Conveying device

Abstract

A conveyance device is provided with: a conveyance path in which a plurality of conveyance rollers are provided, the plurality of conveyance rollers conveying an object to be conveyed in the conveyance direction of the object to be conveyed; and a distance measuring sensor that measures a distance to a transported object transported on the transport path from an upstream side toward a downstream side of the transport path, the transport roller being formed by a drive roller connected to a motor controlled by a control unit and a free roller that can rotate freely, the drive roller being connected to the free roller, and the free roller being connected to the drive roller and the free roller. The conveyance path is divided into a plurality of sections including at least one drive roller and a plurality of free rollers, and the distance measuring sensor is disposed in each of a predetermined number of sections among the plurality of sections.

Description

Technical Field

[0001] The present disclosure relates to a conveying device. Background Art

[0002] For example, Japanese Patent Laid-Open No. 11-199030 discloses a conveying device that includes drive rollers, free rollers, and photoelectric sensors in each area in the conveying direction to detect whether there is an object to be conveyed in each area. Summary of the Invention

[0003] Problems to be Solved by the Invention

[0004] However, if sensors are provided in each area, a large number of sensors are required for the entire conveying path.

[0005] The present disclosure has been made in view of the above facts, and an object thereof is to provide a conveying device that does not require sensors in each area and can reduce the number of sensors.

[0006] Means for Solving the Problems

[0007] The conveying device according to the first aspect includes: a conveying path provided with a plurality of conveying rollers that convey an object to be conveyed along the conveying direction of the object; and a distance measuring sensor that measures the distance to the object to be conveyed on the conveying path from the upstream side to the downstream side of the conveying path. The conveying rollers are formed by drive rollers and freely rotatable free rollers, the drive rollers are connected to motors controlled by a control unit, the conveying path is divided into a plurality of zones each having at least one drive roller and a plurality of free rollers, and the distance measuring sensor is disposed in every predetermined number of the plurality of zones.

[0008] According to the first aspect, it is possible to provide a conveying device that does not require sensors in each area and can reduce the number of sensors. Thereby, the cost of components and the manufacturing cost can be reduced.

[0009] In addition, in the conveying device according to the second aspect, the distance measuring sensors are disposed at predetermined intervals along the conveying direction of the conveying path.

[0010] According to the second aspect, it is possible to provide a conveying device that can be configured on the conveying path according to the measurement range of the distance measuring sensor. Thereby, an efficient configuration of the distance measuring sensors can be achieved.

[0011] In addition, in the conveying device according to the third aspect, the control unit calculates the position of the object to be conveyed on the conveying path based on the measurement result of the distance measuring sensor.

[0012] According to a third mode, it is possible to provide a conveying device that can perform conveyance on the basis of identifying where on the conveyance path there is a conveyed object.

[0013] In addition, in the conveying device according to a fourth mode, a dimension measuring sensor is provided on the upstream side of the conveyance path, and the dimension measuring sensor measures at least the dimension on the conveyance direction side of the conveyed object.

[0014] According to a fourth mode, it is possible to provide a conveying device that can convey conveyed objects of different dimensions simultaneously.

[0015] In addition, in the conveying device according to a fifth mode, the control unit controls the motor according to the dimension on the conveyance direction side of the conveyed object measured by the dimension measuring sensor.

[0016] According to a fifth mode, it is possible to provide a conveying device that can identify the positions of the front end side and the rear end side of the conveyance direction of the conveyed object in the conveyance path.

[0017] In addition, in the conveying device according to a sixth mode, the control unit performs stacking control, and the stacking control conveys the conveyed objects on the conveyance path in such a manner as to reduce the intervals between them.

[0018] According to a sixth mode, it is possible to provide a conveying device that can convey conveyed objects of different dimensions in such a manner as to reduce the intervals between them.

[0019] In addition, in the conveying device according to a seventh mode, the control unit calculates the placement angle of the conveyed object on the conveyance path according to the measurement result of the distance measuring sensor.

[0020] According to a seventh mode, it is possible to provide a conveying device that can identify that the conveyed object is placed obliquely along the conveyance direction.

[0021] In addition, in the conveying device according to an eighth mode, the distance measuring sensor is disposed in an arch portion provided from one side to the other side of the frame, and the frame rotatably holds the conveyance rollers from both sides.

[0022] According to an eighth mode, it is possible to provide a conveying device that can increase the range that one distance measuring sensor can measure as compared with the case where the distance measuring sensor is disposed in the frame of the conveying device.

[0023] In addition, in the conveying device according to a ninth mode, the distance measuring sensor is disposed between the conveyance rollers.

