becomes deployable. In the example of illustration, both the 1st conveyance surface 132ta and the 2nd conveyance surface 132tb are planar, and the said predetermined angle is 90 degrees. Generally, it is preferable that both the 1st conveyance surface 132ta and the 2nd conveyance surface 132tb be inclined surfaces provided with the inclination angles θ and phi between the horizontal plane. In the illustrated example, θ = φ = 45 degrees, but most suitably θ and φ are in the range of 20 degrees to 70 degrees, and preferably in the range of 30 degrees to 60 degrees. For example, θ = 30 degrees and φ = 60 degrees. Above all, it is more preferably within the range of 40 to 50 degrees. These angular ranges are stable as the inclination angle φ decreases, the stability of the floating state of the transported object CA, and the transported object CA according to the securing of the floating height, which becomes easier to avoid and rotate as the inclination angle φ increases. It is set in order to achieve coexistence with the avoidance of interference by the 1st conveyance surface 132ta with respect to a rotation operation, and the rotatability of the conveyed object CA. In addition, from the same viewpoint, it is preferable that the inclination angle θ of the first carrying surface 132ta is equal to or smaller than the inclination angle phi of the second carrying surface 132tb.

A first branch port OP1 is provided on the first conveying surface 132ta, and the first branch port OP1 is an airflow source (not shown) such as a cylinder or a compressor constituting an airflow supply means (not shown). It is connected to a vent pipe which is connected to the air through a switching valve such as a solenoid valve. In addition, a second branch port OP2 is provided on the second conveying surface 132tb, and the second branch port OP2 is also connected to an airflow source such as a cylinder or a compressor (not shown) constituting the airflow supply means. It is connected to a vent pipe connected via a switching valve such as a solenoid valve. The conveyed material CA is conveyed from the upstream of the conveyance path 132t in the aspect shown to Fig.4 (a). And when the conveyance attitude control part 132S provided with the 1st branch OP1 and the 2nd branch OP2 is provided, if the conveyance attitude|position of this conveyed object CA needs to be changed, it is shown in FIG. 4(b) As shown, it floats on the conveyance path 132t by the airflow J1 given from the 1st branch OP1. In this case, the floating direction of the conveyed object CA may be any direction as long as the height of the conveyed material CA increases as a result. However, in order to increase the stability of the conveyed object CA, it is preferable to float along the second conveying surface 132tb as in the illustrated example. In the illustrated example, the direction of the airflow J1 is also a direction along the second conveyance surface 132tb. Moreover, although the 1st branch OP1 is opened in the 1st conveyance surface 132ta, like the example of illustration especially, it is preferable to open in the lowest position of the 1st conveyance surface 132ta. In particular, in order to reliably obtain the floating state of the conveyed object CA, the first branch OP1 is moved in the conveying direction (with It is preferable to set it as the shape extended in the direction orthogonal).

When this conveyed object CA is in the floating state shown in FIG.4(b), as shown in FIG.4(c), by the airflow J2 generated from the 2nd branch OP2, the conveyed object CA ), because the upper portion of the airflow pressure is applied, the conveyed object CA rotates as shown. The position of the airflow J2 is preferably set so as to touch the upper part of the conveyed object CA in a floating state in order to rotate the conveyed object CA easily and reliably. For this reason, it is preferable that the position of the 2nd branch port OP2 is also provided in the high position which does not correspond to the conveyed object CA in the normal conveyance position shown to Fig.4 (a). On the other hand, the position of the airflow J2 may be set so as to touch the lower part of the conveyed object CA in a floating state in order to rotate the conveyed material CA easily and reliably, and the front part of the conveyed material CA. ) or the rear part may be set. In these cases, the second branch OP2 is also formed at a position corresponding to each installation position.

At this time, as shown in FIG.4(c), it is preferable that conveyed object CA rotates as it is at the floating position shown in FIG.4(b). In the illustrated example, the conveyed object CA rotates 90 degrees about the alignment direction axis CAx. As shown in Fig. 4(d), when the airflow J1 is not received, the conveyed material CA is again placed on the conveying path 132t in a posture rotated by 90 degrees around the alignment direction axis CAx. and is conveyed to the downstream side. Moreover, it is preferable that the opening position of 1st branch OP2 is a position where the opening range of 1st branch OP1 and the conveyance direction F overlap. Moreover, it is preferable that the opening range of 1st branch OP1 is formed from the upstream rather than the opening position of 2nd branch OP2. Furthermore, when both of the branch ports OP1 and OP2 are opened on the respective conveying surfaces 132ta and 132tb, the opening edge on the front side of the conveying direction F is shown in Figs. It is preferable that a chamfering process or a round process is made like OP2 shown.

Fig. 5 is a diagram for explaining a method of controlling a conveyance posture other than the example shown in Fig. 4 above. First, in the example shown to Fig.5 (a), unlike the example shown in FIG. 4, 1st branch port OP1 is not opened at the lowest position of the 1st conveyance surface 132ta, but slightly above it. are doing However, the opening position of the 1st branch port OP1 is set in the range in which the conveyed material CA is arrange|positioned at the time of conveyance on the conveyance path 132t opposingly. In addition, the position of the 2nd branch OP2 is the same as that of FIG. 4, and the rotation direction of the conveyed object CA is also the same as that shown by the dotted line.

In the example shown in FIG.5(b), the 1st conveyance surface 132ta and the 2nd conveyance surface 132tb are swapped left and right with respect to the same conveyance direction, The rotation direction of the conveyed object CA shown by the illustrated dotted line is changed. is set in the reverse direction. In this example, the position of the 1st branch OP1 and the 2nd branch OP2 is equivalent to the case shown in FIG. 4 except the point which the left-right position and structure of the conveyance path 132t are inverted. do. Moreover, in the example shown to FIG.5(c), in the example in which this left-right position and structure are inverted, similarly to the example shown to FIG.5(a), the opening position of the 1st branch port OP1 is set to the lowest position. Instead, it is set at a slightly upwardly shifted position.

In the example shown to FIG.5(d), the 1st branch OP1 is not the 1st conveyance surface 132ta, but the bottom part between the 1st conveyance surface 132t and the 2nd conveyance surface 132tb. It shows the case of opening in . As described above, the first branch OP1 may be at any position as long as the airflow J1 provided there is a position at which the conveyed material CA on the conveyance path 132t can float. Moreover, in this example, the 2nd branch OP21 is provided in the 1st conveyance surface 132ta, and the 2nd branch OP22 is provided in the 2nd conveyance surface 132tb. In this way, it becomes possible to select the rotation direction of the conveyed object CA according to which of the 2nd branch OP21 and OP22 injects the airflow J2.

