Method for controlling posture of conveyed object and conveying system

Abstract

The invention provides a posture control method of a conveyed object and a conveying system using the posture control method, which can improve the reliability of posture control of the conveyed object compared with the prior art. The present invention relates to a method for controlling the posture of a conveyed object, which is a method for controlling the conveyance posture of the conveyed object by blowing an air flow toward the conveyed object on a conveyance path while conveying the conveyed object in a conveyance direction along the conveyance path, in which the conveyed object is floated by a first air flow on the conveyance path and the conveyed object is floated by a second air flow on the conveyance path. The floating conveying object is rotated by a second air flow on the conveying path, thereby changing the posture of the conveying object.

Description

Methods for controlling the posture of conveyed objects and conveying systems

[0001] This application is a divisional application of the following application:

[0002] The original application was filed on November 9, 2021.

[0003] The original application number was 202111318980.6.

[0004] Original patent application title: Method and system for controlling the posture of conveyed objects Technical Field

[0005] This invention relates to a method for controlling the posture of conveyed objects and a conveying system. Background Technology

[0006] As a conveying device such as a feeder, it has long been known to align electronic components and other conveying objects in a predetermined posture while conveying them. In such a conveying device, the posture of the conveyed objects on the conveying path is determined by visual inspection, and airflow is blown onto the conveyed objects based on the determination result. Conveyed objects with improper posture are removed from the conveying path, or the conveyed objects are rotated to change their posture, thereby unifying the posture of the conveyed objects.

[0007] Furthermore, a method for controlling the posture of a conveyor is known. This method aims to change the posture of the conveyor by altering its position from one that is improperly conveyed along the conveyor path to one that is flipped by airflow, and then merging this conveyor with the original conveyor train composed of conveyors that do not require flipping, thereby unifying the posture of the conveyor (see Patent Document 1 below). In this case, to reliably flip the conveyor, steps are often formed along the conveyor path, thereby reliably causing the conveyor subjected to airflow to rotate in a state where it is locked by the steps. Additionally, various methods have been proposed for changing the posture of the conveyor, such as methods that change the posture by applying airflow to the bottom of the conveyor in a side-slip manner (see Patent Document 2 below), and methods that rotate the conveyor by airflow in both left and right directions (see Patent Document 3 below).

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 2000-264430

[0011] Patent Document 2: Japanese Patent Application Publication No. 7-228332

[0012] Patent Document 3: Japanese Patent Application Publication No. 10-053320 Summary of the Invention

[0013] However, in the aforementioned posture changes of the conveyed object, airflow is required to tumble the object positioned on the conveyor path. However, in most cases, due to the large area of ​​the bottom surface of the conveyed object against the conveyor surface of the path, a high airflow pressure is needed to tumble the object. Therefore, it is difficult to adjust the airflow pressure to prevent insufficient airflow pressure from preventing tumbling or excessive airflow pressure from causing over-rotation. While methods to solve this problem include, as described above, setting steps in the tumbling direction to facilitate tumbling, the requirement for high airflow pressure at the start of the initial rotational motion of the object remains unchanged. Therefore, the difficulty in adjusting the airflow pressure remains, resulting in a problem where the reliability of the conveyed object's posture change cannot be achieved.

[0014] Furthermore, in conventional methods, since the conveyed material moves laterally away from the original conveyor path in the width direction when it is flipped, it is necessary to merge the flipped material into the original conveyor train composed of materials that do not need to be flipped. This results in a problem where the orientation of the flipped material changes due to the presence of materials in front and behind the original conveyor train, causing confusion in the conveying posture. In particular, in recent conveying devices, the requirement to convey large quantities of fine materials makes merging the flipped material with the original conveyor train, which is conveyed at high speed and density, difficult, exacerbating the aforementioned problem. Moreover, when the flipped material is merged with the original conveyor train on a trough-shaped conveyor path, a certain conveying distance is required to maintain consistent conveying posture in the conveyor train. Therefore, a certain conveyor path length is needed in the conveying direction used to control the conveying posture, further hindering the compactness of the conveying device.

[0015] Therefore, the present invention was made to solve the above-mentioned problems, and its objective is to provide a method for controlling the posture of a conveyed object that can improve the reliability of posture control of the conveyed object compared with the prior art, and a conveying system using the posture control method.

[0016] To address the aforementioned problems, the present invention relates to a method for controlling the posture of a conveyed object. This method involves blowing airflow onto the conveyed object along a conveying path in the conveying direction to control its conveying posture. Specifically, a first airflow levitates the conveyed object along the conveying path, and a second airflow rotates the levitated object, thereby changing its posture. Because the first airflow levitates the object and the second airflow rotates it, the change in posture is less likely to interfere with the conveying surface of the conveying path, thus enabling more reliable posture changes.

[0017] In this invention, it is preferable that the conveyed material, after changing its posture by rotating with the second airflow at the position where it is lifted by the first airflow, returns to the conveying path when it is no longer subject to the first airflow. Particularly preferable is that the conveyed material returns to a position in the width direction of the conveying path corresponding to its conveying position before being lifted, when it is no longer subject to the first airflow. This way, since it is not necessary to flip the conveyed material in the width direction and move it laterally to merge it with the original conveying line as in the past, posture confusion caused by preceding or following conveyed materials can be avoided. Therefore, the conveying posture of conveyed materials transported at high speed and high density can be controlled without obstruction. Furthermore, the length of the conveying direction used to unify the conveying posture can be reduced, thus allowing for a compact conveying device.