[0024] According to a ninth aspect, it is possible to provide a conveying device that can increase the range that one distance measuring sensor can measure as compared with the case where the distance measuring sensor is disposed in the frame of the conveying device.

[0025] Effect of the Invention

[0026] As described above, according to the present disclosure, the following effects can be obtained: It is possible to provide a conveying device capable of reducing the number of sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a top view schematically showing an example of the structure of the conveying device according to the embodiment.

[0028] Figure 2 It is a block diagram schematically showing an example of the electrical structure of the control unit included in the control device according to the embodiment.

[0029] Figure 3 It is an explanatory diagram for explaining the measurement of the distance to the conveyed object by an ultrasonic sensor according to the embodiment.

[0030] Figure 4 It is an explanatory diagram for explaining the measurement of the distance to the conveyed object by the control unit according to the embodiment.

[0031] Figure 5 It is an explanatory diagram for explaining an example of conveying the conveyed object by the control unit according to the embodiment.

[0032] Figure 6 It is a top view schematically showing an example of the structure of the conveying device using a laser ToF sensor according to the embodiment.

[0033] Figure 7A It is a front view schematically showing an example of the structure of the conveying device when the laser ToF sensor is disposed in the arch portion according to the embodiment.

[0034] Figure 7B It is a side view schematically showing an example of the structure of the conveying device when the laser ToF sensor is disposed in the arch portion according to the embodiment.

[0035] Figure 8A It is a top view schematically showing an example of the structure of the conveying device when the laser ToF sensor is disposed between the conveying rollers according to the embodiment.

[0036] Figure 8B It is a side view schematically showing an example of the structure of the conveying device when the laser ToF sensor is disposed between the conveying rollers according to the embodiment.

[0037] Figure 9It is an explanatory diagram for explaining the measurement of the distance to the conveyed object by a laser ToF sensor serving as a multi-region sensor according to the embodiment.

[0038] Figure 10 It is an explanatory diagram for explaining the measurement of the placement angle of the conveyed object in the case where a laser ToF sensor serving as a multi-region sensor is arranged on a frame according to the embodiment.

[0039] Figure 11 It is an explanatory diagram for explaining the measurement of the placement angle of the conveyed object in the case where a laser ToF sensor serving as a multi-region sensor is arranged between rollers according to the embodiment.

[0040] Figure 12 It is an explanatory diagram for explaining the measurement of the distance to the conveyed object by a laser ToF sensor serving as a single-region sensor according to the embodiment.

[0041] Figure 13 It is an explanatory diagram for explaining the measurement of the placement angle of the conveyed object in the case where a laser ToF sensor serving as a single-region sensor is arranged on a frame according to the embodiment.

[0042] Figure 14 It is an explanatory diagram for explaining the measurement of the placement angle of the conveyed object in the case where a laser ToF sensor serving as a single-region sensor is arranged between rollers according to the embodiment. Detailed Embodiment

[0043] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the drawings. It should be noted that in each drawing, the same or equivalent constituent elements and parts are denoted by the same reference numerals. In addition, for ease of explanation, the dimensional ratios of the drawings are exaggerated and may be different from the actual ratios.

[0044] Figure 1 It is a top view schematically showing an example of the structure of a conveying device 10 according to the present embodiment.

[0045] As Figure 1 shown, the conveying device 10 includes a conveying path 11 (a frame 20 and a plurality of conveying rollers 30) and a control unit 100. It should be noted that for Figure 1 the conveying device 10 shown, the part on the upstream side of the conveying direction X of the conveyed object n and where the conveyed object n is input is constituted by a belt conveying mechanism, and the downstream side of the conveying direction X is constituted by a roller conveying mechanism, but it is not limited thereto. For example, it may also be entirely constituted by a roller conveying mechanism.

[0046] The frame 20 extends along the conveying direction X of the conveyed object n and rotatably holds a plurality of conveying rollers 30 on both sides. The conveying rollers 30 are formed in a cylindrical shape and carry the conveyed object n. Among them, the conveying rollers 30 are formed by a driving roller 31 connected to a motor and a free roller 32 that rotates freely.

[0047] The conveying path 11 is divided into a plurality of regions Z each having one driving roller 31 and a plurality of free rollers 32 (four in this example). In addition, although not shown, the driving roller 31 and the free rollers 32 in each region Z are connected by a belt that transmits the rotation of the driving roller 31 to the free rollers 32.

[0048] In addition, the frame 20 is provided with a dimension measuring sensor 50 and an ultrasonic sensor 40. Among them, the ultrasonic sensor 40 is an example of a distance measuring sensor.

