Posture adjusting device

Abstract

The posture adjustment device (10) is configured so that the conveyance speeds of the first conveyor unit (21) and the second conveyor unit (22) can be different from each other. A conveying surface (21a) of a first conveyor section (21) is configured so as to be inclined in a conveying width direction (Y) at a first end section (71) so as to become a lower side (Z2) in an up-down direction (Z) toward a second side (Y2) in the conveying width direction, and so that an inclination angle ([phi] 1) with respect to a horizontal plane in the conveying width direction (Y) gradually decreases toward a second end section (72); the conveying surface (22a) of the second conveyor section (22) is configured so as to be inclined in the conveying width direction (Y) at a first end section (71) so as to become a lower side (Z2) in the vertical direction (Z) toward a first side (Y1) in the conveying width direction, and so that the inclination angle ([phi] 2) with respect to the horizontal plane in the conveying width direction (Y) gradually decreases toward a second end section (72).

Description

Technical Field

[0001] The invention relates to a posture adjusting device for adjusting the posture of a conveyed object. Background Art

[0002] An example of such a posture adjustment device is disclosed in Japanese Patent Application Laid-Open No. 2010-100398 (Patent Document 1). Patent Document 1 discloses a posture adjustment device that adjusts the orientation of a rectangular or square object by providing a speed difference between the left and right sides of the object in the conveying direction of a posture adjustment conveyor.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-100398 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] In the device described in Patent Document 1, it is assumed that the posture adjustment of the conveyed object with a flat bottom surface is performed, but depending on the purpose of the posture adjustment device, there is a case where the posture adjustment of multiple types of conveyed objects with different bottom surface shapes is required. However, in the posture adjustment device described in Patent Document 1, no special consideration is given to such a point. Therefore, even if a speed difference is given to the left and right sides of the conveying direction, there is a case where the posture change becomes insufficient depending on the shape of the bottom surface.

[0008] Therefore, it is desired to realize a technology capable of appropriately adjusting the posture of an object to be conveyed having various bottom surface shapes.

[0009] Means for solving technical problems

[0010] In view of the characteristic structure of the posture adjustment device for adjusting the posture of the conveyed object, the characteristic structure is that it is provided with a posture adjustment conveyor for conveying the conveyed object along a specified conveying direction and adjusting the posture of the conveyed object; the direction orthogonal to the conveying direction is defined as a conveying width direction; the posture adjustment conveyor is configured to include a first conveyor section and a second conveyor section arranged in parallel in an adjacent manner in the conveying width direction, and the conveying speed of the first conveyor section is different from the conveying speed of the second conveyor section; the side in the conveying width direction where the first conveyor section is arranged relative to the second conveyor section is defined as the first side in the conveying width direction, the opposite side is defined as the second side in the conveying width direction, and the first conveyor section and the second conveyor section are defined as the first side in the conveying width direction. One of the upstream end and the downstream end of each conveyor section is a first end, and the other is a second end; the conveying surface of the first conveyor section is configured to be inclined in the conveying width direction at the first end in a manner that becomes the lower side in the up-down direction as it approaches the second side in the conveying width direction, and the inclination angle relative to the horizontal plane in the conveying width direction gradually decreases toward the second end; the conveying surface of the second conveyor section is configured to be inclined in the conveying width direction at the first end in a manner that becomes the lower side in the up-down direction as it approaches the first side in the conveying width direction, and the inclination angle relative to the horizontal plane in the conveying width direction gradually decreases toward the second end.

[0011] According to the present structure, when the bottom surface of the conveyed object is curved in a manner protruding downward in the vertical direction, when the conveying surface of the posture adjustment conveyor is inclined in a manner that the vicinity of the boundary between the first conveyor portion and the second conveyor portion becomes the lower side in the vertical direction, it is easy to ensure a larger contact area between the bottom surface of the conveyed object and the conveying surface of the posture adjustment conveyor. On the other hand, when the bottom surface of the conveyed object is a plane or close to a plane, it is easy to ensure a larger contact area between the bottom surface of the conveyed object and the conveying surface of the posture adjustment conveyor when the conveying surface of the posture adjustment conveyor is also a plane. According to the present structure, for a conveyed object whose bottom surface is curved in a manner protruding downward, the posture adjustment can be appropriately performed in the section on the first end side, and for a conveyed object whose bottom surface is a plane or close to a plane, the posture adjustment can be appropriately performed in the section on the second end side. Therefore, the posture adjustment of conveyed objects with various bottom surface shapes can be appropriately performed.

[0012] Further features and advantages of the posture adjusting device will become apparent from the following description of the embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a block diagram showing a control structure of the posture adjusting device according to the first embodiment.

[0014] Figure 2 yes Figure 1 A top view of a posture adjustment device.

[0015] Figure 3 Yes Figure 1 A side view of the first conveyor portion as viewed from a first side Y1 in the conveying width direction.

[0016] Figure 4 Yes Figure 1 A side view of the second conveyor section as viewed from the second side Y2 in the conveying width direction.

[0017] Figure 5 Yes Figure 1 A front view of the first roller and the second roller as viewed from the upstream side X1.

[0018] Figure 6 yes Figure 1 A three-dimensional view of the first roller and the second roller.

[0019] Figure 7 This is a block diagram showing a control structure of the posture adjusting device according to the second embodiment.

[0020] Figure 8 yes Figure 7 A top view of a posture adjustment device.

[0021] Fig. 9 This is a block diagram showing a control structure of the posture adjustment device according to the third embodiment.

[0022] Fig.10 Yes Fig. 9 A side view of the first conveyor section and the third conveyor section as viewed from a first side Y1 in the conveying width direction.

[0023] Fig.11 Yes Fig. 9 A side view of the second conveyor section and the fourth conveyor section as viewed from the second side Y2 in the conveying width direction.

[0024] Fig.12 Yes Fig. 9 A front view of the third roller and the fourth roller as viewed from the upstream side X1.

[0025] Fig.13 yes Fig. 9 A three-dimensional view of the first roller, the second roller, the third roller and the fourth roller.

[0026] Fig.14 This is a side view of the second conveyor section and the fourth conveyor section in the posture adjusting device according to the fourth embodiment, as seen from the second side Y2 in the conveyance width direction. DETAILED DESCRIPTION

[0027] [First embodiment]

[0028] Hereinafter, a posture adjusting device 10 according to a first embodiment will be described with reference to the drawings. Figure 1 1 is a block diagram showing a control structure of the posture adjustment device 10 of the present embodiment. The posture adjustment device 10 includes a posture adjustment conveyor 20 that conveys the object 11 in a predetermined conveyance direction X and adjusts the posture S of the object 11 . Figure 2 1 is a top view of the posture adjustment conveyor 20. The conveyed object 11 is not particularly limited, and may be, for example, a plurality of loads of different shapes, sizes, weights, etc. Preferably, the conveyed object 11 is hand luggage inspected at an airport. Here, a direction perpendicular to the conveying direction X is defined as a conveying width direction Y. In addition, a direction along the vertical direction is defined as an up-down direction Z. In addition, the upstream side X1 refers to the upstream side of the conveying direction X, and the downstream side X2 refers to the downstream side of the conveying direction X.