6(a) to 6(d) show the change of the conveying attitude in the conveying attitude control unit 132S during conveyance of the conveyed material CA on the conveying path 132t according to the first embodiment of the present embodiment. indicates. Corresponding to the conveying attitude control unit 132S configured as described above, the conveyed object discrimination unit ME1 is set on the upstream side thereof, and the conveyed material CA is conveyed by processing the image of the conveyed material passing detection unit CA on the downstream side thereof. The posture is detected, and it is determined whether or not this carrier posture is a normal carrier posture. For example, as shown in Fig. 6(a), the conveyed object CA0, in which the attitude identification mark MK provided on the main body CAB of the conveyed object CA is arranged in the lower right corner in the drawing, is the normal conveying posture. In this case, no airflow is injected into the conveyed object CA0. On the other hand, since the conveyed object CA1 disposed on the upper right of the attitude identification mark MK is not in the normal conveying attitude, as shown in Fig. 6(b), the airflow ( J1) is ejected and the conveyed object CA1 floats. Thereafter, as shown in Fig. 6(c) , the airflow J2 is injected from the second branch OP2 to the conveyed material CA1 in the floating state, so that the conveyed material CA1 is aligned with the axis CAx in the alignment direction. will rotate around And as shown in FIG.6(d), when the airflow J1 stops, the conveyance material CA1 will become a normal conveyance attitude|position, and will descend|fall on the conveyance path 132t, and will be conveyed downstream as it is.

In this embodiment, when the determination result based on the image of the conveyed object discrimination unit ME1 is different from the OK determination indicating the normal conveying posture (NG determination), the first branch OP1 and the second branch Airflows J1 and J2 from OP2 are jetted, but if the determination result is an OK determination indicating a normal conveying attitude, jetting of airflows J1 and J2 is not performed. Therefore, after the conveyance attitude of the previous conveyed object CA is changed by the jet of airflows J1 and J2 to the previous conveyed object CA whose conveyance posture has been changed, the next conveyed object CA When it is discriminated by this normal conveyance attitude|position (OK judgment), it is necessary to stop the airflows J1 and J2. At this time, when the forward conveyed object CA is detected by the image of the conveyed material passage detecting unit ME2, it can be seen that the posture change is completed and the front conveyed object CA has escaped the conveying attitude control unit 132S, so the airflow ( J1, J2) can be stopped. In addition, when it is determined that the next conveyed object CA is also not in the normal conveying posture (NG determination), you may make it continue to flow the airflows J1 and J2 as it is. At this time, while the 1st airflow J1 continues to flow, you may make it generate|occur|produce the 2nd airflow J2 according to the arrival timing of the conveyed object CA.

Acquisition of the image of the conveyed object discrimination unit ME1, processing and discrimination of the image, the passage detection processing of the conveyed material passage detection unit ME2, control of the conveyance posture control unit 132S according to the determination result and the passage detection result, etc. is executed according to the operation program shown in FIG. 11 by processing the image acquired in the transport system 10 shown in FIG. 10 including the transport apparatus 100 by the inspection processing unit DTU. Hereinafter, an example of the transport system 10 will be described.

The conveying system 10 has, as the conveying apparatus 100, a vibrating type conveying apparatus provided with the 1st conveying part 120 which is a parts feeder, and the 2nd conveying part 130 which is a linear feeder, as mentioned above. In the conveyance system 10 of this embodiment, the conveyed object CA on the conveyance path 132t of the 2nd conveyance part 130 is detected based on the picked-up image GPX, and the detected image part is taken as a target, inspect, judge Here, the conveying system 10 of the present embodiment includes not only the corresponding part of the attitude control method of the conveyed object in the conveying system having the configuration according to the present invention, but also various inspection units, judging unit, It may include a selection unit, an inversion unit, an exclusion unit, and the like. Moreover, in this invention, about the structure which is not limited to a vibrating type conveying apparatus, it can be used for the various conveying apparatuses in which the conveyed material CA is conveyed along a conveyance path. In addition, even if it is a vibration type conveying apparatus, it is not limited to the combination of the said parts feeder 120 and the linear feeder 130, It is possible to use for other types of conveying apparatuses, such as a circulation type part feeder. Moreover, even in the above combination, the conveyed material CA on the conveying path 132t of the linear feeder 130 is not limited to inspection, discrimination, inversion, exclusion, etc., and the conveying path 122t of the parts feeder 120 It is okay to inspect the conveyed material (CA) of the upper body.

The parts feeder 120 is driven and controlled by the controller CL12. In addition, the linear feeder 130 is driven and controlled by the controller CL13. These controllers (CL12, CL13) AC drive the excitation means (including electromagnetic actuators, piezoelectric actuators, etc.) of the parts feeder 120 or the linear feeder 130, It vibrates so that the conveyance object CA on 122t, 132t may become an aspect which moves in the predetermined conveyance direction F. Further, the controllers CL12 and CL13 are connected via an input/output circuit I/O to an inspection processing unit DTU having an image processing function as the main body of the transport control system.

In addition, the controllers CL12 and CL13 provide a predetermined operation input (debugging operation) via operation input apparatuses SP1 and SP2 described later such as a mouse to an arithmetic processing unit (MPU), which will be described later, which executes the operation program described below. ), the driving of the conveying apparatus 100 is stopped according to the above operation program. At this time, according to the above operation program, for example, the image measurement processing in the inspection processing unit DTU is also stopped. This debugging operation and the operation of each location according to the operation will be described later in detail.

The inspection processing unit DTU has an arithmetic processing unit (MPU) (microprocessing unit) such as a personal computer as a core configuration, and in the illustrated example, the arithmetic processing unit MPU includes a central processing unit (CPU1, CPU2). , a cache memory (CCM), a memory controller (MCL), and a chip set (CHS). In addition, the inspection processing unit DTU is provided with image processing circuits GP1 and GP2 for performing image processing respectively connected to the cameras CM1 and CM2 serving as the imaging means CM. Outputs of these image processing circuits GP1 and GP2 are respectively connected to image processing memories GM1 GM2. Outputs of the image processing circuits GP1 and GP2 are also connected to the arithmetic processing unit MPU, and the image data of the captured image GPX transferred from the cameras CM1 and CM2 is processed and an appropriate processed image (for example, to be described later) image data in the image area GPY) is transferred to the arithmetic processing unit MPU. In the main memory MM, the operation program of the transport control system is stored in advance. When the inspection processing unit DTU is started up, the operation program is read and executed by the arithmetic processing unit MPU. In addition, in this main storage device MM, image data of a captured image GPX or an image area GPY to be subjected to an image measurement process to be described later by the arithmetic processing unit MPU is stored.