[0049] The dimension measuring sensor 50 is a sensor that measures at least the dimension W on the conveying direction X side of the conveyed object n. In addition, the dimension measuring sensor 50 is disposed on the upstream side of the conveying path 11, and preferably on the upstream side of all the ultrasonic sensors 40.

[0050] The dimension measuring sensor 50 uses, for example, an ultrasonic sensor or the like to send ultrasonic waves in a direction orthogonal to the conveying direction X of the conveyed object n on the conveying path 11, thereby detecting the presence of the conveyed object n. Then, the control unit 100 measures the dimension W on the conveying direction X side of the conveyed object n based on the conveying speed of the conveyed object n and the time when the ultrasonic sensor detects the presence of the conveyed object n. It should be noted that the dimension measuring sensor 50 is not limited to the type and method as long as it can detect the dimension W of the conveyed object n.

[0051] The ultrasonic sensor 40 measures the distance to the conveyed object n conveyed on the conveying path 11 from the upstream side to the downstream side of the conveying path 11. In addition, the ultrasonic sensor 40 is disposed in every predetermined number of regions Z among the plurality of regions Z. That is, the ultrasonic sensor 40 is not provided in all the regions Z. In this embodiment, a set of ultrasonic sensors 40 is disposed for three regions Z with respect to the plurality of regions Z.

[0052] In addition, as Figure 1 shown, the ultrasonic sensor is configured such that a transmitting sensor 41 is disposed on one side on the left and right along the conveying direction X of the conveying path 11, and a receiving sensor 42 is disposed on the other side on the left and right. And the transmitting sensor 41 and the receiving sensor 42 are inclinedly disposed so as to face the center side in the left and right directions of the conveying path 11.

[0053] Note that, it is not limited to the case where a set of ultrasonic sensors 40 is configured for three regions Z. It can also be changed according to the range where the ultrasonic waves of the ultrasonic sensors 40 reach. In the case where the arrival distance of the ultrasonic waves is long, a set of ultrasonic sensors 40 can be configured for four or more regions Z. That is to say, the ultrasonic sensors 40 can be configured at predetermined intervals along the conveying direction X of the conveying path 11.

[0054] The control unit 100 calculates the distance from the midpoint between the transmitting sensor 41 and the receiving sensor 42 to the conveyed object n based on the measurement result of the ultrasonic sensor 40. Moreover, the control unit 100 calculates the position of the conveyed object n on the conveying path 11 according to this distance. Specifically, the position of the conveyed object n on the conveying path 11 is calculated based on the position where the ultrasonic sensor 40 is configured and the distance calculated based on the measurement result.

[0055] In addition, the control unit 100 controls the motor for driving the driving roller 31. Specifically, the control unit 100 controls the motor according to the dimension W on the conveying direction X side of the conveyed object measured by the dimension measuring sensor 50.

[0056] Figure 2 It is a block diagram showing an example of the electrical structure of the control unit 100 according to the present embodiment.

[0057] As Figure 2 shown, the control unit 100 of the conveying device 10 according to the present embodiment includes a central processing unit (CPU) 101, a read only memory (ROM) 102, a random access memory (RAM) 103, an input / output interface (I / O) 104, a storage unit 105, and a connection unit 106.

[0058] The CPU 101, ROM 102, RAM 103, and I / O 104 are respectively connected by a bus. The I / O 104 is connected to each functional unit including the storage unit 105 and the connection unit 106. These functional units can communicate with each other through the I / O 104 and the CPU 101.

[0059] The CPU 101, ROM 102, RAM 103, and I / O 104 constitute a microcomputer (microprocessor), for example. The microcomputer can be configured as a sub-control unit that controls the operation of a part of the control unit 100, or can be configured as a part of the main control unit that controls the overall operation of the control unit 100. A part or all of each block of the microcomputer is, for example, implemented using an integrated circuit such as a large-scale integration (LSI) or a microchip (integrated circuit, IC) chipset. Independent circuits can be used in each of the above blocks, or a circuit formed by integrating a part or all of them can be used. The above blocks can be integrally provided with each other, or some of the blocks can be provided separately. In addition, a part of each of the above blocks can be provided separately. The integration of the microcomputer is not limited to LSI, and dedicated circuits or general-purpose processors can also be used.

[0060] As the storage unit 105, for example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, etc. can be used. In the ROM 102 or the storage unit 105, a control program for controlling the motor, various set values required for the control of the motor, data tables, etc. are stored.