[0018] In this invention, it is preferable to provide a transport object identification unit in a predetermined area along the transport direction of the transport path; and a transport posture control unit is provided to select whether to control the transport posture or control mode of the transport object based on the identification result of the transport object determined by the transport object identification unit. In this case, it is preferable to acquire an image of the transport object in the transport object identification unit and identify the transport object through image processing. In this case, it is preferable to determine the presence or absence of the first airflow and the second airflow for each transport object based on the identification result. Furthermore, it is even more preferable that the first airflow is continuously generated in the transport posture control unit; and the presence or absence of the second airflow is determined for each transport object arriving at the transport posture control unit based on the identification result. In this way, since the first airflow is continuously generated in the transport posture control unit, all transport objects can be made to float in the transport posture control unit, thus reducing the preparation time required for transport posture control and enabling rapid control of the transport posture based on whether posture control is required for each transport object. Furthermore, by continuously generating the first airflow, instability such as deviations in the floating posture (angle of inclination relative to the horizontal) of the conveyed object caused by deviations in the start or end time of the intermittent generation of the first airflow can be suppressed.

[0019] In this invention, a conveying posture control unit that generates a first airflow and a second airflow is preferably provided. In this conveying posture control unit, an imaging unit captures an image representing the floating posture or rotational posture of the conveyed object, and the intensity of at least one of the first airflow and the second airflow is controlled based on the floating posture or rotational posture detected by processing the image. Thus, by controlling the airflow intensity based on the image representing the floating posture or rotational posture of the conveyed object, the conveying posture of the conveyed object can be reliably controlled.

[0020] Next, the conveying system of the present invention includes: a conveying path for conveying a conveyed object; a first airflow blowing unit for levitizing the conveyed object by blowing a first airflow onto the conveyed object on the conveying path; and a second airflow blowing unit for rotating the conveyed object by blowing a second airflow onto the conveyed object that has been levitized by the first airflow. Furthermore, in the present invention, the first airflow blowing unit and the second airflow blowing unit are not limited to the above-described method for controlling the posture of the conveyed object, and can also be used when removing the conveyed object from the conveying path or distributing the conveyed object.

[0021] In this invention, the conveying path preferably has a first conveying surface and a second conveying surface, the second conveying surface having a predetermined angle relative to the first conveying surface, thereby allowing the conveyed object to be positioned between the second conveying surface and the first conveying surface; the second conveying surface is configured to rise as it moves away from the first conveying surface. In this case, the conveyed object preferably floats by separating from the first conveying surface via the first airflow. Furthermore, it is even more preferable that the conveyed object floats along the second conveying surface via the first airflow. Thus, by configuring the conveyed object to separate from the first conveying surface and float along the second conveying surface, by utilizing the first airflow to separate the conveyed object from the first conveying surface, it is less susceptible to interference from the first conveying surface and easier to rotate. Moreover, by floating along the second conveying surface, the stability of the conveyed object during floating or the reproducibility of the floating position can be improved, thus enabling more reliable control of the conveying posture of the conveyed object. In this case, the second conveying surface is preferably an inclined surface. Here, the inclination angle of the second conveying surface is preferably in the range of 20 degrees to 70 degrees, more preferably in the range of 30 degrees to 60 degrees. Typically, it is most preferably in the range of 40 degrees to 50 degrees. By setting the angle of the conveying surface within the above range, it is possible to balance the stability and reproducibility of the floating state of the conveyed object with the avoidance of interference from the conveying surface to the conveyed object in the floating state and the ease of rotation of the conveyed object.

[0022] In this invention, it is preferable that the first airflow blowing unit has a first jet port that opens onto the first conveying surface. Furthermore, it is preferable that the second airflow blowing unit has a second jet port that opens onto the second conveying surface. In this case, it is further preferable that the second jet port is formed at a position (height) corresponding to the position where the conveyed material is lifted along the second conveying surface by the first airflow. Additionally, it is preferable that the first jet port is formed within a range longer than the second jet port in the conveying direction. Furthermore, it is preferable that the first jet port has a portion disposed at a position closer to the upstream side of the conveying path than the second jet port.

[0023] In this invention, it is preferable to further include a conveying posture control unit disposed in a predetermined area of ​​the conveying direction on the conveying path; the first airflow blowing unit is configured to continuously generate the first airflow in the conveying posture control unit; and the second airflow blowing unit is configured to generate the second airflow for each conveyed item arriving at the conveying posture control unit. Alternatively, the first airflow blowing unit may also be configured to generate the first airflow for each conveyed item in the aforementioned conveying posture control unit.

[0024] In this invention, it is preferable to further include: a transport object identification unit that identifies the transport object to be controlled in a transport posture control unit configured to generate the first airflow and the second airflow; and a transport posture control unit that, based on the identification result of the transport object in the transport object identification unit, selects whether to control the transport posture or a control mode in the transport posture control unit. In this case, it is preferable that the transport object identification unit acquires an image of the transport object in a transport object identification unit located upstream of the transport posture control unit, and identifies the transport object by processing the image.

[0025] In this invention, it is preferable to further include an airflow control unit, which, in a conveying posture control unit configured to generate the first airflow and the second airflow, uses an imaging unit to capture an image representing the floating posture or rotational posture of the conveyed object, and controls the intensity of at least one of the first airflow and the second airflow based on the floating posture or rotational posture detected by processing the image.