Further, the inspection processing unit DTU is connected to the display devices DP1 and DP2 such as a liquid crystal monitor and the operation input devices SP1 and SP2 via the input/output circuit I/O. The display devices DP1 and DP2 are configured to include the image data of the captured image GPX or the image area GPY processed by the arithmetic processing unit MPU, the result of the image measurement processing, that is, the conveyed object discrimination unit ME1. ), the results of conveyed material detection processing and conveyed material discrimination processing at each location, such as conveyed material passing detection processing for the image of the conveyed material passing detection unit ME2, are displayed in a predetermined display mode. do. In addition, this display function is not limited to the case where the conveyed object is actually conveyed, but also functions when the past data is read and reproduced|reproduced, as will be described later. In addition, by operating the operation input devices SP1 and SP2 while viewing the screens of the display devices DP1 and DP2, processing conditions such as various operation commands and set values can be input to the arithmetic processing unit MPU.

In addition, in this embodiment, as schematically shown in Fig. 10, two cameras CM1, CM2, two image processing circuits GP1, GP2, two display devices DP1, DP2, two operation inputs ( Although SP1, SP2) etc. are provided, providing these two structures is an example, and each single structure may be provided, and three or more each structure may be provided.

Next, as a premise for configuring the embodiment shown in Fig. 6 or the embodiment shown in Figs. 7 to 9 to be described later, the processing contents of the inspection processing unit DTU, and the conveyed material discrimination unit ME1 or conveyed material passing The setting of conveyed object discrimination means and conveyed object passing detection means which process the image of detection part ME2 is demonstrated. In the present embodiment, for the images (GPX) and (GPY) acquired as described above, conveyed material discrimination processing is performed by image processing in conveyed material discrimination unit ME1, and image processing in conveyed material passing detection unit ME2 is performed. Since it is necessary to perform the conveyed material passing detection process by the , the conveyed material CA on the conveying path must be detected by the image data in the conveyed material discrimination unit ME1 or the conveyed material passing detection unit ME2. Therefore, it is necessary that all the conveyed objects CA passing on the conveyance path 121 are imaged within the respective measurement areas ME1 and ME2 in any one of the above images GPX and GPY. Accordingly, each of the measurement areas ME1 and ME2 must satisfy at least the following conditions as constraints related to the conveying speed Vs of the conveyed object CA and the imaging interval Ts.

In the present embodiment, the cameras CM1 and CM2 continuously perform shooting at a preset shooting cycle, and the captured image GPX or image data in the image area GPY is stored in the image processing device GP1 at each shooting cycle. , is transmitted to the arithmetic processing unit (MPU) via GP2). In the arithmetic processing unit MPU, the image data in the measurement area ME is processed as described above by using the arithmetic processing memory RMA among the transferred image data, and the conveyed article occupancy range discrimination processing is performed. However, in this embodiment, a separate trigger sensor is provided, or a predetermined shape pattern of the conveyed object CA is searched for within a predetermined area from the image data of the conveyed object CA, and an internal trigger is activated when the shape pattern is detected. It is not generated, but continuous with a preset shooting cycle by introducing an external trigger indicating a preset shooting cycle or outputting a trigger signal of a certain cycle from the processing unit (MPU) to the cameras (CM1, CM2) The year is shooting. For this reason, if it is attempted to judge all the conveyed objects CA conveyed along the conveyance path 132t without exception, all conveyed objects CA will be in each measurement area (GPX) or image area (GPY) ME1, ME2) need to be included.

So, if the shooting period is Ts[sec], the length of the conveying direction F of the conveyed object CA is L[mm], and the conveying speed of the conveyed object CA is Vs[mm/sec], all conveyed objects CA In order to ensure that the image of is necessarily included in the measurement area ME of any one image data, the range LD of the conveyance direction F of the measurement areas ME1 and ME2 is set as in Equation (1) below. do.

LD≥L+β=L+Ts Vs… (One)

For example, if the length L of the conveying direction F of the conveyed object CA is 0.6 [mm], the conveying speed Vs is 50 [mm/sec], and the shooting period Ts is 1 [msec], L=0.6 [mm] ], β=0.05 [mm], and LD≥0.65 [mm]. In addition, assuming that the photographing period Ts is 0.5 [msec], L = 0.6 [mm] and β = 0.025, LD ≥ 0.625 [mm].

In reality, the conveyance speed of the conveyed product CM varies from individual to individual, depending on the location, or over time, so that all or part of the conveyed product CA is imaged two or more times, preferably three or more times. It is desirable to set it to be photographed in the data. In general, in order to capture image data more than n times (n is a natural number),

LD≥L+n·β=L+n·Ts·Vs… (2)

LD is set so that In the case of this embodiment, n is set to be in the range of 3-7. This is because, when n is small, the risk of omission of photographing of the conveyed object CA due to variations in conveying speed increases, and conversely, when n is large, the load of image processing increases. In general, the natural number n is preferably within the range of 1-10. In addition, in this embodiment, the image processing time is generally about 150-300 microseconds. Also, the shooting interval Ts is about 500-840 [μsec].

Next, with reference to FIG. 11, the flow of the operation program of this embodiment as a whole is demonstrated. Fig. 11 is a schematic flowchart of processing executed according to an operation program by the arithmetic processing unit (MPU) of the inspection processing unit (DTU). When this operation program is started, first, the above image shooting and image measurement processing is started, and the vibrating conveying device 100 (parts feeder 120 and linear feeder 130) is controlled by the controllers CL12 and CL13. driving is started. And when the debugging setting according to the debugging operation described above is OFF, the image measurement processing is executed for the captured image GPX or the image area GPY, and the determination result of the conveyed material discrimination processing based on the image of the conveyed material discrimination unit ME1 is If the determination is OK, the image measurement processing of the next captured image GPX or image area GPY is executed as it is, unless a debugging operation is performed. On the other hand, for the conveyed object CA determined to be in an inappropriate posture based on the image captured by the cameras CM1, CM2, etc., the airflow J1 of the first branch OP1 in the conveying posture control unit 132S and The conveyance attitude is controlled by the airflow J2 of the 2nd branch OP2, and an attitude|position is reversed on the conveyance path 132t. In addition, when detecting that the conveyed object CA has passed the conveyance attitude control part 132S by image processing in conveyed material passage detection part ME2, or conveyed object exclusion part WHEREIN: ), the process for determining whether or not the conveyed object CA is rejected by jetting an air stream or the like is also performed in the same manner as described above. In this way, by controlling the conveyance attitude of the conveyed material CA on the conveyance path 132t, only the conveyance attitude|position after a change is supplied in the aligned state to the downstream.