[0061] The control program can also be pre-installed in the control unit 100, for example. The control program can be implemented by being stored in a non-volatile storage medium, or distributed through a network and appropriately installed in the control unit 100. It should be noted that as examples of non-volatile storage media, a compact disc read-only memory (CD-ROM), an optical disk, an HDD, a digital versatile disc read-only memory (DVD-ROM), a flash memory, and a memory card, etc. can be envisioned.

[0062] The connection unit 106 is an interface for connecting to devices such as a dimension measurement sensor 50, an ultrasonic sensor 40, and a motor, respectively.

[0063] Next, use Figure 3 and Figure 4 to describe a method of measuring the distance to the transported object n using the ultrasonic sensor 40 as a distance measurement sensor.

[0064] First, as Figure 3 shown, the control unit 100 causes ultrasonic waves to be transmitted from the transmitting sensor 41. The ultrasonic waves involved are transmitted radially and have no direction. Then, the control unit 100 receives the ultrasonic waves specularly reflected by the transported object n through the receiving sensor 42. As Figure 4As shown, the distance from the sending sensor 41 to the conveyed object n is considered to be the same as the distance from the conveyed object n to the receiving sensor 42. Then, the control unit 100 calculates the distance h from the intermediate point between the sending sensor 41 and the receiving sensor 42 to the conveyed object n based on the following calculation formula 1 of the Pythagorean theorem.

[0065] [Calculation formula 1]

[0066]

[0067] Among them, h represents the vertical distance from the intermediate point between the sending sensor 41 and the receiving sensor 42 to the conveyed object n, and L Tof represents the distance from the sending sensor 41 to the receiving sensor 42 and then to the conveyed object n, and b represents the distance between the sending sensor 41 and the receiving sensor 42.

[0068] Next, an example of conveying the conveyed object n by the control unit 100 will be described using Figure 5 .

[0069] The control unit 100 of the present embodiment performs stacking control, which conveys the conveyed object n compactly in the conveying direction X with respect to the conveyed object n that has been conveyed on the conveying path 11 before the conveyed object n.

[0070] Specifically, although not shown, when the control unit 100 detects the first conveyed object n in a state where there is no conveyed object n on the conveying path 11, it controls the motor and conveys it to a predetermined position. The predetermined position is calculated by measuring the distance to the conveyed object n by the ultrasonic sensor 40. When the distance to the end on the upstream side of the conveyed object n reaches the predetermined position, the control of the motor is stopped.

[0071] Then, as Figure 5As shown in (A) therein, when carrying a second load n+1 while the load n is stopped on the conveying path 11, the control unit 100 calculates the distance to the load n using the ultrasonic sensor 40. The control unit 100 calculates the position of the load n on the conveying path 11 based on the distance to the load n. It should be noted that the control unit 100 may also pre-store the distance to the load n measured when carrying the first load n, and calculate the position of the load n based on the pre-stored distance. The control unit 100 controls the motor according to this distance to carry the load n+1 (reduce the spacing). Among them, if the load n+1 to be carried is carried without colliding with the load n, the control unit 100 needs to obtain the dimension W on the X side of the conveying direction of the load n. This is because the distance for carrying the load n+1 will change according to the dimension W on the X side of the conveying direction of the load n+1. In the present embodiment, the control unit 100 measures at least the dimension W on the X side of the conveying direction of the load n placed on the conveying path 11 through the dimension measuring sensor 50. It should be noted that the control unit 100 is not limited to measuring the dimension W of the load n through the dimension measuring sensor 50, and it may also be obtained by other methods. For example, by receiving the input of the dimension W of the load n from the user, or by reading the barcode on which the dimension W is recorded, etc.

[0072] Next, as Figure 5 shown in (B) therein, the ultrasonic sensor 40 calculates the conveying distance based on the distance to the load n+1 and the dimension W on the conveying direction side of the load n+1, and conveys the load n+1 to a position compactly arranged in the conveying direction X relative to the load n (reduce the spacing). Specifically, the control unit 100 conveys the load n+1 from the distance to the upstream end of the load n+1 to the distance obtained by subtracting the predetermined interval between the loads n and the dimension W of the load n+1.

[0073] Next, as Figure 5 shown in (C) therein, the control unit 100 conveys the load n and the load n+1 a predetermined distance (send out) along the conveying direction X. The predetermined distance is calculated based on the distance to the upstream end of the load n+1 measured by the ultrasonic sensor 40.

[0074] Then, as Figure 5 shown in (D) therein, in the same manner as (A), the control unit 100 conveys the load n+2 compactly relative to the load n+1 (reduce the spacing). It should be noted that the distance to the load n+1 is calculated by the above (C), but it may also be calculated during the conveyance of the load n+2.