[0029] The posture S of the conveyed object 11 is at least the angle θ (°) of the conveyed object 11 when viewed from above. In the present embodiment, the posture S of the conveyed object 11 is the angle θ of the conveyed object 11 when viewed from above and the position P (mm) of the conveyed object 11 in the conveying width direction Y. The angle θ of the conveyed object 11 when viewed from above is, for example, the angle when viewed from above and below, and is the target angle θ of the state of the target posture Sr of the conveyed object 11. R The position P of the transport object 11 in the transport width direction Y is, for example, the target position P of the transport object 11 in the target posture Sr state. R The target posture Sr of the conveyed object 11 can also be set for each type of conveyed object 11. Figure 2 In the example of FIG. 1 , the angle θ in which the long side of the conveyed object 11 is parallel to the conveying direction X is set as the target angle θ. R That is, 0 (°), the position P of the center of the conveyed object 11 when viewed in the vertical direction and the center overlapping position of the conveying width direction Y of the posture adjustment conveyor 20 are set as the target position P R That is, 0 (mm). Examples of the center of the conveyed object 11 include the center of gravity of the conveyed object 11 and the midpoint of the long side and the short side of the conveyed object 11 (in other words, the intersection of the diagonal lines).

[0030] The posture adjustment conveyor 20 includes a first conveyor section 21 and a second conveyor section 22 which are arranged side by side in an adjacent manner in the conveying width direction Y, and the posture adjustment conveyor 20 is constructed so that a conveying speed V1 (m / s) of the first conveyor section 21 and a conveying speed V2 (m / s) of the second conveyor section 22 can be different.

[0031] Here, the side on which the first conveyor section 21 is arranged relative to the second conveyor section 22 in the conveying width direction Y is defined as the first side Y1 in the conveying width direction, and the opposite side is defined as the second side Y2 in the conveying width direction. In addition, one of the upstream end and the downstream end of each of the first conveyor section 21 and the second conveyor section 22 is defined as the first end 71, and the other is defined as the second end 72.

[0032] Figure 3 It is a side view of the first conveyor section 21 as seen from the first side Y1 in the conveyance width direction. Figure 4 This is a side view of the second conveyor section 22 as viewed from the second side Y2 in the conveying width direction. In the present embodiment, the first conveyor section 21 includes a plurality of first rollers 23 , and the second conveyor section 22 includes a plurality of second rollers 24 . Figure 5 This is a front view of the first roller 23 and the second roller 24 as viewed from the upstream side X1 in the conveying direction X. Figure 6 It is a perspective view of the first roller 23 and the second roller 24 .

[0033] like Figure 3 , Figure 5 and Figure 6 As shown, the conveying surface 21a of the first conveyor section 21 is configured to be inclined in the conveying width direction Y in a manner that the first end portion 71 becomes the lower side Z2 of the vertical direction Z as it moves toward the second side Y2 in the conveying width direction, and the inclination angle with respect to the horizontal plane in the conveying width direction Y increases as it moves toward the second end portion 72. In this embodiment, the first conveyor section 21 is as follows Figure 1 As shown, a roller conveyor is provided with a plurality of first rollers 23 arranged in a row in the conveying direction X, and the rotation axis of each first roller 23 is inclined toward the downstream side X2 in the conveying direction X as it goes toward the first side Y1 in the conveying width direction.

[0034] In the example shown in the figure, the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, and the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22. Therefore, at the downstream side X2 of the first conveyor section 21 and the second conveyor section 22, the conveying surfaces 21a and 22a are close to horizontal, so when the conveyor connected to the first conveyor section 21 and the second conveyor section 22 at the downstream side X2 has a horizontal conveying surface, the conveyed object 11 can be smoothly conveyed at the connection portion with the conveyor. In addition, the first end 71 may be set as the downstream end of the first conveyor section 21 and the second conveyor section 22, and the second end 72 may be set as the upstream end of the first conveyor section 21 and the second conveyor section 22. In this case, when the conveyor connected to the upstream side X1 of the first conveyor section 21 and the second conveyor section 22 has a horizontal conveying surface, the object 11 can be smoothly conveyed at the connection portion with the conveyor.

[0035] like Figure 5 As shown, in the present embodiment, the surface of the first roller 23, which is a part of the area in the conveying width direction Y, i.e., the first specific area 23a, is formed of a material having a higher friction coefficient than the first outer area 23b, which is an area closer to the first side Y1 in the conveying width direction than the first specific area 23a. Figure 3 As shown, the first conveyor section 21 in this embodiment includes a first drive belt 27 for driving the plurality of first rollers 23. The first drive belt 27 is configured to contact the lower surface of the first outer region 23b of the plurality of first rollers 23 to transmit the driving force. Preferably, the first drive belt 27 is configured not to contact the first specific region 23a.

[0036] like Figures 4 to 6 As shown, the conveying surface 22a of the second conveyor section 22 is configured to be inclined in the conveying width direction Y in a manner that the first end portion 71 becomes the lower side Z2 of the vertical direction Z as it moves toward the first side Y1 in the conveying width direction, and the inclination angle with respect to the horizontal plane in the conveying width direction Y increases as it moves toward the second end portion 72. In this embodiment, the second conveyor section 22 is as follows Figure 1 As shown, a roller conveyor is provided with a plurality of second rollers 24 arranged in a row in the conveying direction X, and the rotation axis of each second roller 24 is inclined toward the downstream side X2 in the conveying direction X as it goes toward the second side Y2 in the conveying width direction.

[0037] like Figure 5As shown, in the present embodiment, the surface of the second roller 24, which is a part of the area in the conveying width direction Y, i.e., the second specific area 24a, is formed of a material having a higher friction coefficient than the area on the second side Y2 in the conveying width direction relative to the second specific area 24a, i.e., the second outer area 24b. Figure 4 As shown, the second conveyor section 22 in this embodiment includes a second drive belt 28 for driving the plurality of second rollers 24. The second drive belt 28 is configured to contact the lower surface of the second outer region 24b of the plurality of second rollers 24 to transmit the driving force. Preferably, the second drive belt 28 is configured not to contact the second specific region 24a.

[0038] In the present embodiment, the first conveyor section 21 is configured so that the conveying speed V1u (m / s) of the first upstream section 21u, which is the section on the upstream side X1, and the conveying speed V1d (m / s) of the first downstream section 21d, which is the section on the downstream side X2 relative to the first upstream section 21u, can be different. In addition, the second conveyor section 22 is configured so that the conveying speed V2u (m / s) of the second upstream section 22u, which is the section on the upstream side X1, and the conveying speed V2d (m / s) of the second downstream section 22d, which is the section on the downstream side X2 relative to the second upstream section 22u, can be different. In the example shown in the figure, the first upstream section 21u and the first downstream section 21d are adjacent in the conveying direction X. In addition, the second upstream section 22u and the second downstream section 22d are adjacent in the conveying direction X.

[0039] In this embodiment, the posture adjustment conveyor 20 includes a first drive device 25 that drives the first conveyor portion 21 and a second drive device 26 that drives the second conveyor portion 22. Therefore, the conveying speed V1 (m / s) and the conveying speed V2 (m / s) can be made different.