[0026] In this invention, the first airflow blowing unit preferably comprises: a first air supply channel for supplying airflow; a first blowing channel communicating with the first air supply channel and facing the first jet nozzle; and a first exhaust section communicating with the first air supply channel and the first blowing channel, and forming an airflow discharge path different from the first blowing channel. Here, it is preferable that the angle difference between the air supply direction of the first air supply channel and the blowing direction of the first blowing channel is smaller than the angle difference between the air supply direction and the exhaust direction of the first exhaust section. Furthermore, it is preferable that the ventilation cross-sectional area of ​​the first blowing channel is smaller than the ventilation cross-sectional area of ​​the first exhaust section. Moreover, it is preferable that the first air supply channel, the first blowing channel, and the first exhaust section are formed on the opposing surfaces of the base block and the first block (through a groove structure, etc., on at least one surface).

[0027] Furthermore, the second airflow blowing unit preferably includes: a second air supply channel for supplying airflow; a second blowing channel communicating with the second air supply channel and facing the second jet nozzle; and a second exhaust section communicating with the second air supply channel and the second blowing channel, and forming an airflow discharge path different from the second blowing channel. Here, it is preferable that the angle difference between the air supply direction of the second air supply channel and the blowing direction of the second blowing channel is smaller than the angle difference between the air supply direction and the exhaust direction of the second exhaust section. Additionally, it is preferable that the ventilation cross-sectional area of ​​the second blowing channel is smaller than the ventilation cross-sectional area of ​​the second exhaust section. Furthermore, it is preferable that the second air supply channel, the second blowing channel, and the second exhaust section are formed on the opposing surfaces of the base block and the second block (through a groove structure, etc., on at least one surface).

[0028] (Invention effect)

[0029] According to the present invention, a method for controlling the posture of a conveyed object, and a conveying system using this method, are provided, which improves the reliability of posture control by reducing the airflow pressure required for posture control of the conveyed object compared to the past. In particular, when the posture of the conveyed object can be controlled directly on the conveying path, since the conveying posture can be changed without removing the conveyed object from the conveyor train, it is also unnecessary to merge the conveyed object with the original conveyor train, thus avoiding confusion in the conveying posture. Furthermore, the conveying posture of conveyed objects transported at high speed and high density can be controlled without obstruction. Moreover, since the length of the conveying direction used to unify the conveying posture can be reduced, the conveying device can be compactly configured. Attached Figure Description

[0030] Figure 1 is a top view showing an example of a vibrating conveyor apparatus constituting a conveyor alignment system for realizing a conveyor alignment method according to the present invention.

[0031] Figure 2 is a side view of the vibrating conveyor.

[0032] In Figure 3, (a) is a front view of the conveyor of this embodiment, and (b) is a side view.

[0033] Figures 4(a)-(d) are explanatory diagrams showing examples of the posture control mode of the conveyed object CA in the conveying posture control unit of this embodiment.

[0034] Figures 5(a)-(d) are explanatory diagrams showing other configuration examples of the conveying posture control unit in this embodiment.

[0035] Figures 6(a)-(d) are explanatory diagrams showing examples of the steps of the posture control mode during transport in the transport posture control unit of this embodiment.

[0036] Figures 7(a)-(f) are explanatory diagrams showing other examples of the steps of the posture control mode during transport in the transport posture control unit of this embodiment.

[0037] Figure 8(a)-(d) are explanatory diagrams showing a combination example of the posture control mode during transport in multiple transport posture control units of this embodiment.

[0038] Figure 9 is a simplified diagram showing an example of the configuration of multiple transport posture control units in this embodiment.

[0039] Figure 10 is a simplified block diagram showing the overall configuration of the control system of this embodiment.

[0040] Figure 11 is a simplified flowchart showing the overall control steps of the operation procedure of this embodiment.

[0041] Figure 12 is a cross-sectional view showing the airflow supply path in different implementations.

[0042] In Figure 13, (a-1) shows the case where the conveyor is transported with a gap between it and the second conveyor surface, (b-1) shows the case where the conveyor is transported close to or touching the second conveyor surface, (a-2) and (b-2) are diagrams showing the floating position of the conveyor in an existing structure without an airflow stabilization structure, and (a-3) and (b-3) are diagrams showing the floating position of the conveyor when airflow stabilization structures of different embodiments are used.

[0043] (Symbol Explanation)

[0044] 10: Conveying system; 100: Vibrating conveyor; 101: Setting seat; 102: Support seat; 110: Conveyor supply unit; 112: Hopper; 120: First conveying unit (feeder); 130: Second conveying unit (linear feeder); 132: Vibrating body; 132t: Conveying path; 132S (132S1-132S4); 132S´: Conveying posture control unit; 132ta: First conveying surface; 132tb: Second conveying surface; OP1: First air nozzle; OP2: Second air nozzle; 1 32tp: Upstream conveyor section; 132ts: Screening conveyor section; CA: Conveyor material; CAx: Alignment axis; L: Length; W: Width; H: Height; J1, J2, J2´: Airflow; 132tc: Conveyor holding surface; 132Ba: Base block; 132Ba1, 132Ba2: Support surface; 132Bb: First block; 132Bc: Second block; PAs1, PAs2: Air supply channels; PAc1, PAc2: Blowing channels; PAe1, PAe2: Exhaust channels. Detailed Implementation

[0045] Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, referring to FIGS. 1 and 2, the vibratory conveying device constituting the conveying system of the present invention will be described. The vibratory conveying device 100 includes a conveying material supply section 110 provided on a mounting base 101, a first conveying section 120 for conveying conveyed material supplied from the conveying material supply section 110, and a second conveying section 130 for conveying conveyed material supplied from the first conveying section 120. Since the first conveying section 120 and the second conveying section 130 are equipped with vibrators, they are mounted on a support base 102 provided on the mounting base 101 via a vibration-damping material (such as a coil spring). The conveying material supply section 110 includes a drive section 111 and a hopper 112 mounted on the drive section 111, and outputs the conveyed material on the hopper 112 to the first conveying section 120.