[0075] The control unit 100 repeatedly performs the above-mentionedFigure 5 The stacking control shown is used to carry the load n. In this way, in the present embodiment, the load n can be carried in such a way that the interval between the loads is shortened, and compared with the prior art in which only one load can be carried in one area Z, multiple loads n can be carried simultaneously.

[0076] In addition, in the above embodiment, an ultrasonic sensor 40 has been described as the distance measuring sensor, but it can also be other sensors, such as a laser time-of-flight (ToF) sensor 40A.

[0077] Hereinafter, the case of using the laser ToF sensor 40A as the distance measuring sensor will be described.

[0078] When using the laser ToF sensor 40A as the distance measuring sensor, as Figure 6 shown, a frame 20 is arranged on either the left or right side of the carrying direction X of the carrying path 11 ( Figure 6 the left side in the figure).

[0079] It should be noted that when using the laser ToF sensor 40A as the distance measuring sensor, it is not limited to being arranged on the Figure 6 shown frame 20. For example, as Figure 7A and Figure 7B shown, it can also be arranged on the arched portion 21, and the arched portion 21 is arranged to span the carrying roller 30 from one side to the other side of the frame 20. In this case, the load n passes under the arched portion 21. In addition, for example, as Figure 8A and Figure 8B shown, the laser ToF sensor 40A can also be arranged between the carrying rollers 30 arranged before and after in the carrying direction X. In this case, the carrying roller 30 adjacent to the downstream side of the carrying direction X of the laser ToF sensor 40A has a cutout portion 30A that makes the outer diameter of the carrying roller 30 thinner. Through the cutout portion 30A, it is possible to prevent the laser irradiated from the laser ToF sensor 40A to the load n from being blocked. Among them, when the laser ToF sensor 40A is arranged on the arched portion 21 ( Figure 7A and Figure 7B ) or between the carrying rollers 30, compared with the case of being arranged on the frame 20, the range that one laser ToF sensor 40A can measure can be increased. This is because when the laser ToF sensor 40A is arranged on the frame 20, the distance from the oblique rear of the load n to the load n is measured, whereas when it is arranged on the arched portion 21 or between the carrying rollers 30, the distance from the directly rear direction of the load n to the load n is measured. Therefore, the number of laser ToF sensors 40A arranged on the carrying path 11 can also be reduced.

[0080] In addition, the laser ToF sensor 40A includes a multi-region sensor capable of measuring multiple regions with one sensor and a single-region sensor capable of measuring a single region. Hereinafter, the case of using the multi-region sensor as the laser ToF sensor 40A and the case of using the single-region sensor as the laser ToF sensor 40A will be described separately.

[0081] First, regarding the method of using the multi-region sensor as the laser ToF sensor 40A to measure the distance h to the conveyed object n, use Figure 9 and calculation formula 2 for explanation.

[0082] [Calculation formula 2]

[0083] h = L1cos(θ s + θ1) (2)

[0084] Wherein, h represents the vertical distance from the position where the laser ToF sensor 40A is provided to the conveyed object n, L1 represents the distance from the laser ToF sensor 40A to the conveyed object n in the region where the conveyed object n is detected, θ S represents the angle between the conveying direction X and the central axis T of the laser ToF sensor 40A, and θ1 represents the angle from the central axis T of the laser ToF sensor 40A to the region where the conveyed object n is detected. Among them, θ S can be recognized by the control unit 100 by being set to a predetermined angle when the laser ToF sensor 40A is configured, or by measuring and inputting the angle when the laser ToF sensor 40A is configured.

[0085] It should be noted that the above calculation formula is the same when the laser ToF sensor 40A is configured on the frame 20 (refer to Figure 6 ), when the laser ToF sensor 40A is configured on the arched portion 21 (refer to Figure 7A and Figure 7B ), and when the laser ToF sensor 40A is configured between the conveying rollers 30 (refer to Figure 8A and Figure 8B ).

[0086] The control unit 100 can measure the distance h to the conveyed object n when using the laser ToF sensor 40A as a multi-region sensor by using the above calculation formula 2.

[0087] Next, the calculation of the placement angle θ w of the conveyed object n on the conveying path 11 with respect to the conveying direction X when using the multi-region sensor as the laser ToF sensor 40A will be described.

[0088] First, useFigure 10 and calculation formula 3, the placement angle θ of the conveyed object n on the conveyance path 11 with respect to the conveyance direction X when the laser ToF sensor 40A, which is a multi-region sensor, is arranged in the frame 20 w will be described.