In the middle of the above, when a debugging operation is performed and the debugging setting is turned on, the routine is exited, the driving of the conveying apparatus 100 is stopped, and the image measurement processing is also stopped. Then, if an appropriate operation is performed in this state, the image file can be selected as described above. At this time, the selected and displayed image file is an image file including a plurality of captured images (GPX) or image areas (GPY) recorded in the immediately preceding operation mode. If you select this as it is and perform an appropriate operation, it will shift to the re-execution mode. In this mode, it is possible to re-execute the display, detection and judgment of an image based on an image file in which an already executed control operation is recorded. That is, when a problem occurs in the inspection, determination, and control of the conveyed material CA of the conveying apparatus 100, in order to solve this problem, first, the image measurement processing is re-executed based on the past image data. Find the problem point. When the problem location is identified, the result of the adjustment and improvement work can be confirmed by changing and adjusting the setting contents (setting values) of detection and judgment accordingly, and then re-executing the image measurement processing for the past image data. After that, when an appropriate recovery operation is performed, the debugging setting is returned to OFF, the image measurement processing is resumed, and the driving of the conveying apparatus 100 is resumed. In addition, the screen of the display device returns to the display screen of the operation mode.

In addition, in this embodiment, as described above, discrimination and detection are performed according to image processing based on a triggerless image acquisition method using the conveyed object discrimination unit ME1 and the conveyed material passing detection unit ME2, which are the respective measurement areas, However, the present invention is not limited to the conveyed object discrimination processing, etc., and may follow the conveyed object identification processing by processing an image acquired at a timing corresponding to a trigger signal using a simple pass sensor or the like.

Next, with reference to FIG. 7, the aspect of the change of the conveyance attitude|position by the conveyance attitude control part 132S in the middle of conveyance of the conveyed material CA on the conveyance path 132t by 2nd Example of this embodiment is shown. In this second embodiment, the airflow J1 is continuously (always) jetted from the first branch OP1, irrespective of the determination result of the conveyed material CA by the image processing of the conveyed object discrimination unit ME2. , all the conveyed materials CA conveyed on the conveyance path 132t are made to float. In this way, since all the conveyed objects CA are placed in the floating state by the conveying attitude control unit 132S, the presence or absence of a change in the conveying posture according to the determination result causes an airflow J2 to be generated from the second branch OP2. It is determined by whether

As shown in Fig. 7(a) , the conveyed material CA2 is in a floating state at one end by the airflow J1, but since the airflow J2 is not generated due to the normal conveying posture, it is conveyed in the conveying posture as it is. When it passes through the attitude|position control part 132S, it descends and is conveyed downstream. On the other hand, as shown in Fig. 7(b), the conveyed material CA3 is not in a normal conveying posture once it is in a floating state by the airflow J1, so as shown in Fig. 7(c), the second After being rotated by the airflow J2 generated from the branch OP2 and changed to the normal conveying posture as shown in Fig. 7(d), if it passes through the conveying attitude control unit 132S, it descends and is conveyed downstream. . Furthermore, as shown in Fig. 7(e), the conveyed object CA4 is floated by the airflow J1 in the conveying posture control unit 132S, but since it is determined to be a normal conveying posture, it is conveyed in the same posture If it passes through the attitude|position control part 132S, it descends and is conveyed downstream.

In this second embodiment, since the airflow J1 is continuously (always) generated and all conveyed objects CA are placed in a floating state by the conveyance attitude control unit 132S, the presence or absence of the airflow J1 is switched by switching Instability of the position or attitude|position of the conveyed object CA can be avoided. Moreover, since the airflow J1 (intensity|strength and distribution of) can be normalized, it also becomes easy to control the position and attitude|position of the levitation and descent|fall of the conveyed object CA. In order to improve the stability of the floating state of the conveyed object CA, it is preferable that the 1st branch OP1 has a longer range in the conveyance direction F than the 2nd branch OP2. Moreover, it is preferable to extend from the upstream side to the 2nd branch opening OP2 position before and behind normally rather than 2nd branch opening OP2. At this time, it is more preferable that the intensity (airflow pressure) of the airflow J1 gradually increases along the conveyance direction F to become constant, and then decreases gradually. Moreover, since the stability of the floating state of the conveyed object CA can be improved as described above, the stability, change precision and reproducibility of the change (rotation) of the conveying posture of the conveyed object CA due to the airflow J2 can be further improved. have.

In this embodiment, the supply pressure of the air stream J1 is preferably in the range of 0.01 to 1.0 times the supply pressure of the air flow J2, and particularly preferably in the range of 0.05 to 0.5 times. In this case, the purpose of the airflow J1 is to levitate the conveyed object CA, and the main purpose is not to actively operate the conveyance posture, such as a change of the conveyance posture. because it becomes unstable. Moreover, since the supply pressure of the airflow J1 determines the floating position (height) of the conveyed object CA, it is necessary to adjust so that the relationship with the floating position of the 2nd branch port OP2 may match. That is, it is necessary that the floating position of the conveyed object CA floated by the airflow J1 is a position which is easy to rotate by the airflow J2 which generate|occur|produces from the 2nd branch OP2. In addition, it is preferable that the airflow J1 and the airflow J2 coexist at the time of the change of the conveyance attitude|position of the conveyed object CA. At this time, so that the rotation of the conveyed object CA is promoted not only by the airflow J2 but also by the airflow J1, the rotational torque imparted to the conveyed object CA by the airflow J1 is applied by the airflow J1 to the conveyed object CA ), it is desirable to act in the same direction as the rotational torque applied to it. For example, the airflows J1 and J2 shown in Fig. 4 both act in the same rotational direction (clockwise in the illustrated example) for the conveyed object CA around the alignment direction axis CAx.

In addition, about the opening range of the 1st branch port OP1, in order to improve the stability and reproducibility of the floating state of the conveyed object CA, in the width direction (direction orthogonal to the conveyance direction F) of the said opening range, It is preferable to set to a certain extent within the range of the width W at the time of conveyance of the conveyed object CA. In addition, the opening range of the second branch port OP2 is set in consideration of stability and reproducibility of the attitude change mode (rotation operation) of the conveyed object CA.

Fig. 8 shows a mode of change of the conveying posture in the conveying attitude control units 13S and 132S' during conveyance of the conveyed material CA on the conveying path 132t according to the third embodiment of the present embodiment. In this embodiment, a plurality of conveyance posture control units are set along the conveyance direction F. As shown in FIG. The conveyance posture control unit 132S and 132S' shows an example of constantly generating the airflow J1 as in the second embodiment, but similarly to the first embodiment, the conveyed object determining units ME1 and ME1 '), the airflow J1 may be generated only when it is necessary to change the conveying posture according to the determination result based on the ').

In this embodiment, the upstream conveying attitude control unit 132S' generates an airflow J2' that reversely rotates the conveyed object CA, opposite to the airflow J2 of the downstream conveying attitude control unit 132S. It is configured to reversely rotate the conveyed material CA. In addition, both the conveyance attitude control part 132S and 132S' may be arrange|positioned on the upstream side and the downstream side. In this way, among the four rotation postures A to D around the alignment direction axis CAx of the conveyed object CA, the conveyance posture B, which can be changed to forward rotation with respect to the normal conveyance posture A, and the reverse rotation For all of the transfer postures D that can be changed to , it becomes possible to immediately change to the normal transfer posture A by changing the posture on the first floor (rotation of 90 degrees).