[0040] The first drive device 25 includes a first upstream drive device 25u and a first downstream drive device 25d in this embodiment. Figure 3 The first drive belt 27 shown in the figure, the first upstream drive device 25u drives the first roller 23 in the first upstream section 21u, and the first downstream drive device 25d drives the first roller 23 in the first downstream section 21d, so that the conveying speed V1u and the conveying speed V1d can be different. In addition, the second drive device 26 in this embodiment includes a second upstream drive device 26u and a second downstream drive device 26d. Figure 4 The second drive belt 28 shown, the second upstream drive device 26u drives the second roller 24 in the second upstream section 22u, and the second downstream drive device 26d drives the second roller 24 in the second downstream section 22d, so that the conveying speed V2u and the conveying speed V2d can be different.

[0041] In the present embodiment, the posture adjustment device 10 includes an upstream stage 12 on the upstream side X1 of the posture adjustment conveyor 20. In the example shown in the figure, the upstream stage 12 is a roller conveyor in which a plurality of upstream rollers 12a are arranged in a row in the conveying direction X, and the rotation axis of each upstream roller 12a is in a direction along the conveying width direction Y. Therefore, on the upstream stage 12, the posture S of the conveyed object 11 does not change.

[0042] In this embodiment, the posture adjustment device 10 includes an upstream posture detection device 30u that detects the posture S of the conveyed object 11 at the upstream end of the posture adjustment conveyor 20. Figure 1 In the example, the upstream end of the posture adjustment conveyor 20 is the first end 71. Here, the actual posture S of the conveyed object 11 detected by the upstream posture detection device 30u is referred to as the upstream actual posture Su. The position for detecting the upstream actual posture Su may also be the upstream end of the posture adjustment conveyor 20. In addition, as long as the posture S of the conveyed object 11 does not change at the upstream side X1 of the posture adjustment conveyor 20, it may also be at the upstream side X1 more than the upstream end.

[0043] In the example shown in the figure, the upstream posture detection device 30u detects the posture S of the conveyed object 11 at the upstream stage 12. As described above, the posture S of the conveyed object 11 does not change at the upstream stage 12, so the posture S of the conveyed object 11 detected by the upstream posture detection device 30u on the upstream stage 12 is the same as the upstream actual posture Su, which is the posture S at the upstream end of the posture adjustment conveyor 20. The upstream posture detection device 30u has, for example, a camera 31u provided on the upstream stage 12, and detects the actual angle of the conveyed object 11 at the upstream end, that is, the upstream actual angle θ. U and the actual position of the conveyed object 11, that is, the actual upstream position P U , that is, detect the actual posture Su on the upstream side.

[0044] In this embodiment, the posture adjustment device 10 includes a downstream stage 13 on the downstream side X2 of the posture adjustment conveyor 20. In the example shown in the figure, the downstream stage 13 is a roller conveyor in which a plurality of downstream rollers 13a are arranged in a row in the conveying direction X, and the rotation axis of each downstream roller 13a is in the direction along the conveying width direction Y. Therefore, on the downstream stage 13, the posture S of the conveyed object 11 does not change.

[0045] In this embodiment, the posture adjustment device 10 further includes a downstream posture detection device 30d for detecting the posture S of the conveyed object 11 at the downstream end of the posture adjustment conveyor 20. Figure 1In the example, the downstream end of the posture adjustment conveyor 20 is the second end 72. Here, the actual posture S of the conveyed object 11 detected by the downstream posture detection device 30d is referred to as the downstream actual posture Sd. The position for detecting the downstream actual posture Sd may also be the downstream end of the posture adjustment conveyor 20. In addition, as long as the posture S of the conveyed object 11 does not change at the downstream side X2 of the posture adjustment conveyor 20, it may also be at the downstream side X2 more than the downstream end.

[0046] In the example shown in the figure, the downstream posture detection device 30d detects the posture S of the conveyed object 11 at the downstream stage 13. As described above, the posture S of the conveyed object 11 does not change at the downstream stage 13, so the posture S of the conveyed object 11 detected by the downstream posture detection device 30d on the downstream stage 13 is the same as the posture S at the downstream end of the posture adjustment conveyor 20, that is, the downstream actual posture Sd. The downstream posture detection device 30d has, for example, a camera 31d provided on the downstream stage 13, and detects the actual angle of the conveyed object 11 at the downstream end, that is, the downstream actual angle θ. D and the actual position of the conveyed object 11, that is, the actual downstream position P D , that is, the actual downstream posture Sd. In addition, the downstream posture detection device 30d and the upstream posture detection device 30u may also be a common device. In addition, the downstream posture detection device 30d and the upstream posture detection device 30u may also be a common device.

[0047] In the present embodiment, the posture adjustment device 10 is provided with a characteristic determination device 40 for determining the characteristics of the conveyed object 11 on the upstream side X1 of the posture adjustment conveyor 20. The characteristics of the conveyed object 11 may be obtained by a characteristic acquisition unit provided in the posture adjustment device 10, or the characteristics may be obtained by transmitting conveyed object information including the characteristics from an external device and receiving the characteristics by a data acquisition unit 41 provided in the posture adjustment device 10. In the present embodiment, the characteristic determination device 40 determines the characteristics obtained by the characteristic acquisition unit provided in the upstream stage 12. In the example shown in the figure, the upstream posture detection device 30u also functions as a characteristic acquisition unit for obtaining the characteristics of the shape and the like of the conveyed object 11. In addition, the weight measurement unit 42 provided in the upstream stage 12 for obtaining the characteristics of the weight, the center of gravity and the like also functions as a characteristic acquisition unit.

[0048] In this embodiment, the characteristic determination device 40 sets a characteristic value H indicating the difficulty of posture change according to the characteristic of the conveyed object 11. The characteristic of the conveyed object 11 is preferably the shape of the bottom surface of the conveyed object 11. The shape of the bottom surface of the conveyed object 11 can be obtained by, for example, the camera 31u equipped on the upstream stage 12, or by a scanning device such as a millimeter wave CT scanner. In addition, the characteristics of the conveyed object 11 can also be the size, shape, weight, etc. of the conveyed object 11. As the size of the conveyed object 11, for example, the size of the long side L1 of the conveyed object 11, the area observed in a plane, the area of ​​the bottom surface, etc. can be cited. As the shape of the conveyed object 11, for example, the ratio of the long side L1 to the short side L2 observed in the vertical direction, and the shape of the bottom surface can be cited. As the material of the conveyed object 11, for example, the material, hardness, surface roughness, etc. of the bottom surface of the conveyed object 11 can be cited. The larger the characteristic value H, the more difficult it is to change the posture of the conveyed object 11. The characteristic value H is preferably set according to the shape of the bottom surface of the conveyed object 11, but it can also be set according to the above-mentioned multiple characteristics.

[0049] The posture S of the conveyed object 11 to be the target at the downstream end of the posture adjustment conveyor 20 is set as the target posture Sr. The posture adjustment device 10 includes a control device 50 for controlling the posture adjustment conveyor 20. The control device 50 performs posture adjustment control in which the posture S of the conveyed object 11 conveyed across the first conveyor section 21 and the second conveyor section 22 is changed by controlling the speed difference ΔV between the conveying speed V1 of the first conveyor section 21 and the conveying speed V2 of the second conveyor section 22. In the posture adjustment control, the control device 50 increases the speed difference ΔV as the pre-adjustment posture difference ΔSu, which is the difference between the upstream actual posture Su and the target posture Sr, and the characteristic value H indicating the difficulty of posture change corresponding to the characteristics of the conveyed object 11 determined by the characteristic determination device 40, and increases the speed difference ΔV as the pre-adjustment posture difference ΔSu increases, and increases the speed difference ΔV as the characteristic value H increases.