[0089] [Calculation formula 3]

[0090]

[0091] Among them, θ w represents the placement angle of the conveyed object n with respect to the conveyance direction X, L1 represents the distance to the conveyed object n in the first region where the laser ToF sensor 40A detects the conveyed object n, L2 represents the distance to the conveyed object n in the second region where the laser ToF sensor 40A detects the conveyed object n, and θ S represents the angle between the conveyance direction X and the central axis T of the laser ToF sensor 40A, θ1 represents the angle from the central axis T of the laser ToF sensor 40A to the first region where the conveyed object n is detected, and θ2 represents the angle from the central axis T of the laser ToF sensor 40A to the second region where the conveyed object n is detected. In addition, the first region and the second region are different regions in the regions measurable by the multi-region sensor.

[0092] The control unit 100 can calculate the placement angle θ of the conveyed object n with respect to the conveyance direction X when the laser ToF sensor 40A, which is a multi-region sensor, is arranged in the frame 20 by using the above calculation formula 3 w .

[0093] Next, by using Figure 11 and calculation formula 4, the placement angle θ of the conveyed object n on the conveyance path 11 with respect to the conveyance direction X when the laser ToF sensor 40A, which is a multi-region sensor, is arranged in the arched portion 21 or between the conveyance rollers 30 w will be described.

[0094] [Calculation formula 4]

[0095]

[0096] Among them, θ w represents the placement angle of the conveyed object n with respect to the conveyance direction X, L1 represents the distance to the conveyed object n in the first region where the laser ToF sensor 40A detects the conveyed object n, L2 represents the distance to the conveyed object n in the second region where the laser ToF sensor 40A detects the conveyed object n, and θ SIndicates the angle between the conveying direction X and the central axis T of the laser ToF sensor 40A. θ1 represents the angle from the central axis T of the laser ToF sensor 40A to the first area where the conveyed object n is detected, and θ2 represents the angle from the central axis T of the laser ToF sensor 40A to the second area where the conveyed object n is detected. In addition, the first area and the second area are different areas within the measurable area of the multi-area sensor.

[0097] The control unit 100 can calculate the placement angle θ of the conveyed object n with respect to the conveying direction X when the laser ToF sensor 40A, which is a multi-area sensor, is arranged at the arch portion 21 or between the conveying rollers 30 by using the above-mentioned calculation formula 4. w 。

[0098] In addition, the control unit 100 can also correct the position of the conveyed object n by using the calculated placement angle. Especially in the case of a rectangular conveyed object n, if it is conveyed obliquely with respect to the conveying direction X, the corner portion at the upstream end of the conveyed object n is located closer to the upstream side than the calculated position of the conveyed object n. In addition, the corner portion at the downstream end of the conveyed object n is located closer to the downstream side than the calculated position of the conveyed object n. Therefore, in the stacking control, compared with the case where it is not conveyed obliquely, by conveying while separating the intervals between the conveyed objects n, collisions with the conveyed objects n before and after on the conveying path 11 can be prevented. In addition, by configuring in this way, especially even when the placement angle changes during the conveying process, the position of the conveyed object n can be calculated.

[0099] In addition, in the correction of the position of the conveyed object n described above, when the dimension in the width direction of the rectangular conveyed object n is known in advance, or when the dimension in the width direction of the rectangular conveyed object n can be detected by the sensor, the approximate position of the corner portion at the rearmost side can be calculated based on the placement angle. Therefore, the distance between the corner portion at the rearmost side of the conveyed object n and the upstream end of the conveyed object n + 1 can be calculated. By configuring in this way, in the stacking control, even when the conveyed object n is conveyed obliquely, it is possible to convey in a manner that reduces the interval between the conveyed objects n without colliding with the conveyed objects n before and after on the conveying path 11.

[0100] In addition, the interval between the conveyed objects n in the stacking control can also be changed according to the placement angle. For example, in the case of a 5-degree inclination, it is considered to further separate the interval by 5 cm (centimeters) for stacking control, and in the case of a 10-degree inclination, it is considered to further separate the interval by 10 cm for stacking control, etc. In addition, the said interval can also be changed according to the width of the conveying path 11. This is because if the width of the conveying path 11 is larger, the dimension in the width direction of the conveyed object n also becomes larger, and the rear end changes due to the inclination.

[0101] Next, a method of using a single - zone sensor as the laser ToF sensor 40A to measure the distance to the transported object n is described using Figure 12 and calculation formula 5.

[0102] The description of the use.