[0046] The first conveying section 120 is a so-called bowl-shaped feeder that includes a rotary vibrator 121 and a bowl-shaped vibrating body 122 mounted on the rotary vibrator 121. The vibrating body 122 has a conveying path 122t that spirals upward from the inner bottom. The conveyed material supplied to the inner bottom is arranged neatly as it slowly rises along the conveying path 122t by the rotational vibration applied by the rotary vibrator 121.

[0047] The second conveying section 130 is a so-called linear feeder comprising a linear vibrator 131 and linear vibrating bodies 132 and 133 mounted on the linear vibrator 131. Here, the vibrating body 132 has a linear supply conveying path 132t connected to the outlet end of the aforementioned conveying path 122t. Furthermore, the vibrating body 133 has a conveying path 133t extending parallel to the conveying path 132t. This conveying path 133t is a recycling conveying path used to receive the conveyed material discharged from the conveying path 132t and to convey the conveyed material in the opposite direction to the conveying path 132t, thereby returning the conveyed material to the vibrating body 122.

[0048] The aforementioned conveying path 132t is equipped with conveying posture control units 132S1-132S4. These conveying posture control units 132S1-132S4 are units that control the conveying posture of the conveyed item CA based on the identification result of the conveyed item CA by the conveyed item identification unit described later. Specifically, the conveying posture control units 132S1-132S4 are configured to change a certain conveying posture of the conveyed item CA on the conveying path 132t to another conveying posture selected from a plurality of different conveying postures that can be taken on the conveying path 132t.

[0049] As shown in Figure 3, the conveyor CA in this embodiment is configured as a cuboid. The conveyor CA in the example figure has external electrodes OE1 and OE2 at both ends, and a main body CAB is disposed between the external electrodes OE1 and OE2. Appropriate posture identification marks are sometimes displayed on this main body CAB, as described later. In the example figure, the direction of the alignment direction (consistent with the length direction in the example figure) axis CAx of the conveyor CA is the alignment direction towards the conveying direction F of the conveying path 132t under standard conveying posture. However, if the standard conveying posture of the conveyor CA only requires the alignment direction axis CAx to face the conveying direction F, then the posture identification marks are not particularly necessary. However, if there are differences between the four rotational postures of the conveyor CA around the alignment direction axis CAx, or the two forward and backward postures corresponding to the forward and backward orientation of the alignment direction axis CAx, and if any rotational posture or forward and backward posture is not a standard conveying posture, then posture identification marks are attached to the main body CAB to distinguish these postures.

[0050] Figure 4 illustrates a method or configuration for controlling the posture of the conveyed object CA in the aforementioned conveying posture control units 132S1-132S4 (hereinafter referred to as "conveying posture control units 132S"). As shown in Figure 4(a), the conveying path 132t has a first conveying surface 132ta and a second conveying surface 132tb. A predetermined angle corresponding to the conveyed object CA is provided between the first conveying surface 132ta and the second conveying surface 132tb, allowing the conveyed object CA to be positioned between the first conveying surface 132ta and the second conveying surface 132tb. In the example shown, both the first conveying surface 132ta and the second conveying surface 132tb are planar, and the predetermined angle is 90 degrees. Generally, it is preferable that both the first conveying surface 132ta and the second conveying surface 132tb are inclined surfaces with inclination angles θ and φ relative to the horizontal plane. In the example shown, θ = φ = 45 degrees, but θ and φ are preferably in the range of 20 degrees to 70 degrees, and more preferably in the range of 30 degrees to 60 degrees. For example, θ = 30 degrees, φ = 60 degrees. The optimal range is 40-50 degrees. These angle ranges are set to balance the stability of the floating state of the conveyed item CA, the avoidance of interference from the first conveying surface 132ta on the rotational movement of the conveyed item CA based on the floating height, and the ease of rotation of the conveyed item CA. The stability is improved by a smaller tilt angle φ, while the avoidance and ease of rotation are improved by a larger tilt angle φ, making it easier to avoid interference and rotate the conveyed item CA. Furthermore, from the same perspective, it is preferable that the tilt angle θ of the first conveying surface 132ta is equal to or less than the tilt angle φ of the second conveying surface 132tb.

[0051] A first jet nozzle OP1 is provided on the first conveying surface 132ta. This first jet nozzle OP1 is connected to a vent pipe that constitutes the air supply unit and is connected to an air source such as a gas cylinder or compressor (not shown) via a switching valve such as a solenoid valve. A second jet nozzle OP2 is provided on the second conveying surface 132tb. This second jet nozzle OP2 is also connected to a vent pipe that constitutes the air supply unit and is connected to an air source such as a gas cylinder or compressor (not shown) via a switching valve such as a solenoid valve. The conveyed item CA is conveyed from the upstream side of the conveying path 132t in the form shown in FIG. 4(a). Then, when it reaches the conveying posture control unit 132S provided with the first jet nozzle OP1 and the second jet nozzle OP2, if the conveying posture of the conveyed item CA needs to be changed, as shown in FIG. 4(b), the conveyed item CA is floated on the conveying path 132t by the airflow J1 applied from the first jet nozzle OP1. In this case, the buoyancy direction of the conveyed item CA can be any direction as long as the result is the direction in which the height of the conveyed item CA increases. However, to improve the stability of the conveyed material CA, it is preferable to float along the second conveying surface 132tb as shown in the example. In the example, the direction of the airflow J1 is also along the direction of the second conveying surface 132tb. Furthermore, the first jet nozzle OP1 opens on the first conveying surface 132ta, and it is particularly preferable that it opens at the lowest position of the first conveying surface 132ta as shown in the example. In particular, to reliably obtain the floating state of the conveyed material CA, it is preferable to form the first jet nozzle OP1 in a shape that extends along the conveying direction (the direction orthogonal to the plane of the paper in FIG4), so that the range in which the conveyed material CA is in a floating state extends along the conveying direction.