[0050] The conveyed objects 11 are preferably conveyed one by one by the posture adjustment conveyor 20, and the speed difference ΔV is controlled by the control device 50. In this case, the speed difference ΔV may be changed while the conveyed objects 11 pass over the posture adjustment conveyor 20, but in the present embodiment, the speed difference ΔV is not changed from the initial speed difference ΔVa, which is determined based on the difference between the actual posture Su on the upstream side and the target posture Sr, that is, the posture difference ΔSu before adjustment and the characteristic value H.

[0051] In the present embodiment, for example, the adjustment rate of the conveying speed V1 of the first conveyor unit 21 relative to the conveying speed V (m / s) of the posture adjustment conveyor 20 is set to the adjustment rate u1 (= 100·V1 / V), and the adjustment rate of the conveying speed V2 of the second conveyor unit 22 relative to the conveying speed V of the posture adjustment conveyor 20 is set to the adjustment rate u2 (= 100·V2 / V). That is, V1 = V·u1 / 100, V2 = V·u2 / 100, the conveying speed V1 can be determined by the conveying speed V (m / s) of the posture adjustment conveyor 20 and the adjustment rate u1 (%), and the conveying speed V2 can be determined by the conveying speed V (m / s) and the adjustment rate u2 (%).

[0052] The adjustment rate u1 (%) can be expressed by the following formula (1a), and the adjustment rate u2 (%) can be expressed by the following formula (2a).

[0053] u1=100+(K θ +K H ·H)·(θ U -θ R )+K P (P U -P R )...(1a)

[0054] u2=100-(K θ +K H ·H)·(θ U -θ R )-K P (P U -P R )...(2a)

[0055] Among them, K θ is the weighting coefficient for angle θ, K P is the weighting coefficient for position P, K H is the weighting coefficient for the characteristic value H, θ R is the target angle at the target posture Sr, P R is the target position when the target posture Sr is set. The target angle θ R and the target position P R Corresponding to the target posture Sr, the actual angle θ on the upstream side U and the actual position P on the upstream side U Corresponding to the actual posture Su on the upstream side.

[0056] The characteristic value H is preferably set according to the shape of the bottom surface of the conveyed object 11, but when the characteristic value H is set according to multiple characteristics, the weighting coefficient for the characteristic value H may be set according to multiple characteristics as shown in the following formula (3a).

[0057] K H H=K HA ·H A +K HB HB+K HC ·H C +K HD ·H D …(3a)

[0058] In formula (3a), for example, the characteristic value H A is a value corresponding to the shape of the bottom surface of the conveyed object 11, and the characteristic value H B is the weight, characteristic value H C The characteristic value H is the value obtained by dividing the long side L1 of the conveyed object 11 by the short side L2. D It is the reciprocal of the friction coefficient of the bottom surface of the conveyed object 11.

[0059] In this embodiment, the control device 50 includes a storage unit 52 and a correction processing unit 54. The storage unit 52 stores learning information indicating the relationship between the pre-adjustment posture difference ΔSu, the characteristic value H, the control coefficient K for determining the speed difference ΔV based on the pre-adjustment posture difference ΔSu and the characteristic value H, and the post-adjustment posture difference ΔSd, which is the difference between the downstream side actual posture Sd and the target posture Sr as a result of the posture adjustment control. The correction processing unit 54 corrects the control coefficient K based on the learning information stored in the storage unit 52.

[0060] In this embodiment, for example, if the adjustment rate in the first conveyor section 21 for the i-th conveyed object 11 is u1 i , then the adjustment rate u1 i It can be expressed by the following formula (1b). In addition, if the adjustment rate in the second conveyor section 22 for the i-th conveyed object 11 is u2 i , then the adjustment rate u2 i It can be represented by the following formula (2b).

[0061] u1 i =100+(K θi +K Hi ·H)·(θ U -θ R )+K Pi (P U -P R )...(1b)

[0062] u2 i =100-(K θi +K Hi ·H)·(θ U -θ R )-K Pi (PU -P R )...(2b)

[0063] Among them, K θi is the weighting coefficient for angle θ, K Pi is the weighting coefficient for position P, KH i It is the weighting coefficient for the characteristic value H.

[0064] Assume that the control device 50 executes the adjustment based on the adjustment rate u1 i And adjustment rate u2 i The angle of the conveyed object 11 at the downstream end as a result of the posture adjustment control is the downstream actual angle θ D , the position is the actual position P on the downstream side D Angle θ R and position P R Corresponding to the target posture Sr, the actual angle θ on the downstream side D and the actual position P on the downstream side D Corresponding to the actual posture Sd on the downstream side, the angle θ D -θ R and position P D -P R Corresponding to the adjusted posture difference ΔSd.

[0065] In the present embodiment, the storage unit 52 stores learning information indicating the pre-adjustment posture difference ΔSu (angle θ U -θ R , position P U -P R ), characteristic value H, a control coefficient K (weighting coefficient K) for determining the speed difference ΔV based on the posture difference ΔSu before adjustment and the characteristic value H θi , K Pi , K Hi ), and the adjusted posture difference ΔSd (angle θ D -θ R , position P D -P R ) relationship.

[0066] Furthermore, the weighting coefficient for the angle θ for the i+1th conveyed object 11 is Kθ i+1 , the weighting coefficient for position P is the weighting coefficient KP i+1 , the weighting coefficient for the characteristic value H is the weighting coefficient KH i+1 .

[0067] The correction processing unit 54 adjusts the control coefficient K (weighting coefficient Kθ) based on the learning information stored in the storage unit 52. i+1 , K.P. i+1 , KHi+1 ) correction. Preferably, the control coefficient K is changed when the adjusted posture difference ΔSd is greater than the threshold value J, and the control coefficient K is not changed when the adjusted posture difference ΔSd is less than the threshold value J. For example, at the angle θ D -θ R The absolute value of the threshold value θ J When the weighting coefficient K is small, Hi+1 According to formula (4b), at angle θ D -θ R The absolute value of the threshold θ J In the above case, the weighting coefficient K Hi+1 It is expressed by formula (5b).

[0068] K Hi+1 =K Hi ...(4b)

[0069] K Hi+1 =K Hi +α…(5b)

[0070] Here, α is a pre-set correction value. For example, the correction value α is D -θ R is set to a positive value when the angle θ D -θ R If it is negative, it is set to a negative value. J , the correction value α can be set with the help of experiments, machine learning, etc.

[0071] [Second embodiment]

[0072] Hereinafter, a posture adjusting device 10 according to a second embodiment will be described with reference to the drawings. Figure 7 : is a block diagram showing the control structure of the posture adjusting device 10 according to the present embodiment. Figure 8 1 is a top view of the posture adjustment conveyor 20 of the present embodiment. In the present embodiment, the posture adjustment device 10 is different from the first embodiment in that it has a posture detection device 30m during transportation. The following description will focus on the differences from the first embodiment. In addition, for points not specifically described, it is assumed to be the same as the first embodiment.