[0103] [Calculation formula 5]

[0104] h = L1cosθ s (5)

[0105] Among them, h represents the vertical distance from the position where the laser ToF sensor 40A is set to the transported object n, L1 represents the distance of the transported object n detected on the central axis T of the laser ToF sensor 40A, and θ S represents the angle between the transport direction X and the central axis T of the laser ToF sensor 40A. Among them, θ S can be recognized by the control unit 100 by being set to a predetermined angle when the laser ToF sensor 40A is configured, or by measuring and inputting the angle when the laser ToF sensor 40A is configured.

[0106] It should be noted that the above - mentioned calculation formula is the same when the laser ToF sensor 40A is configured on the frame 20 (refer to Figure 6 ), when the laser ToF sensor 40A is configured on the arch portion 21 (refer to Figure 7A and Figure 7B ), and when the laser ToF sensor 40A is configured between the transport rollers 30 (refer to Figure 8A and Figure 8B ).

[0107] By using the above - mentioned calculation formula 5, the control unit 100 can measure the distance h to the transported object n when using the laser ToF sensor 40A as a single - zone sensor.

[0108] Next, the calculation of the placement angle θ w of the transported object n on the transport path 11 with respect to the transport direction X when using the single - zone sensor as the laser ToF sensor 40A is described.

[0109] First, the case where the laser ToF sensor 40A as a single - zone sensor is configured on the frame 20 is described using Figure 13 and calculation formula 6.

[0110] [Calculation formula 6]

[0111]

[0112] where θ w represents the placement angle of the conveyed object n with respect to the conveying direction X, L1 represents the distance to the conveyed object n detected by the first laser ToF sensor 40A, L2 represents the distance to the conveyed object n detected by the second laser ToF sensor 40A, θ S1 and θ S2 represent the angle of the central axis T of the laser ToF sensor 40A with respect to the conveying direction X, dx represents the setting interval between the first laser ToF sensor 40A and the second laser ToF sensor 40A in the conveying direction X, and dy represents the setting interval between the first laser ToF sensor 40A and the second laser ToF sensor 40A in the direction orthogonal to the conveying direction X. In addition, as Figure 13 shown, the first laser ToF sensor 40A and the second laser ToF sensor 40A are arranged on the frame 20 in a manner that allows their positions and angles to be changed.

[0113] The control unit 100 can calculate the placement angle θ of the conveyed object n with respect to the conveying direction X when the laser ToF sensor 40A, which is a single - area sensor, is arranged on the frame 20 by using the above - mentioned calculation formula 6 w .

[0114] Then, by using Figure 14 and the above - mentioned calculation formula 6, the cases where the laser ToF sensor 40A, which is a single - area sensor, is arranged on the arch portion 21 or between the conveying rollers 30 will be described.

[0115] where θ w represents the placement angle of the conveyed object n with respect to the conveying direction X, L1 represents the distance to the conveyed object n detected by the first laser ToF sensor 40A, L2 represents the distance to the conveyed object n detected by the second laser ToF sensor 40A, θ S1 and θ S2 represent the angle of the central axis T of the laser ToF sensor 40A with respect to the conveying direction X, dx represents the setting interval between the first laser ToF sensor 40A and the second laser ToF sensor 40A in the conveying direction X, and dy represents the setting interval between the first laser ToF sensor 40A and the second laser ToF sensor 40A in the direction orthogonal to the conveying direction X. In addition, as Figure 14 shown, the first laser ToF sensor 40A and the second laser ToF sensor 40A are arranged in a manner that allows their positions and angles to be changed.

[0116] In addition, when the laser ToF sensor 40A, which is a single - area sensor, is arranged on the arch portion 21 or between the conveying rollers 30, the control unit 100 can also calculate the placement angle θ by using the calculation formula 6 when arranged on the above - mentioned frame 20w 。

[0117] Note that, as the distance measurement sensor, the ultrasonic sensor 40 and the laser ToF sensor 40A have been described, but it may also be a distance measurement sensor using other distance measurement methods (triangulation method, laser interference method).

[0118] As described above, the control device according to each embodiment has been described as an example. The embodiment may also be a program for causing a computer to execute the functions of the control unit 100. The embodiment may also be a computer-readable non-transitory storage medium storing these programs.

[0119] In addition, the structure of the conveying device described in the above embodiment is only an example, and it can be changed according to the situation without departing from the gist of the invention.

[0120] Furthermore, in the above embodiment, the case where the processing according to the embodiment is implemented by a software structure using a computer by executing a program has been described, but it is not limited thereto. The embodiment can also be implemented by a hardware structure or by a combination of a hardware structure and a software structure, for example.

[0121] The entire disclosure of Japanese Patent Application No. 2022-203658 filed in Japan on December 20, 2022 is incorporated herein by reference.