Next, with reference to FIG. 9, the aspect of the change of the conveyance attitude|position in the conveyance attitude|position control part 132S1-132S4 in the middle of conveyance of the conveyed material CA on the conveyance path 132t by 4th Example of this embodiment indicates In this embodiment, in the upstream conveying path portion 132tp, since the bottom surface portion 132tpb is configured to be wide, the alignment direction axis CAx is directed in the width direction of the conveying path portion 132tp. CA) is also included and sent back. Then, the conveyance path part 132t in which the width|variety of the bottom surface part 132tsb was reduced is provided. In this conveyance path part 132ts, the conveyance path 132t is excluded because the conveyed object CA of the said horizontal orientation falls by its own weight. As a result, in the conveyance path portion 132ts, only the conveyed material CA in which the alignment direction axis CAx faces the conveyance direction F is conveyed.

The conveyance path part 132ts is a conveyance part for selection of the conveyed material CA, and conveyance attitude|position control part 132S1 - 132S4 corresponding to conveyed object determination parts ME11 - ME14 are provided. The conveyed object discrimination units ME11, ME12, ME13, and ME14 detect the conveying postures A to D around the alignment direction axis CAx of the conveyed material CA as described above, and determine the normal conveying posture A Determine whether or not you are aware In the conveyance attitude control part 132S1, 132S2, 132S3, respectively, it can rotate the conveyed object CA of conveyance attitude|positions B to D other than the normal conveyance posture A by 90 degree|times. In this case, although the direction of rotation may be the above-mentioned forward rotation or reverse rotation, by the three conveyance attitude control parts 132S1-132S3, even in all the conveyed objects CA in the conveyance attitude|position B-D, finally all normal conveyance What is necessary is just to be comprised so that it can change to posture (A).

In the final conveyance attitude control part 132S4, all conveyed objects CA which are not the normal conveyance attitude|position A are excluded on the conveyance path part 132ts. The exclusion destination is the return path 133t for recovery. In this conveyance attitude control part 132S4, the conveyed object CA which did not become the normal conveyance attitude A due to some attitude change mistake in the upstream conveyance attitude control part 132S1 - 132S3, once the normal conveyance attitude ( A), but after that, by excluding all the conveyed objects CA whose posture has changed in the process of being conveyed in the conveying path portion 132ts or the conveyed objects CA in the above-mentioned transverse posture, normalization toward the downstream side Only the conveyed object CA is conveyed in the conveying posture A of

In this conveyance path portion 132ts, the conveyed material CA may be determined by separately photographing the plurality of conveyed material determination units ME11 to ME14 with the camera CM and processing each image individually. You may discriminate|determine the conveyed material CA by image|photographing the whole of some conveyed object determination parts ME11-ME14 with one camera CM, and process each location of a single image, respectively.

In addition, according to the image acquisition method of the present embodiment, the supply pressure, supply timing, supply time, etc. of the airflow J1 or J2 are adjusted based on the acquired image of the floating state and rotational state of the conveyed object CA. In addition, an airflow control means for controlling to obtain an optimal floating state or rotational state may be provided. The airflow control means may adjust only either one of the airflows J1 and J2, or may adjust both of the airflows J1 and J2, respectively. In particular, the airflow J1 may need to be adjusted to a value considerably weaker than that of the prior art as described above, and subtle and fine adjustment may be necessary to stabilize the floating state of the conveyed object CA, It is preferable to constitute an adjustment means capable of precisely controlling the flow rate adjustment valve provided on the air flow supply path.

In this embodiment, on the conveyance path 132t, the conveyed object CA is levitated so that it may separate from the 1st conveyance surface 132ta by the 1st airflow J1, and this floated conveyed material CA is levitated by the 2nd Since it is rotated by the airflow J2 of have. In particular, by floating the conveyed object CA along the second conveying surface 132tb, the floating state of the conveyed material CA can be stabilized, especially when the second conveying surface 132tb is an inclined surface. .

In addition, according to this embodiment, by making the second airflow hit the conveyed object CA in a state of being floated by the first airflow, it is possible to rotate the conveyed object even with a weaker airflow pressure than before, and the conveying posture can be changed. . Therefore, it is unnecessary to adjust the adjustment range of the intensity of the airflow to a high level in order to prevent the failure of the posture change of the conveyed object. This makes it possible to easily adjust the intensity of the airflow. In addition, since the adjustment range of the intensity of the airflow in which proper attitude control of the conveyed object is possible is widened, it becomes possible to increase the reliability of the attitude control of the conveyed object. Here, the intensity|strength adjustment of an airflow includes, for example, adjustment of an airflow pressure, adjustment of an airflow amount, or adjustment of an airflow injection time.

Furthermore, in this embodiment, the conveyed object CA is rotated by the second air flow J2 from the floating position by the first air flow J1 to change its posture, and then does not receive the first air flow J1. It returns to the conveyance path 132t top when it ceases to exist, Preferably, when it stops receiving the 1st airflow J1, it returns to the position of the width direction corresponding to the conveyance position before floating on the conveyance path 132t. This eliminates the need to merge the conveyed material into the original conveying row after inverting the conveyed material in the width direction and moving it laterally as in the prior art. Distraction can be avoided. For this reason, the conveyance attitude|position of the conveyed material CA conveyed at high speed and high density can be controlled without difficulty. Moreover, since the length of the conveyance direction F for providing a conveyance attitude|position can also be reduced, a conveyance apparatus can be comprised compactly.

Next, another embodiment will be described with reference to FIGS. 12 and 13 . In addition, the structure of the conveyance path 132t of this embodiment is using the same code|symbol in the meaning that it can substitute suitably for the conveyance path 132t of said other embodiment, and can use it.

12 is a cross-sectional view schematically showing an airflow stabilization structure employed in another embodiment. In the present embodiment, on the vibrating base (trough) of the vibrating conveying apparatus, the supporting surfaces 132Ba1 and (132Ba2) are arranged in an inclined posture on one side and the other side, respectively, in a back-to-back shape. ) having a base block 132Ba, the first block 132Bb fixed on the support surface 132Ba1 of one side of the base block 132Ba, and the support surface of the other side of the base block 132Ba ( A second block 132Bc fixed on 132Ba2 is provided. A first transport surface 132ta of the transport path 132t is provided in the first block 132Bb. Moreover, a part of the 2nd conveyance surface 132tb of the conveyance path 132t is provided in the 2nd block 132Bc. However, in the second conveyance surface 132tb, a portion below the second branch OP2, which will be described later, is constituted by the upper portion of the support surface 132Ba1 of the base block 132Ba. The 1st conveyance surface 132ta and the 2nd conveyance surface 132tb are adjacent and have mutually angular difference (90 degree|times in the example of illustration), Comprising: The conveyance path 132t is comprised.