[0073] like Figure 7 and Figure 8As shown, in the present embodiment, the posture adjustment device 10 further includes a posture detection device 30m during transportation that detects the posture S of the conveyed object 11 in the entire area of ​​the posture adjustment conveyor 20. The actual posture S of the conveyed object 11 detected by the posture detection device 30m during transportation is set as the actual posture Sm during transportation. In the example shown in the figure, the posture adjustment conveyor 20 is provided with the posture detection device 30m during transportation. The posture detection device 30m during transportation detects the actual angle of the conveyed object 11 in the entire area of ​​the posture adjustment conveyor 20, that is, the actual angle θ during transportation, by, for example, having a camera 31m equipped on the posture adjustment conveyor 20. M , and the actual position of the conveyed object 11, that is, the actual position P during conveying M , that is, detecting the actual posture Sm during transportation.

[0074] In the present embodiment, after determining the initial speed difference ΔVa based on the difference between the actual posture Su on the upstream side and the target posture Sr, i.e., the posture difference ΔSu before adjustment, and the characteristic value H, the control device 50 determines the speed difference ΔV at any time during the transportation of the conveyed object 11 by the posture adjustment conveyor 20, based on the difference between the actual posture Sm during transportation and the target posture Sr, i.e., the posture difference ΔSm during transportation, and the characteristic value H, in such a manner that the speed difference ΔV increases as the posture difference ΔSm during transportation increases, and the speed difference ΔV increases as the characteristic value H increases.

[0075] In this embodiment, during the conveyance of the conveyed object 11, the speed difference ΔV is changed at any time by determining the adjustment rate u1m (= 100·V1 / V) of the conveying speed V1 of the first conveyor unit 21 relative to the conveying speed V (m / s) of the posture adjustment conveyor 20, and the adjustment rate u2m (= 100.V2 / V) of the conveying speed V2 of the second conveyor unit 22 relative to the conveying speed V of the posture adjustment conveyor 20. The adjustment rate u1m (%) during the conveyance of the conveyed object 11 can be expressed by the following formula (1c), and the adjustment rate u2m (%) can be expressed by the following formula (2c).

[0076] u1=100+(K θ +K H ·H)·(θ M -θ R )+K P (P M -P R )...(1c)

[0077] u2=100-(K θ +K H ·H)·(θ M -θ R )-K P (P M -P R)…(2c)

[0078] Actual angle during transportation θ M and the actual position P during transportation M Corresponding to the actual posture Sm during transportation, the angle θ M -θ R and position P M -P R Corresponding to the posture difference ΔSm during transportation.

[0079] In this embodiment, after determining the initial speed difference ΔVa, the control device 50 adjusts the speed of the object 11 to the position adjustment conveyor 20 based on the position difference ΔSm (angle θ M -θ R , position P M -P R ) and characteristic value H, with the posture difference ΔSm (angle θ M -θ R , position P M -P R ) increases, and the speed difference ΔV is changed at any time in such a way that the speed difference ΔV increases as the characteristic value H increases. When the control device 50 changes the speed difference ΔV at any time according to the size of the posture difference ΔSm during transportation, a proportional integral control operation (PI control operation), a proportional integral differential control operation (PID control operation), etc. may also be used. In the present embodiment, it is preferred that the control device 50 includes a storage unit 52 and a correction processing unit 54, but the control device 50 may not include the storage unit 52 and the correction processing unit 54.

[0080] [Third embodiment]

[0081] Hereinafter, a posture adjusting device 10 according to a third embodiment will be described with reference to the drawings. Fig. 9 This is a block diagram showing the control structure of the posture adjustment device 10 of the present embodiment. In the present embodiment, the posture adjustment conveyor 20 is different from the second embodiment in that it includes a third conveyor section 121 and a fourth conveyor section 122. The following description will focus on the differences from the second embodiment. In addition, points that are not specifically described are assumed to be the same as the second embodiment. In the present embodiment, the first conveyor section 21 is not divided into a first upstream section 21u and a first downstream section 21d, but it may be divided. Similarly, in the present embodiment, the second conveyor section 22 is not divided into a second upstream section 22u and a second downstream section 22d, but it may be divided.

[0082] In the present embodiment, the posture adjustment conveyor 20 further includes: a third conveyor section 121, which is arranged on the downstream side X2 relative to the first conveyor section 21; and a fourth conveyor section 122, which is arranged on the downstream side X2 relative to the second conveyor section 22 and is arranged on the second side Y2 in the conveying width direction relative to the third conveyor section 121. In addition, the posture adjustment conveyor 20 is configured so that the conveying speed V3 (m / s) of the third conveyor section 121 and the conveying speed V4 (m / s) of the fourth conveyor section 122 can be different. In the example shown in the figure, the first conveyor section 21 is adjacent to the third conveyor section 121. In addition, the second conveyor section 22 is adjacent to the fourth conveyor section 122.

[0083] Here, one of the upstream end and the downstream end of each of the third conveyor section 121 and the fourth conveyor section 122 is set as the third end 73, and the other is set as the fourth end 74. Preferably, the first end 71 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0084] Fig.10 It is a side view which saw the 1st conveyor part 21 and the 3rd conveyor part 121 from the 1st side Y1 of the conveyance width direction. Fig.11 This is a side view of the second conveyor section 22 and the fourth conveyor section 122 as viewed from the second side Y2 in the conveying width direction. In the present embodiment, the third conveyor section 121 includes a plurality of third rollers 123 , and the fourth conveyor section 122 includes a plurality of fourth rollers 124 . Fig.12 This is a front view of the third roller 123 and the fourth roller 124 as seen from the upstream side X1 in the conveying direction X. Fig.13 It is a perspective view of the first roller 23 , the second roller 24 , the third roller 123 , and the fourth roller 124 .

[0085] like Fig.10 , Fig.12 and Fig.13 As shown, the conveying surface 121a of the third conveyor section 121 is configured to be inclined in the conveying width direction Y in a manner that becomes the lower side Z2 of the vertical direction Z as it moves toward the second side Y2 in the conveying width direction at the third end 73, and to be inclined at an angle of inclination relative to the horizontal plane in the conveying width direction Y as it moves toward the fourth end 74. In this embodiment, the third conveyor section 121 is as follows Fig. 9As shown, a roller conveyor is provided with a plurality of third rollers 123 arranged in a row in the conveying direction X, and the rotation axis of each third roller 123 is inclined toward the downstream side X2 in the conveying direction X as it goes toward the first side Y1 in the conveying width direction.

[0086] like Fig.12 As shown, in the present embodiment, the surface of the third roller 123, which is a part of the area in the conveying width direction Y, i.e., the third specific area 123a, is formed of a material having a higher friction coefficient than the area on the first side Y1 in the conveying width direction relative to the third specific area 123a, i.e., the third outer area 123b. Fig.10 As shown, the third conveyor unit 121 in this embodiment includes a third drive belt 127 for driving the plurality of third rollers 123. The third drive belt 127 is configured to contact the lower surface of the third outer region 123b of the plurality of third rollers 123 to transmit the driving force. Preferably, the third drive belt 127 is configured not to contact the third specific region 123a.