[0052] When the conveyor CA is in the floating state shown in Figure 4(b), as shown in Figure 4(c), the upper part of the conveyor CA is subjected to airflow pressure by the airflow J2 generated from the second jet nozzle OP2, thus causing the conveyor CA to rotate as shown. The position of the airflow J2 is preferably set to contact the upper part of the floating conveyor CA to facilitate and reliably rotate the conveyor CA. Therefore, the position of the second jet nozzle OP2 is also preferably set at a high position that does not correspond to the normal conveying position of the conveyor CA shown in Figure 4(a). On the other hand, to facilitate and reliably rotate the conveyor CA, the position of the airflow J2 can also be set to contact the lower part of the floating conveyor CA, or even to contact the front or rear of the conveyor CA. In these cases, the second jet nozzle OP2 is also formed at a position corresponding to each of these settings.

[0053] At this time, as shown in Figure 4(c), the preferred conveyor CA rotates directly from the floating position shown in Figure 4(b). In the example shown, the conveyor CA rotates 90 degrees around the column direction axis CAx. As shown in Figure 4(d), when no longer subject to airflow J1, the conveyor CA is repositioned on the conveying path 132t in the posture after rotating 90 degrees around the column direction axis CAx, and is conveyed downstream. Furthermore, the opening position of the second jet OP2 is preferably at a position that overlaps with the opening range of the first jet OP1 in the conveying direction F. In addition, it is preferable that the opening range of the first jet OP1 is formed from a position further upstream than the opening position of the second jet OP2. Furthermore, when each jet OP1 and OP2 is open on each conveying surface 132ta and 132tb, it is preferable that the opening edge on the front side of the conveying direction F is chamfered or rounded as shown in Figures 6-8 for the second jet OP2.

[0054] Figure 5 illustrates a control method for conveying postures other than those shown in the example of Figure 4. First, in the example shown in Figure 5(a), unlike the example in Figure 4, the first jet nozzle OP1 does not open at the lowest position of the first conveying surface 132ta, but rather at a position slightly above that lowest position. However, the opening position of the first jet nozzle OP1 is set within the range opposite to the conveyed item CA when conveying it on the conveying path 132t. Furthermore, the position of the second jet nozzle OP2 is the same as in Figure 4, as shown by the dashed line, and the rotation direction of the conveyed item CA is also the same as in Figure 4.

[0055] In the example shown in Figure 5(b), the first conveying surface 132ta and the second conveying surface 132tb are interchanged with respect to the same conveying direction, thereby setting the rotation direction of the conveyed object CA shown by the dotted line in the figure to the opposite direction. In this example, except that the left and right positions and structures of the conveying path 132t are reversed, the positions of the first jet nozzle OP1 and the second jet nozzle OP2 are the same as those shown in Figure 4. In addition, in the example shown in Figure 5(c), in this example with reversed left and right positions and structures, the opening position of the first jet nozzle OP1 is set at a position slightly moved upward from the lowest position, rather than at the lowest position, similar to the example shown in Figure 5(a).

[0056] In the example shown in Figure 5(d), the first jet nozzle OP1 is shown to be open at the bottom between the first conveying surface 132ta and the second conveying surface 132tb, rather than opening on the first conveying surface 132ta. As described above, the first jet nozzle OP1 can be located anywhere as long as the airflow J1 applied from the first jet nozzle OP1 can cause the conveyed item CA on the conveying path 132t to float. In this example, the second jet nozzle OP21 is provided on the first conveying surface 132ta, and the second jet nozzle OP22 is provided on the second conveying surface 132tb. In this way, the rotation direction of the conveyed item CA can be selected according to which of the second jet nozzles OP21 and OP22 blows the airflow J2.

[0057] Figures 6(a)-(d) show the configuration of the change in conveying posture of the conveyed object CA during transport on the conveying path 132t according to the first embodiment of this invention. Corresponding to the conveying posture control unit 132S configured similarly to the above, a conveyed object identification unit ME1 is provided on its upstream side, and a conveyed object passage detection unit ME2 is provided on its downstream side. In this embodiment, for example, by processing the image of the conveyed object CA disposed in the conveyed object identification unit ME1, the conveying posture of the conveyed object CA is detected, and it is determined whether the conveying posture is a standard conveying posture. For example, as shown in Figure 6(a), assuming that the posture identification mark MK provided on the main body CAB of the conveyed object CA is disposed in the lower right of the figure, and the conveyed object CA0 is in a standard conveying posture, then no airflow is blown to the conveyed object CA0. On the other hand, since the conveyed object CA1 disposed in the upper right of the posture identification mark MK is not in a standard conveying posture, as shown in Figure 6(b), airflow J1 is ejected from the first jet port OP1, causing the conveyed object CA1 to float. Then, as shown in Figure 6(c), by blowing airflow J2 from the second jet nozzle OP2 onto the floating conveyor CA1, the conveyor CA1 rotates around the column direction axis CAx. Then, as shown in Figure 6(d), when the airflow J1 stops, the conveyor CA1 assumes a standard conveying posture and descends onto the conveyor path 132t, maintaining this posture while being conveyed downstream.