Furthermore, in the lower part, which is a part of the first carrying surface 132ta, adjacent to the upper end of the support surface 132Ba1, it is configured in a concave shape as a whole, and the side away from the support surface 132Ba1 is configured to have a concave curved shape. A surface 132tc is provided. At the lower end position (position adjacent to the support surface 132Ba1) of this conveyance holding surface 132tc, the 1st branch port OP1 is opening. Moreover, the 2nd branch OP2 is opened between the support surface 132Ba1 and the 2nd conveyance surface 132tb. The conveyance holding surface 132tc is rotated (inverted) by the airflow sprayed from the second branch port OP2 in which the conveyed material CA floated by the airflow sprayed from the first branch port OP1 is rotated (reversed) by another person. After counting, the conveyed material CA is guided to smoothly return to the original conveying position along the concave curved surface.

In this embodiment, the first air supply passage PAs1 provided in the base block 132Ba is opened on the support surface 132Ba1, and the support surface 132Ba1 and the first block 132Bb opposing it are formed. A first injection passage PAc1 communicating with the first air supply passage PAs1 and a first erection passage communicating with the first air supply passage PAs1 are provided by grooves formed on the opposite surfaces. road) (PAe1) is configured. 1st injection path PAc1 opens in the said 1st branch port OP1, and blows out a part of the airflow supplied from 1st air supply path PAs1 onto the conveyance path 132t. The first erection passage PAe1 discharges the remainder of the airflow supplied from the first air supply passage PAs1. In addition, although the first erection path PAe1 is configured in the form of a ventilation path in the illustrated example, a simple gap may be sufficient as long as it has a structure capable of discharging airflow. Here, the air supply direction of the first air supply passage PAs1 and the injection direction of the first injection passage PAc1 are inclined to each other, and have an angle difference of about 45 degrees clockwise in the illustrated example. In addition, the air supply direction of the first air supply passage PAs1 and the erection direction of the first erection passage PAe1 are inclined to each other, and in the illustrated example, an angle difference of about 135 degrees is provided in the counterclockwise direction. Further, the injection direction of the first injection passage PAc1 and the erection direction of the first erection passage PAe1 are opposite to each other. Moreover, 1st injection path PAc1 is provided with the ventilation cross-sectional area smaller than 1st air supply path PAs1. Here, the ventilation cross-sectional area of the first air supply passage PAs1 is larger than all the ventilation cross-sectional areas of the first injection passage PAc1 and the first erection passage PAe1. Here, it is preferable that the three air passages merge (connect) at one position. In this case, the first air supply passage PAs1 is preferably connected to the side of the first erection passage PAe1 having a larger ventilation cross-sectional area than that of the first injection passage PAc1.

In addition, the second air supply passage PAs2 provided in the second block 132Bc is opened on the support surface 132Ba2 of the base block 132Ba, and the support surface 132Ba2 and the second block ( 132Bc), a second injection passage PAc2 communicating with the second air supply passage PAs2, and a second erection passage communicating with the second air supply passage PAs2, by a groove formed on the opposite surface of 132Bc) (PAe2) is constructed. The 2nd injection path PAc2 opens in the said 2nd branch path OP2, and blows out a part of the airflow supplied from the 2nd air supply path PAs2 on the conveyance path 132t. The second erection passage PAe2 discharges the remainder of the airflow supplied from the second air supply passage PAe2. In addition, although the second erection path PAe2 is configured in the form of a ventilation path in the illustrated example, a simple gap may be sufficient as long as it has a structure capable of discharging airflow. Here, the air supply direction of the second air supply passage PAs2 and the injection direction of the second injection passage PAc2 are inclined to each other, and have an angle difference of about 45 degrees in the clockwise direction in the illustrated example. In addition, the air supply direction of the second air supply passage PAs2 and the erection direction of the second erection passage PAe2 are inclined to each other, and in the illustrated example, an angle difference of about 135 degrees is provided in the counterclockwise direction. In addition, in this specification, "angular difference" means the angle (absolute value) at which the direction of an airflow changes. Moreover, the injection direction of the second injection passage PAc2 and the erection direction of the second erection passage PAe2 are opposite to each other. Further, the second injection path PAc2 has a smaller ventilation cross-sectional area than that of the second erection path PAe2. Here, the ventilation cross-sectional area of the second air supply passage PAs2 is larger than all the ventilation cross-sectional areas of the second injection passage PAc2 and the second erection passage PAe2. Here, it is preferable that the three air passages merge (connect) at one position. In this case, the second air supply passage PAs2 is preferably connected to the side of the second erection passage PAe2 having a larger ventilation cross-sectional area than the second injection passage PAc2.

13 : is explanatory drawing which shows typically arrangement|positioning of the conveyed material CA in the conveyance path 132t. In this embodiment, the conveyance path 132t repeats reciprocating vibration along the upper direction diagonally in a conveyance direction by the vibrating mechanism by the vibrating conveyance apparatus, and the conveyed object CA moves along the conveyance path 132t. At this time, as shown in Fig. 13(a-1), the conveyed material CA arrives at the conveying posture control unit in a state separated from the second conveying surface 132tb, and as shown in Fig. 13(b-1). As described above, there are cases in which the conveyance posture control unit is reached while approaching or in contact with the second conveyance surface 132tb. In this case, in the vibrating conveying apparatus, the conveyed material CA is pushed diagonally forward when the conveyed material CA abuts against the first conveying surface 132ta or the second conveying surface 132tb of the conveying path 132t, and thus the conveyed material CA is pushed forward in the air. This is because the conveying is carried out while repeating one cycle of flying, so that the position of the conveyed object C during conveying is disturbed in the conveying path 132t.

By the way, in the absence of the airflow stabilization structure of this embodiment, when the conveyed material CA is in the state shown in Fig. 13(a-1) as described above, the airflow J1 injected from the first branch OP1 ), the conveyed object CA floats to the position corresponding to the 2nd branch port OP2, as shown to Fig.13 (a-2). On the other hand, when the conveyed material CA is in the state shown in Fig. 13(b-1), the conveyed material CA is changed to the conveyed material CA by the airflow J1 injected from the first branch port OP1 in Fig. 13(b-). As shown in 2), it floats to a position higher than the position corresponding to the 2nd branch OP2. As shown in FIG.13(b-1), since the clearance gap between the conveyed object CA and the 2nd conveyance surface 132tb is small, or the said clearance gap does not exist, the airflow J1 is This is because, as a result, the airflow pressure received by the conveyed object CA increases as compared with the case of FIG.