[0087] like Figures 11 to 13 As shown, the conveying surface 122a of the fourth conveyor section 122 is configured to be inclined in the conveying width direction Y in a manner that becomes the lower side Z2 of the vertical direction Z as it moves toward the first side Y1 in the conveying width direction at the third end 73, and the inclination angle relative to the horizontal plane in the conveying width direction Y increases as it moves toward the fourth end 74. In this embodiment, the fourth conveyor section 122 is as follows Fig. 9 As shown, a roller conveyor is provided with a plurality of fourth rollers 124 arranged in a row in the conveying direction X, and the rotation axis of each of the fourth rollers 124 is inclined toward the downstream side X2 in the conveying direction X as it goes toward the second side Y2 in the conveying width direction.

[0088] like Fig.12 As shown, in the present embodiment, the surface of the fourth roller 124, which is a part of the area in the conveying width direction Y, that is, the fourth specific area 124a, is formed of a material having a higher friction coefficient than the fourth outer area 124b, which is an area closer to the second side Y2 in the conveying width direction than the fourth specific area 124a. Fig.11 As shown, the fourth conveyor section 122 in this embodiment includes a fourth drive belt 128 for driving the plurality of fourth rollers 124. The fourth drive belt 128 is configured to contact the lower surface of the fourth outer region 124b of the plurality of fourth rollers 124 to transmit the driving force. Preferably, the fourth drive belt 128 is configured not to contact the fourth specific region 124a.

[0089] In this embodiment, the posture adjustment conveyor 20 includes a third drive device 125 that drives the third conveyor section 121 and a fourth drive device 126 that drives the fourth conveyor section 122. Thus, the posture adjustment conveyor 20 can make the conveying speed V3 (m / s) of the third conveyor section 121 and the conveying speed V4 (m / s) of the fourth conveyor section 122 different.

[0090] The third driving device 125 is Fig.10 In the example shown, the third roller 123 is driven by the third drive belt 127. The fourth drive device 126 is Fig.10 In the example shown, the fourth roller 124 is driven by the fourth drive belt 128. Thus, the posture adjustment conveyor 20 can make the conveying speed V1 (m / s) of the first conveyor section 21 and the conveying speed V3 (m / s) of the third conveyor section 121 different. In addition, the conveying speed V2 (m / s) of the second conveyor section 22 and the conveying speed V4 (m / s) of the fourth conveyor section 122 can also be made different.

[0091] [Fourth embodiment]

[0092] Hereinafter, a posture adjusting device 10 according to a fourth embodiment will be described with reference to the drawings. Fig.14 This is a side view of the second conveyor section 22 and the fourth conveyor section 122 of this embodiment as viewed from the second side Y2 in the conveying width direction. In this embodiment, the conveying surface 121a of the third conveyor section 121 and the conveying surface 121a of the fourth conveyor section 122 are configured to be substantially horizontal, which is different from the third embodiment. The following description will focus on the differences from the third embodiment. In addition, for points not specifically described, it is assumed to be the same as the third embodiment.

[0093] exist Fig.14 In the example, the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0094] In the present embodiment, the conveying surface 121a of the third conveyor section 121 and the conveying surface 121a of the fourth conveyor section 122 are configured to be approximately horizontal. Specifically, the rotation axis of each of the third roller 123 and the fourth roller 124 is arranged along a horizontal plane. In this way, the posture of the conveyed object 11 that is curved in a manner that the bottom surface protrudes toward the lower side Z2 can be appropriately adjusted with the help of the first conveyor section 21 and the second conveyor section 22, and the posture of the conveyed object 11 with a flat bottom surface or a shape close to a flat bottom surface can be appropriately adjusted with the help of the third conveyor section 121 and the fourth conveyor section 122. Therefore, the posture of the conveyed object 11 with various bottom surface shapes can be appropriately adjusted.

[0095] [Other implementation methods]

[0096] Next, other embodiments of the posture adjusting device 10 will be described.

[0097] (1) In the above-mentioned embodiment, the first conveyor section 21, the second conveyor section 22, the third conveyor section 121, and the fourth conveyor section 122 of the posture adjustment conveyor 20 are roller conveyors. However, the present invention is not limited to such a structure. For example, the first conveyor section 21, the second conveyor section 22, the third conveyor section 121, and the fourth conveyor section 122 may be composed of a belt conveyor, a chain conveyor, or other known conveyors.

[0098] (2) In the above-mentioned embodiment, the structure in which the rotation axis of each of the first roller 23 and the third roller 123 is inclined toward the downstream side X2 of the conveying direction X as it moves toward the first side Y1 in the conveying width direction, and the rotation axis of each of the second roller 24 and the fourth roller 124 is inclined toward the downstream side X2 of the conveying direction X as it moves toward the second side Y2 in the conveying width direction is described as an example. However, the present invention is not limited to such a structure, and for example, the rotation axis of each of the first roller 23, the second roller 24, the third roller 123, and the fourth roller 124 may be a rotation axis parallel to the conveying width direction Y.

[0099] (3) In the above-mentioned embodiment, the first conveyor section 21 of the posture adjustment conveyor 20 is driven by the first drive device 25, and the second conveyor section 22 is driven by the second drive device 26. However, it is not limited to such a structure. For example, the first upstream section 21u and the first downstream section 21d of the first conveyor section 21 and the second upstream section 22u and the second downstream section 22d of the second conveyor section 22 may be driven by a common drive device, and a structure of a speed changer that changes the transmission ratio of the rotation from the drive device may be provided. In addition, it is also possible not to make the conveying speed different between the first upstream section 21u and the first downstream section 21d of the first conveyor section 21. In addition, it is also possible not to make the conveying speed different between the second upstream section 22u and the second downstream section 22d of the second conveyor section 22.

[0100] (4) In the above-mentioned embodiments 2 and 3, the structure in which the first end 71 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122 is described as an example. In the above-mentioned fourth embodiment, the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122. However, the present invention is not limited to such a structure, and for example, the third end 73 may be the downstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 may be the upstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0101] (5) In the above-mentioned Embodiments 3 and 4, an example is described in which the conveying speed V1 of the first conveyor section 21 and the conveying speed V3 of the third conveyor section 121 are configured to be different. However, the present invention is not limited to such an example, and for example, the third drive device 125 and the fourth drive device 126 may be provided as a common device, so that the first conveyor section 21 and the third conveyor section 121 have a common conveying speed. Similarly, the second conveyor section 22 and the fourth conveyor section 122 may also have a common conveying speed.

[0102] (6) In the above-mentioned embodiment, an example is described in which the posture adjustment device 10 includes the upstream posture detection device 30u, the downstream posture detection device 30d, and the characteristic determination device 40, and the control device 50 includes the storage unit 52 and the correction processing unit 54. However, the present invention is not limited to such an example, and for example, the posture adjustment device 10 may not include the downstream posture detection device 30d, and the control device 50 may not include the storage unit 52 and the correction processing unit 54. Furthermore, the posture adjustment device 10 may not include the upstream posture detection device 30u and the characteristic determination device 40.

[0103] (7) In the above-mentioned embodiment 1, the configuration in which the posture adjustment device 10 includes the upstream posture detection device 30u, the characteristic determination device 40, and the downstream posture detection device 30d is described as an example. However, the configuration is not limited to such a configuration, and for example, the upstream posture detection device 30u or the downstream posture detection device 30d may also serve as the upstream posture detection device 30u, the downstream posture detection device 30d, and the characteristic determination device 40. In addition, in the above-mentioned embodiments 2 to 4, the configuration in which the posture adjustment device 10 includes the upstream posture detection device 30u, the characteristic determination device 40, the in-transport posture detection device 30m, and the downstream posture detection device 30d is described as an example. However, the configuration is not limited to such a configuration, and for example, the in-transport posture detection device 30m may also serve as the upstream posture detection device 30u, the in-transport posture detection device 30m, the downstream posture detection device 30d, and the characteristic determination device 40.