[0058] In this embodiment, when the image-based identification result of the transport object identification unit ME1 differs from the OK judgment indicating a standard transport posture (NG judgment), airflows J1 and J2 are blown from the first jet port OP1 and the second jet port OP2. However, airflows J1 and J2 are not blown as long as the identification result indicates an OK judgment indicating a standard transport posture. Therefore, after changing the transport posture of the previous transport object CA by blowing airflows J1 and J2 to it, airflows J1 and J2 need to be stopped when the next transport object CA is identified as having a standard transport posture (OK judgment). At this time, when the previous transport object CA is detected based on the image of the transport object passing through the detection unit ME2, it can be known that the posture change has been completed and the previous transport object CA has left the transport posture control unit 132S. Therefore, airflows J1 and J2 can be stopped. Furthermore, when the next transport object CA is identified as not having a standard transport posture (NG judgment), airflows J1 and J2 can be continuously blown. At this time, the first airflow J1 can be continuously blown, while the second airflow J2 is generated according to the arrival time of the transported material CA.

[0059] The acquisition of images by the transport object identification unit ME1, the processing and identification of those images, the passage detection processing by the transport object passage detection unit ME2, and the control by the transport posture control unit 132S based on those identification or passage detection results are all performed by the inspection processing unit DTU processing the images acquired in the transport system 10 shown in FIG10, which includes the vibrating transport device 100 described above, and executing them according to the operation procedure shown in FIG11. Hereinafter, an example of the transport system 10 will be described.

[0060] The conveying system 10, as a vibratory conveying device 100, is a vibratory conveying device as described above, comprising a first conveying section 120 as a feeder and a second conveying section 130 as a linear feeder. In the conveying system 10 of this embodiment, the conveyed object CA on the conveying path 132t of the second conveying section 130 is detected based on a captured image GPX, and the detected image portion is used as the object for inspection and judgment. Here, the conveying system 10 of this embodiment includes not only a corresponding part having the posture control method for the conveyed object in the conveying system configured according to the present invention, but also various inspection parts, identification parts, screening parts, flipping parts, rejection parts, etc., for the conveyed object. Furthermore, in the present invention, the configuration not limited to a vibratory conveying device can be used in various conveying devices that convey the conveyed object CA along the conveying path. In addition, even with a vibratory conveying device, it is not limited to the combination of the first conveying section 120 as a feeder and the second conveying section 130 as a linear feeder described above, and can also be used in other types of conveying devices such as a circulating feeder. Furthermore, even in the above combination, it is not limited to inspecting, identifying, screening, flipping, or eliminating the conveyed material CA on the conveying path 132t of the second conveying section 130, which is a linear feeder; it is also possible to inspect the conveyed material CA on the conveying path 122t of the first conveying section 120, which is a feeder.

[0061] The first conveying section 120, acting as a feeder, is driven and controlled by controller CL12. The second conveying section 130, acting as a linear feeder, is driven and controlled by controller CL13. Controllers CL11 and CL12 provide AC drive to the excitation units (including electromagnetic or piezoelectric actuators, etc.) of the first conveying section 120 or the second conveying section 130, causing the conveyor bodies 122 and 132 to vibrate in a manner that moves the conveyed material CA on the conveying paths 122t and 132t in a predetermined conveying direction F. Furthermore, controllers CL12 and CL13 are connected via input / output circuits (I / O) to an inspection and processing unit (DTU) with image processing capabilities, which is the main body of the conveying control system.

[0062] Furthermore, when a prescribed operation input (debugging operation) is made to the processing unit MPU that executes the following action procedure via an operation input device SP1, SP2, or the like (such as a mouse), the controllers CL12 and CL13 stop the drive of the vibrating conveyor 100 according to the aforementioned action procedure. At this time, the image measurement processing in the inspection processing unit DTU is also stopped, for example, according to the aforementioned action procedure. The debugging operation and the operation of each part corresponding to this operation will be described in detail later.

[0063] The inspection processing unit (DTU) is structured around a processing unit (MPU) (microprocessor) such as a personal computer. In the example shown, the MPU consists of a central processing unit (CPU1), a CPU2, a cache memory (CCM), a memory controller (MCL), and a chipset (CHS). The DTU also includes image processing circuits GP1 and GP2, which are connected to cameras CM1 and CM2, which serve as imaging units (CMs). These circuits are also connected to image processing memories GM1 and GM2. The outputs of GP1 and GP2 are connected to the MPU, processing image data (GPX) captured from cameras CM1 and CM2 and transmitting the appropriately processed image (e.g., image data within image area GPY, described later) to the MPU. The main memory (MM) stores the operation program for the transport control system. When the DTU is started, the MPU reads and executes this operation program. In addition, the main storage device MM stores image data of the captured image GPX or image area GPY, which are objects of the image measurement processing described later performed by the arithmetic processing unit MPU.

[0064] Furthermore, the inspection processing unit (DTU) is connected to display devices DP1, DP2 or operation input devices SP1, SP2, such as LCD monitors, via input / output circuits (I / O). Display devices DP1, DP2 display image data (GPX or GPY of the captured image, processed by the aforementioned processing unit (MPU)) and image measurement processing results in a prescribed display format. This includes not only the transport object identification processing for the image of the transport object identification unit ME1, but also the results of transport object detection processing or transport object identification processing for the image of the transport object passing detection unit ME2, and other similar processes. Moreover, this display function is not limited to actual transport of goods; as described later, it also functions when reading and reproducing past data. Additionally, by observing the screens on display devices DP1, DP2 while operating the operation input devices SP1, SP2, various operation commands, setting values, and other processing conditions can be input into the aforementioned processing unit (MPU).