The deviation of the height of the floating of the conveyed object CA by the airflow J1 as described above is a change in the position of the conveyed object CA in the conveying direction with respect to the first branch OP1, or the first of the conveyed material CA. It also occurs due to a change in the spacing with respect to the conveying surface 132ta and the conveying posture (inclination posture, etc.) of the conveyed object CA.

However, in this embodiment having the airflow stabilization structure, as described above, in the first airflow injection means, there is an airflow discharge path constituted by the first erection path PAe1, so that the conveying path 132t ), the change in airflow pressure generated between the airflow J1 and the conveyed object CA resulting from a change in the position or attitude of the conveyed object CA in ), and thereby the ventilation resistance of the first injection path PAc1 changes, the increase and decrease of the airflow flowing from the first air supply path PAs1 to the first injection path PAc1; The increase/decrease of the airflow flowing to the erection path PAe1 of 1 respectively changes to the aspect which has mutually opposite correlation. For this reason, the change in the airflow pressure received by the conveyed object CA by the airflow J1 injected from the 1st branch OP1 is absorbed by the said airflow discharge path, and is relieved. As a result, as shown in Figs. 13 (a-3) and (b-3), even in both cases of Figs. 13 (a-1) and (b-1), almost the same conveyed material CA is Injury height can be obtained.

Moreover, normally, airflow adjustment means, such as an on-off valve and a flow rate adjustment valve, not shown are provided in the upstream of the 1st air supply path PAs1. In this case, since the air pressure or flow rate of the first injection path PAc1 is increased or decreased by the adjustment operation amount for the air flow adjusting means, the pressure or flow rate of the air flow J1 finally injected from the first branch port OP1 is increase or decrease At this time, the adjustment operation amount increases/decreases not only the air pressure and flow rate of the first injection path PAc1 but also the air pressure and flow rate of the first erection path PAe1. For this reason, in this embodiment, compared with the conventional structure, the change rate of the air pressure and flow volume of the airflow J1 injected from the 1st branch OP1 with respect to the said adjustment operation amount becomes small. That is, since the manufacturing sensitivity of the airflow J1 of the first branch port OP1 by the airflow adjusting means becomes low, the adjustment operation becomes easy and the air pressure and flow rate of the airflow J1 more accurately and stably than before. becomes adjustable. In particular, since the airflow J1 needs to be precisely adjusted and set in order to float the conveyed object CA to a position (height) corresponding to the second branch OP2, the adjustment operation is difficult and the above Since the stability of the position (height) is also easily affected by external factors (e.g., pressure fluctuations of a compressed air source or a flow control valve), the existence of an airflow discharge path is important and effective. Here, the airflow (J1) It is the same as in the previous embodiment that it is preferable to always (continuously) spraying. In this case, rather than the transient characteristics of the airflow J1, the responsiveness to the position and attitude of the conveyed object CA is Stability is important.

In addition, the angular difference of the injection direction of the first injection passage PAc1 with respect to the air supply direction of the supply passage PAs1 is smaller than the angle difference of the erection direction of the first erection passage PAe1 with respect to the air supply direction. Since it can give priority to the 1st injection path PAc1 and can supply, it becomes easy to ensure the supply pressure of the airflow J1 further, and can be stabilized. In addition, since the ventilation cross-sectional area of the first injection passage PAc1 is smaller than the ventilation cross-sectional area of the first erection passage PAe1, the change in air pressure in the first injection passage PAc1 is reduced to the first supply passage PAs1 side. Since it becomes easy to transmit quickly and the airflow discharge action of the first erection path PAe1 can be increased, the stability of the air pressure and flow rate of the airflow J1 can be improved, and the airflow to the conveyed material CA The stability of action can also be improved. In addition, since the amount of change in the air pressure or flow rate of the air flow J1 with respect to the predetermined adjustment operation amount can be further reduced, the adjustment of the air flow J1 can be further facilitated, and high precision of the air pressure and flow rate can be achieved.

On the other hand, in this embodiment, also in the 2nd airflow injection means which injects the airflow J2 from the 2nd branch port OP2, similarly to the above, the 2nd air supply path PAs2, the 2nd injection path (PAc2) and has an airflow stabilization structure having a second erection path (PAe2). For this reason, basically, also with respect to the airflow J2 for rotating (reversing) the conveyed object CA, similarly to the above, the airflow pressure received by the conveyed object CA is stabilized and dispersion|variation is also reduced, Furthermore, the airflow adjustment means With regard to the adjustment of the atmospheric pressure and flow rate by using the However, with respect to the airflow J2 injected from the second branch port OP2, unlike the airflow J1, it is not possible to continuously flow it, and it is on the upstream side of the second air supply passage PAs2. On/off is controlled by an on/off valve installed. For this reason, for the transient responsiveness controlled on/off, by providing an airflow discharge path by the second erection path PAe2, when the airflow supplied to the second air supply path PAs2 is stopped, the second Since the atmospheric pressure in the injection path PAc2 escapes easily, the pressure of the airflow J2 can be reduced quickly. For this reason, the possibility that the airflow J2 will be injected by mistake can be reduced also to the conveyed object in a normal posture conveyed next to the conveyed object CA rotated (reversed) by the action of the airflow J2. In addition, the angle difference of the injection direction of the second injection passage PAc1 with respect to the air supply direction of the second air supply passage PAs2 is smaller than the angle difference of the erection direction of the second erection passage PAe2 with respect to the air supply direction. The action and effect due to this and the effect that the ventilation cross-sectional area of the second injection passage PAc2 is smaller than the ventilation cross-sectional area of the second erection passage APe2 are the same as those of the first air flow injection means.

In addition, it goes without saying that the method for controlling the conveyance posture and the conveying system of the present invention are not limited to the illustrated examples described above, and various changes can be made within the scope not departing from the gist of the present invention. For example, in the said embodiment, although both the 1st conveyance surface 132ta and the 2nd conveyance surface 132tb of the conveyance path 132t are provided with flat surfaces, as the conveyance path 132t, concave curved shape However, it may be provided with a conveying surface in the form of a convex curved surface, or may have a concave groove structure or the like instead of a plurality of conveying surfaces.

Moreover, in the said embodiment, although the airflows J1 and J2 are generated from the branch openings OP1, OP2 opened to the conveyance surface of the conveyance path 132t, airflow from a location other than the conveyance surface, for example, an airflow pipe, You may configure it so that it may generate|occur|produce. Furthermore, in the above embodiment, the case of changing the rotational posture around the alignment direction axis CAx of the conveyed object CA has been described. It can also be applied to the case of realizing a change mode of posture.

Moreover, in the above embodiment, only the case where the conveyance posture is changed to a certain aspect in the conveyance attitude control unit is shown, but it may be selected from a plurality of control aspects of the conveyance posture. For example, the intensity and time of the airflow are set so that the rotation angle of the conveyed object CA can be made at all of a plurality of angles such as 90 degrees, 180 degrees, and 270 degrees, and the conveying posture is changed to the selected rotation angle according to the determination result. You may configure it as much as possible.