[0104] (8) In addition, the structure disclosed in the above-mentioned embodiment can be combined with the structure disclosed in other embodiments for application as long as there is no contradiction. With regard to other structures, the embodiments disclosed in this specification are merely simple examples in all aspects. Therefore, various changes can be appropriately made within the scope of the present disclosure.

[0105] [Overview of the above-mentioned embodiment]

[0106] Hereinafter, the posture adjusting device described above will be described.

[0107] The posture adjustment device disclosed in the present invention is a posture adjustment device for adjusting the posture of a conveyed object, and is provided with a posture adjustment conveyor for conveying the conveyed object along a specified conveying direction and adjusting the posture of the conveyed object; a direction orthogonal to the conveying direction is defined as a conveying width direction; the posture adjustment conveyor is configured to include a first conveyor section and a second conveyor section arranged in parallel in an adjacent manner in the conveying width direction, and a conveying speed of the first conveyor section is different from a conveying speed of the second conveyor section; a side in the conveying width direction on which the first conveyor section is arranged relative to the second conveyor section is defined as the first side in the conveying width direction, and an opposite side thereof is defined as the second side in the conveying width direction, and the first conveyor section and the second conveyor section are defined as the first side in the conveying width direction. One of the upstream end and the downstream end of each of the 2 conveyor parts is a first end, and the other is a second end; the conveying surface of the above-mentioned first conveyor part is configured to be inclined in the above-mentioned conveying width direction at the above-mentioned first end in a manner that becomes the lower side in the up-down direction as it approaches the above-mentioned second side in the conveying width direction, and the inclination angle relative to the horizontal plane in the above-mentioned conveying width direction gradually decreases toward the above-mentioned second end; the conveying surface of the above-mentioned second conveyor part is configured to be inclined in the above-mentioned conveying width direction at the above-mentioned first end in a manner that becomes the lower side in the up-down direction as it approaches the above-mentioned first side in the conveying width direction, and the inclination angle relative to the horizontal plane in the above-mentioned conveying width direction gradually decreases toward the above-mentioned second end.

[0108] According to the present structure, when the bottom surface of the conveyed object is curved in a manner protruding downward in the vertical direction, when the conveying surface of the posture adjustment conveyor is inclined in a manner that the vicinity of the boundary between the first conveyor portion and the second conveyor portion becomes the lower side in the vertical direction, it is easy to ensure a larger contact area between the bottom surface of the conveyed object and the conveying surface of the posture adjustment conveyor. On the other hand, when the bottom surface of the conveyed object is a plane or close to a plane, it is easy to ensure a larger contact area between the bottom surface of the conveyed object and the conveying surface of the posture adjustment conveyor when the conveying surface of the posture adjustment conveyor is also a plane. According to the present structure, for a conveyed object whose bottom surface is curved in a manner protruding downward, the posture adjustment can be appropriately performed in the section on the first end side, and for a conveyed object whose bottom surface is a plane or close to a plane, the posture adjustment can be appropriately performed in the section on the second end side. Therefore, the posture adjustment of conveyed objects with various bottom surface shapes can be appropriately performed.

[0109] As a technical solution, it is preferred that the first conveyor section is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction; the surface of the first specific area, which is a part of the area in the conveying width direction of the first roller, is formed of a material having a higher friction coefficient than the area on the first side of the conveying width direction than the first specific area, that is, the first outer area; the second conveyor section is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction; the surface of the second specific area, which is a part of the area in the conveying width direction of the second roller, is formed of a material having a higher friction coefficient than the area on the second side of the conveying width direction than the second specific area, that is, the second outer area; the first conveyor section includes a first drive belt for driving the plurality of first rollers; the first drive belt is configured to contact with the lower surface of the first outer area of ​​the plurality of first rollers to transmit the driving force; the second conveyor section includes a second drive belt for driving the plurality of second rollers; the second drive belt is configured to contact with the lower surface of the second outer area of ​​the plurality of second rollers to transmit the driving force.

[0110] According to this structure, the posture of the conveyed object near the boundary between the first conveyor section and the second conveyor section, for example, near the center of the conveying width direction of the posture adjustment conveyor, can be effectively changed. In addition, if the friction coefficient of the portion in contact with the drive belt is high, the wear of the drive belt and the roller is likely to increase, but according to this structure, this situation can be easily avoided.

[0111] As a technical solution, it is preferred that the first conveyor section is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction; the rotation axis of each of the first rollers is inclined in a manner toward the downstream side of the conveying direction as it moves toward the first side of the conveying width direction; and the second conveyor section is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction; the rotation axis of each of the second rollers is inclined in a manner toward the downstream side of the conveying direction as it moves toward the second side of the conveying width direction.

[0112] According to this structure, during the conveyance of the conveyed object by the posture adjustment conveyor, the conveyed object can be gradually moved to the vicinity of the boundary between the first conveyor section and the second conveyor section, for example, to the vicinity of the center of the conveying width direction of the posture adjustment conveyor. Therefore, during the conveyance of the conveyed object by the posture adjustment conveyor, the position of the conveying width direction of the conveyed object can also be adjusted.

[0113] As a technical solution, it is preferred that the posture adjustment conveyor further comprises a third conveyor section arranged on the downstream side relative to the first conveyor section, and a fourth conveyor section arranged on the downstream side relative to the second conveyor section and on the second side in the conveying width direction relative to the third conveyor section, and is constructed so as to make the conveying speed of the third conveyor section different from the conveying speed of the fourth conveyor section; one of the upstream end and the downstream end of each of the third conveyor section and the fourth conveyor section is set as the third end, and the other is set as the fourth end; the conveying speed of the third conveyor section The conveying surface is constructed so that, at the aforementioned third end portion, it is inclined in the aforementioned conveying width direction in such a manner that it becomes the lower side of the aforementioned up-down direction as it approaches the aforementioned second side of the conveying width direction, and the inclination angle relative to the horizontal plane in the aforementioned conveying width direction gradually decreases toward the aforementioned fourth end portion; the conveying surface of the aforementioned fourth conveyor part is constructed so that, at the aforementioned third end portion, it is inclined in the aforementioned conveying width direction in such a manner that it becomes the lower side of the aforementioned up-down direction as it approaches the aforementioned first side of the conveying width direction, and the inclination angle relative to the horizontal plane in the aforementioned conveying width direction gradually decreases toward the aforementioned fourth end portion.

[0114] According to this configuration, the posture of the conveyed object can be changed in the third conveyor section and the fourth conveyor section in addition to the first conveyor section and the second conveyor section. Therefore, the posture of the conveyed object can be adjusted more efficiently.

[0115] As a technical solution, it is preferred that the first end is the downstream end of the first conveyor section and the second conveyor section; the second end is the upstream end of the first conveyor section and the second conveyor section; the third end is the upstream end of the third conveyor section and the fourth conveyor section; and the fourth end is the downstream end of the third conveyor section and the fourth conveyor section.