[0065] Furthermore, in this embodiment, as shown in the schematic diagram in FIG10, there are two cameras CM1 and CM2, two image processing circuits GP1 and GP2, two image processing memories GM1 and GM2, two display devices DP1 and DP2, and two operation input devices SP1 and SP2, etc. However, the case of having two configurations is just one example. Each configuration can also be a single configuration, or each configuration can be three or more.

[0066] Next, as a prerequisite for constructing the embodiment shown in FIG6 above or the embodiments shown in FIG7-9 below, the processing content of the inspection processing unit DTU and the settings of the transport object identification unit ME1 and the transport object passage detection unit ME2 for processing images of the transport object identification unit ME1 or the transport object passage detection unit ME2 will be explained. In this embodiment, since it is necessary to perform transport object identification processing on the image processing in the transport object identification unit ME1 for the captured image GPX or image area GPY obtained as described above, and to perform transport object passage detection processing on the image processing in the transport object passage detection unit ME2, it is necessary to detect the transport object CA on the transport path based on the image data in the transport object identification unit ME1 or the transport object passage detection unit ME2. Therefore, all transport objects CA passing through the transport path 121 must be captured in the transport object identification unit ME1 or the transport object passage detection unit ME2 of any one of the captured image GPX or image area GPY. As a result, as a constraint related to the transport speed Vs of the transport object CA and the shooting interval Ts, the transport object identification unit ME1 or the transport object passage detection unit ME2 must at least satisfy the following conditions.

[0067] In this embodiment, cameras CM1 and CM2 continuously shoot at a predetermined shooting cycle, and transmit the captured image GPX or image data within the aforementioned image area GPY to the aforementioned processing unit MPU via image processing devices GP1 and GP2 according to the shooting cycle. In the processing unit MPU, using a processing memory RAM, the image data in the transport object identification unit ME1 or the transport object passing detection unit ME2 within the transmitted image data is processed as described above, thereby performing transport object identification processing or transport object passing detection processing. However, in this embodiment, instead of separately providing a trigger sensor or searching for a predetermined shape pattern of the transport object CA from the image data of the transport object CA within a specified area and generating an internal trigger when the shape pattern is detected, shooting is continuously performed at a predetermined shooting cycle by introducing an external trigger indicating a predetermined shooting cycle, or by outputting a trigger signal of a certain cycle from the processing unit MPU to the cameras CM1 and CM2. Therefore, in order to identify all transported items CA on the transport path 132t without omission, it is necessary to include all transported items CA in any captured image GPX or image area GPY within the transported item identification unit ME1 or the transported item passage detection unit ME2.

[0068] Therefore, when the shooting period is set to Ts [sec], the length of the conveying direction F of the conveyed object CA is set to L [mm], and the conveying speed of the conveyed object CA is set to Vs [mm / sec], the range LD of the conveying direction F of the conveyed object identification unit ME1 or the conveyed object passing detection unit ME2 is set to the following formula (1) so that the images of all conveyed objects CA are necessarily included in the conveyed object identification unit ME1 or the conveyed object passing detection unit ME2 of any image data.

[0069]

[0070] For example, if the length L of the conveyed object CA in the conveying direction F is 0.6 mm, the conveying speed Vs is 50 mm / sec, and the shooting period Ts is 1 msec, then L = 0.6 mm and β = 0.05 mm, thus LD ≥ 0.65 mm. Alternatively, if the shooting period Ts is set to 0.5 msec, then L = 0.6 mm and β = 0.025, thus LD ≥ 0.625 mm.

[0071] In reality, for each individual, the conveying speed of the transported item CA will vary depending on the location or the passage of time. Therefore, it is preferable to set the entirety or part of the transported item CA to be captured in the image data two or more times, preferably three or more times. Typically, in order to be captured in the image data n (n is a natural number) or more times, the LD is set in such a way that the following formula (2) holds.

[0072]

[0073] In this embodiment, n is set to a range of 3 to 7. This is because if n is small, the possibility of the transported object CA being missed due to deviations in transport speed increases; conversely, if n is large, the image processing load increases. Generally, it is preferable that the natural number n is in the range of 1 to 10. Furthermore, in this embodiment, the image processing time is generally around 150 μsec to 300 μsec. In addition, the shooting interval Ts is around 500 μsec to 840 μsec.

[0074] Next, referring to FIG11, the overall operation procedure of this embodiment will be described. FIG11 is a schematic flowchart of the processing executed by the calculation processing unit MPU of the inspection processing unit DTU according to the operation procedure. When the operation procedure is started, firstly, the above-mentioned image acquisition and image measurement processing is started, and the vibrating conveyor 100 (the first conveyor 120 as a feeder and the second conveyor 130 as a linear feeder) is driven by the controllers CL12 and CL13. Then, when the debugging setting corresponding to the above-mentioned debugging operation is OFF, image measurement processing is performed on the acquired image GPX or image area GPY. If the discrimination result of the conveyor object discrimination processing based on the image of the conveyor object discrimination unit ME1 is OK, as long as no debugging operation is performed, the image measurement processing of the next acquired image GPX or image area GPY is directly implemented. On the other hand, for conveyed items CA that are determined to be in an improper posture based on images captured by cameras CM1, CM2, etc., the conveying posture control unit 132S controls the conveying posture by the airflow J1 from the first jet nozzle OP1 and the airflow J2 from the second jet nozzle OP2, causing the posture of the conveyed items CA to flip on the conveying path 132t. Furthermore, the identification processing for poor or improper postures of conveyed items CA, which is detected by image processing in the conveyed item passage detection unit ME2 as having passed the conveying posture control unit 132S, and for which the conveyed item rejection unit determines whether to reject them from the conveying path 132t by blowing air or the like, is performed in the same manner as described above. In this way, by controlling the conveying posture of the conveyed items CA on the conveying path 132t, only conveyed items with the changed conveying posture are supplied downstream in an orderly manner.