In addition, in the above airflow stabilization structure, by providing an airflow discharge path composed of the erection path (PAe1, PAe2) in the middle of the airflow introduction path composed of the supply path (PAs1, PAs2) and the injection path (PAc1, PAc2), the first branch path The pressure fluctuation of the airflow resulting from the presence or absence of the conveyed object on OP1 or the 2nd branch OP2, and the position and attitude|position of the conveyed object CA is suppressed. That is, even if the outflow resistance of the airflow changes depending on the presence, location, or posture of the conveyed object on the first branch OP1 or the second branch OP2, The pressure change (change in ventilation resistance) is caused by the relative change between the amount of airflow supplied from the supply passages PAs1 and PAs2 to the injection passages PAc1 and PAc2 and the amount of airflow discharged to the erection passages PAe1 and PAe2. absorbed and relieved. For this reason, the airflow pressure which the conveyed object CA receives by the airflow is stabilized. In addition, air flow adjustment means such as an on/off valve or a flow control valve are provided on the upstream side of the air supply passages PAs1 and PAs2, but when the flow rate of the air supply passages PAs1 and PAs2 is adjusted by these air flow adjustment means, the erection By providing the airflow discharge path by the furnaces PAe1 and PAe2, the degree of change in the pressure or amount of the airflow with respect to a predetermined adjustment operation amount is relatively small, so there is also an advantage that the flow rate adjustment is facilitated. Furthermore, when the supply of the airflow to the supply passages PAs1 and PAs2 is stopped, the air pressure in the injection passages PAc1 and PAc2 is rapidly lowered by the airflow discharge path, so that the stop of the airflows J1 and J2 is quickly stopped. Since it can be carried out quickly, it is possible to reduce the risk of accidentally changing the posture of the subsequent normal conveyed object CA. By adopting the above airflow stabilization structure, it has become possible to significantly reduce the error in attitude control of the conveyed object CA due to the airflow.

10: transport system
100: vibrating conveying device
101: mounting stand
102: support
110: conveyance supply unit
112: Hopper
120: first transfer unit (parts feeder)
130: second transfer unit (linear feeder)
132: vibrating body
132t: return path
132S (132S1~132S4), 132S': conveyance posture control unit
132ta: first carrying surface
132 tb: second carrying surface
OP1: 1st branch
OP2: 2nd vent
132tp: upstream part of the conveying path
132ts: part of the return path for sorting
CA: Return
CAx: Alignment direction axis
L: length
W: width
H: height
J1, J2, J2': Airflow
132tc: return maintenance surface
132Ba: base block
132Ba1, 132Ba2: support surface
132Bb: first block
132Bc: second block
PAs1, PAs2: supply air
PAc1, PAc2: spray furnace
PAe1, PAe2: with erection

Claims (18)

A method of controlling a conveying posture of the conveyed object by injecting an air stream to the conveyed material on the conveying path in the process in which the conveyed material is conveyed along the conveying path in the conveying direction,
Posture control of a conveyed object to change the attitude of the conveyed object by causing the conveyed object to float on the conveying path by a first airflow and by rotating the conveyed material floating on the conveying path by a second airflow Way. 2. The method of claim 1
After the conveyed object is rotated by a second airflow from the floating position by the first airflow to change its attitude, the conveyed object returns to the conveying path when it cannot receive the first airflow. . 3. The method of claim 2,
The method for controlling an attitude of a conveyed object in which the conveyed material returns to a position in the width direction corresponding to the conveyed position before floating on the conveyance path when the conveyed material does not receive the first airflow. 4. The method according to any one of claims 1 to 3,
A conveyed object discrimination unit is set in a predetermined area in the conveying direction on the conveying path,
and a conveyance attitude control unit configured to change a conveyance posture of the conveyed object according to a result of the determination of the conveyed object determined by the conveyed object determination unit. 5. The method of claim 4,
The presence or absence of the first airflow and the second airflow is determined for each conveyed object according to the determination result. 5. The method of claim 4,
The first air flow is continuously generated in the conveying posture control unit,
The presence or absence of the second airflow is determined for each conveyed product that has reached the conveying posture control unit. a conveying path through which conveyed goods are conveyed;
first air flow jetting means for levitating the conveyed object by jetting a first air stream to the conveyed material on the conveying path;
and second airflow spraying means for rotating the conveyed object by injecting a second airflow to the conveyed object floated by the first airflow. 8. The method of claim 7,
the conveying path has a first conveying surface and a second conveying surface capable of arranging the conveyed object between the first conveying surface by providing a predetermined angle with respect to the first conveying surface;
the second carrying surface is configured to rise as it moves away from the first carrying surface;
The conveying system separates the conveyed material from the first conveying surface and floats by the first airflow. 9. The method of claim 8,
The conveying system wherein the conveyed material floats along the second conveyed material by the first airflow. 10. The method of claim 9,
The second conveying surface is an inclined surface. 11. The method according to any one of claims 8 to 10,
and the first airflow jetting means includes a first branch opening that is opened on the first conveyance surface. 11. The method according to any one of claims 8 to 10,
and the second airflow jetting means includes a second branch opening to the second conveying surface. 11. The method according to any one of claims 7 to 10,
conveyed material discrimination means for discriminating the conveyed material to be controlled in the conveying attitude control unit set to generate the first airflow and the second airflow;
and conveyance attitude control means for selecting whether or not the conveyance attitude control is present or a control mode in the conveyance attitude control unit according to the determination result of the conveyed object by the conveyed object discrimination means. 14. The method of claim 13,
The conveyed object discrimination means acquires an image of the conveyed object in a conveyed material determination unit set upstream of the conveyed attitude control unit, and discriminates the conveyed material by processing the image. 11. The method according to any one of claims 7 to 10,
The first air flow injection means includes a first air supply passage for supplying an air flow, a first injection passage communicating with the first air supply passage and facing the first branch port, and the first A transport system comprising: a first erection unit communicating with an air supply passage and the first injection passage, and constituting an airflow discharge passage different from the first injection passage. 16. The method of claim 15,
An angle difference between an air supply direction to the first air supply passage and an injection direction to the first injection passage is smaller than an angle difference between the air supply direction and an erection direction of the first erection unit. 16. The method of claim 15,
The ventilation cross-sectional area of the said first injection path is smaller than the ventilation cross-sectional area of the said 1st erection part. 11. The method according to any one of claims 7 to 10,
The second air flow injection means includes a second air supply passage for supplying an air flow, a second injection passage communicating with the second air supply passage and facing the second branch port, and the second and a second erection unit communicating with the supply air passage and the second injection passage and configuring an air flow discharge passage different from the second injection passage.

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