[0116] According to this structure, in the first conveyor section and the second conveyor section, the inclination in the width direction is relatively gentle at the upstream end, and the inclination at the downstream end becomes steep. Then, in the third conveyor section and the fourth conveyor section, the inclination in the width direction can be changed so that the inclination at the upstream end is steep and the inclination at the downstream end becomes gentle. Therefore, effective posture adjustment can be performed, and in the case where the conveyor connected to the upstream side with respect to the first conveyor section and the second conveyor section and the conveyor connected to the downstream side with respect to the third conveyor section and the fourth conveyor section have a horizontal conveying surface, the conveyed object can also be smoothly conveyed at the connection part with these conveyors.

[0117] As a technical solution, it is preferred that the first end is the upstream end of the first conveyor section and the second conveyor section; and the second end is the downstream end of the first conveyor section and the second conveyor section.

[0118] According to this structure, since the conveying surface is close to horizontal on the downstream side of the first conveyor section and the second conveyor section, when the conveyor connected to the downstream side relative to the first conveyor section and the second conveyor section has a horizontal conveying surface, the conveyed object can be smoothly conveyed at the connection part with the conveyor. Therefore, the conveyed object can be stably conveyed in the conveying direction.

[0119] Industrial Applicability

[0120] The technology disclosed herein can be used in a conveyor-type conveying device including a posture adjustment device.

[0121] Description of Reference Numerals

[0122] 10: Posture adjustment device

[0123] 11: Transported objects

[0124] 20: Posture adjustment conveyor

[0125] 21: Conveyor section 1

[0126] 21a: Conveying surface

[0127] 22: Second conveyor section

[0128] 22a: Conveying surface

[0129] 23: Roller 1

[0130] 23a: 1st specific area

[0131] 23b: 1st outer zone

[0132] 24: Roller 2

[0133] 24a: Second specific area

[0134] 24b: 2nd outer zone

[0135] 27: 1st drive belt

[0136] 28: 2nd drive belt

[0137] 71: 1st end

[0138] 72: Second end

[0139] 73: The third end

[0140] 74: End 4

[0141] 121: Conveyor section 3

[0142] 121a: Conveying surface

[0143] 122: Conveyor section 4

[0144] 122a: Conveying surface

[0145] 123: Roller 3

[0146] 123a: 3rd specific area

[0147] 123b: 3rd outer area

[0148] 124: Roller 4

[0149] 124a: 4th specific area

[0150] 124b: 4th outer zone

[0151] 127: 3rd drive belt

[0152] 128: 4th drive belt

[0153] S: Posture

[0154] V1: Conveying speed of the first conveyor section

[0155] V2: Conveying speed of the second conveyor section

[0156] V3: Conveying speed of the third conveyor section

[0157] V4: Conveying speed of the 4th conveyor section

[0158] Tilt Angle

[0159] Tilt Angle

[0160] Tilt Angle

[0161] Tilt Angle

Claims

1. A posture adjustment device, which adjusts the posture of the conveyed object. It is characterized in that A posture-adjusting conveyor is provided for conveying the conveyed object along a predetermined conveying direction and adjusting the posture of the conveyed object; Let the direction orthogonal to the aforementioned conveying direction be the conveying width direction; The posture adjustment conveyor is configured to include a first conveyor section and a second conveyor section arranged in parallel in a manner adjacent to each other in the conveying width direction, and a conveying speed of the first conveyor section and a conveying speed of the second conveyor section are different from each other; The side in the conveying width direction where the first conveyor section is arranged relative to the second conveyor section is defined as the first side in the conveying width direction, the opposite side is defined as the second side in the conveying width direction, one of the upstream end and the downstream end of each of the first conveyor section and the second conveyor section is defined as the first end, and the other is defined as the second end; The conveying surface of the first conveyor section is configured to be inclined in the conveying width direction at the first end so as to become the lower side in the vertical direction as it goes toward the second side in the conveying width direction, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it goes toward the second end; The conveying surface of the second conveyor section is configured to be inclined in the conveying width direction at the first end so as to become the lower side in the up-down direction as it moves toward the first side in the conveying width direction, and the inclination angle relative to the horizontal plane in the conveying width direction gradually decreases as it moves toward the second end.

2. The posture adjustment device according to claim 1, It is characterized in that The first conveyor section is a roller conveyor having a plurality of first rollers arranged in a row in the conveying direction; The surface of the first roller in a first specific area which is a part of the conveying width direction is formed of a material having a higher friction coefficient than that of a first outer area which is a first side in the conveying width direction relative to the first specific area. The second conveyor section is a roller conveyor having a plurality of second rollers arranged in a row in the conveying direction; The surface of the second roller in a second specific area which is a part of the conveying width direction is formed of a material having a higher friction coefficient than that of an area on the second side in the conveying width direction relative to the second specific area, namely, a second outer area; The first conveyor section includes a first drive belt for driving the plurality of first rollers; The first driving belt is configured to contact the lower surfaces of the first outer regions of the plurality of first rollers to transmit the driving force; The second conveyor section includes a second drive belt for driving the plurality of second rollers; The second driving belt is configured to contact lower surfaces of the second outer regions of the plurality of second rollers to transmit a driving force.

3. The posture adjustment device according to claim 1 or 2, It is characterized in that The first conveyor section is a roller conveyor having a plurality of first rollers arranged in a row in the conveying direction; The rotation axis of each of the first rollers is inclined toward the downstream side in the conveying direction as it moves toward the first side in the conveying width direction; The second conveyor section is a roller conveyor having a plurality of second rollers arranged in a row in the conveying direction; The rotation axis of each of the second rollers is inclined toward the downstream side in the conveying direction as it goes toward the second side in the conveying width direction.

4. The posture adjustment device according to claim 1 or 2, It is characterized in that The posture adjustment conveyor further comprises a third conveyor section arranged on the downstream side relative to the first conveyor section, and a fourth conveyor section arranged on the downstream side relative to the second conveyor section and arranged on the second side in the conveying width direction relative to the third conveyor section, and is configured so that a conveying speed of the third conveyor section and a conveying speed of the fourth conveyor section can be made different; One of the upstream end and the downstream end of each of the third conveyor section and the fourth conveyor section is defined as the third end, and the other is defined as the fourth end; The conveying surface of the third conveyor section is configured to be inclined in the conveying width direction at the third end so as to become the lower side in the vertical direction as it approaches the second side in the conveying width direction, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end; The conveying surface of the aforementioned fourth conveyor section is constructed to be inclined in the aforementioned conveying width direction at the aforementioned third end portion in such a manner that it becomes the lower side of the aforementioned up-down direction as it moves toward the aforementioned first side in the aforementioned conveying width direction, and the inclination angle relative to the horizontal plane in the aforementioned conveying width direction gradually becomes smaller as it moves toward the aforementioned fourth end portion.

5. The posture adjustment device according to claim 4, It is characterized in that The first end is the downstream end of the first conveyor section and the second conveyor section; The second end is the upstream end of the first conveyor section and the second conveyor section; The third end is the upstream end of the third conveyor section and the fourth conveyor section; The fourth end portion is the downstream end portion of the third conveyor portion and the fourth conveyor portion.

6. The posture adjustment device according to claim 1 or 2, It is characterized in that The first end is the upstream end of the first conveyor section and the second conveyor section; The second end portion is the downstream end portion of the first conveyor portion and the second conveyor portion.

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