[0122] All documents, patent applications, and technical standards described in the specification of the present application are incorporated into the specification of the present application by reference in the same manner as if each individual document, patent application, and technical standard were specifically and separately described.

[0123] Regarding the technology of the present disclosure, the following remarks are disclosed.

[0124] <Remarks>

[0125] (Remark 1)

[0126] A conveying device, wherein the conveying device includes:

[0127] A conveying path provided with a plurality of conveying rollers for conveying an object to be conveyed along the conveying direction of the object to be conveyed; and

[0128] A distance measurement sensor that measures the distance to the object to be conveyed on the conveying path from the upstream side to the downstream side of the conveying path,

[0129] The conveying rollers are formed by a driving roller and freely rotatable free rollers, and the driving roller is connected to a motor controlled by a control unit,

[0130] The conveying path is divided into a plurality of zones each having at least one of the drive rollers and a plurality of the free rollers.

[0131] The distance measuring sensor is arranged in every predetermined number of the plurality of zones.

[0132] (Supplementary Note 2)

[0133] The conveying device according to Supplementary Note 1, wherein the distance measuring sensor is arranged at a predetermined interval along the conveying direction of the conveying path.

[0134] (Supplementary Note 3)

[0135] The conveying device according to Supplementary Note 1 or Supplementary Note 2, wherein the control unit calculates the position of the conveyed object on the conveying path based on the measurement result of the distance measuring sensor.

[0136] (Supplementary Note 4)

[0137] The conveying device according to any one of Supplementary Notes 1 to 3, wherein a size measuring sensor is provided on the upstream side of the conveying path, and the size measuring sensor measures at least the size of the conveyed object on the conveying direction side.

[0138] (Supplementary Note 5)

[0139] The conveying device according to Supplementary Note 4, wherein the control unit controls the electric motor based on the size of the conveyed object on the conveying direction side measured by the size measuring sensor.

[0140] (Supplementary Note 6)

[0141] The conveying device according to Supplementary Note 5, wherein the control unit performs stacking control, and the stacking control conveys the conveyed objects on the conveying path in such a manner as to reduce the intervals between them.

[0142] (Supplementary Note 7)

[0143] The conveying device according to any one of Supplementary Notes 1 to 6, wherein the control unit calculates the placement angle of the conveyed object on the conveying path based on the measurement result of the distance measuring sensor.

[0144] (Supplementary Note 8)

[0145] The conveying device according to any one of Supplementary Notes 1 to 7, wherein the distance measuring sensor is arranged in an arched portion provided from one side to the other side of the frame, and the frame rotatably holds the conveying rollers from both sides.

[0146] (Supplementary Note 9)

[0147] The conveying device according to any one of Appendices 1 to 7, wherein the distance measuring sensor is arranged between the conveying rollers.

Claims

1. A conveying device, wherein, The conveying device includes: a conveying path provided with a plurality of conveying rollers, the plurality of conveying rollers conveying an object to be conveyed along the conveying direction of the object to be conveyed; and a distance measuring sensor that measures the distance to the object to be conveyed on the conveying path from the upstream side to the downstream side of the conveying path, the conveying rollers are formed by a driving roller and a freely rotating free roller, the driving roller is connected to a motor controlled by a control unit, the conveying path is divided into a plurality of zones each having at least one driving roller and a plurality of free rollers, the distance measuring sensor is arranged in every predetermined number of zones among the plurality of zones.

2. The conveying device according to claim 1, wherein, the distance measuring sensors are arranged at every predetermined distance along the conveying direction of the conveying path.

3. The conveying device according to claim 1, wherein, the control unit calculates the position of the object to be conveyed on the conveying path according to the measurement result of the distance measuring sensor.

4. The conveying device according to claim 1, wherein, a size measuring sensor is provided on the upstream side of the conveying path, and the size measuring sensor measures at least the size of the object to be conveyed on the conveying direction side.

5. The conveying device according to claim 4, wherein, the control unit controls the motor according to the size of the object to be conveyed on the conveying direction side measured by the size measuring sensor.

6. The conveying device according to claim 5, wherein, the control unit performs stacking control, and the stacking control conveys the objects to be conveyed on the conveying path in such a way that the intervals between the objects to be conveyed are reduced.

7. The conveying device according to claim 1, wherein, the control unit calculates the placement angle of the object to be conveyed on the conveying path according to the measurement result of the distance measuring sensor.

8. The conveying device according to claim 1, wherein, the distance measuring sensor is arranged in an arched portion provided from one side to the other side of the frame, and the frame rotatably holds the conveying rollers from both sides.

9. The conveying device according to claim 1, wherein, the distance measuring sensor is arranged between the conveying rollers.

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