[0075] When the aforementioned debugging operation is performed and the debugging setting is turned ON, the above routine is discontinued, the vibratory conveyor 100 is stopped from being driven, and image measurement processing also stops. Then, if appropriate operations are performed in this state, the state where image files can be selected, as described above, is achieved. At this time, the selected and displayed image file is an image file containing multiple captured images (GPX) or image areas (GPY) recorded in the previous operating mode. If this image file is selected directly and appropriate operations are performed, the process transitions to the re-execution mode. In this mode, the display, detection, and judgment of images can be performed again based on the image file containing the control actions that have already been performed. That is, if a problem occurs in the inspection, judgment, or control of the conveyed object CA of the vibratory conveyor 100, in order to eliminate the problem, the image measurement processing is first re-executed based on past image data to investigate the problem in the image measurement processing. If the problem is identified, the settings (set values) for detection or judgment can be changed or adjusted accordingly, and the results of the adjustment and improvement operation can be confirmed by re-executing the image measurement processing based on past image data. Then, when the appropriate recovery operation is performed, the debugging setting is reset to OFF, image measurement processing restarts, and the vibratory conveyor 100 is restarted. Additionally, the display screen reverts to the operating mode display screen.

[0076] Furthermore, in this embodiment, as described above, discrimination or detection is performed by processing images obtained using the non-trigger image acquisition method that utilizes the aforementioned measurement areas, namely the transport object discrimination unit ME1 and the transport object passage detection unit ME2. However, the present invention is not limited to such transport object discrimination processing, etc. Transport object discrimination processing can also be performed by processing images obtained simply by using sensors or the like at the moment corresponding to the trigger signal.

[0077] Next, referring to FIG7, a configuration is shown in the second embodiment of this invention regarding the change of conveying posture during the transport of the conveyed item CA on the conveying path 132t in the conveying posture control unit 132S. In this second embodiment, regardless of the recognition result of the conveyed item CA by the image processing of the conveyed item recognition unit ME1, an airflow J1 is continuously (always) blown from the first jet port OP1, causing all the conveyed items CA transported on the conveying path 132t to float. In this way, since all the conveyed items CA are made to float in the conveying posture control unit 132S, whether or not the conveying posture is changed according to the recognition result depends on whether an airflow J2 is generated from the second jet port OP2.

[0078] As shown in Figure 7(a), although the conveyed item CA2 is temporarily floated by the airflow J1, it does not generate airflow J2 because it is in a standard conveying posture. Therefore, after passing through the conveying posture control unit 132S in its original conveying posture, it descends and is conveyed downstream. On the other hand, as shown in Figure 7(b), after the conveyed item CA3 is temporarily floated by the airflow J1, it is not in a standard conveying posture. Therefore, as shown in Figure 7(c), it is rotated by the airflow J2 generated from the second jet nozzle OP2. As shown in Figure 7(d), after changing to a standard conveying posture, it passes through the conveying posture control unit 132S and descends, conveying downstream. Furthermore, as shown in Figure 7(e), although the conveyed item CA4 is floated by the airflow J1 in the conveying posture control unit 132S, it is determined to be in a standard conveying posture. Therefore, after passing through the conveying posture control unit 132S in its original posture, it descends and is conveyed downstream.

[0079] In this second embodiment, airflow J1 is continuously generated, causing all conveyed items CA to float in the conveying posture control unit 132S. Therefore, instability in the position or posture of the conveyed items CA due to the switching of the presence or absence of airflow J1 can be avoided. Furthermore, since the intensity or distribution of airflow J1 can be stabilized, it is easier to control the floating or falling position or posture of the conveyed items CA. To improve the stability of the floating state of the conveyed items CA, it is preferable that the first jet nozzle OP1 has a longer range in the conveying direction F than the second jet nozzle OP2. Additionally, it is generally preferable that it extends from a position upstream of the second jet nozzle OP2 to the area before and after the position of the second jet nozzle OP2. Furthermore, it is even more preferable that the intensity (airflow pressure) of airflow J1 is gradually increased along the conveying direction F, and then gradually decreased after becoming constant. Furthermore, since the stability of the floating state of the conveyed items CA can be improved as described above, the stability, accuracy, and reproducibility of changes in the conveying posture (rotation) of the conveyed items CA using airflow J2 can be further improved.

[0080] In this embodiment, the supply pressure of airflow J1 is preferably in the range of 0.01 to 1.0 times the supply pressure of airflow J2, and particularly preferably in the range of 0.05 to 0.5 times. This is because the purpose of airflow J1 is to levitate the conveyed item CA, not primarily for active actions such as changing the conveying posture, and if airflow J1 is too strong, the levitation state of the conveyed item CA will become unstable. Furthermore, the supply pressure of airflow J1 determines the levitation position (height) of the conveyed item CA; therefore, it is necessary to adjust the relationship between the second jet OP2 and the levitation position. That is, the levitation position of the conveyed item CA, which is levitated by airflow J1, must be a position that is easily rotated by airflow J2 generated from the second jet OP2. Moreover, when changing the conveying posture of the conveyed item CA, it is preferable that airflow J1 and airflow J2 coexist. In this case, it is preferable that the rotational torque applied to the conveyed item CA by airflow J1 acts in the same direction as the rotational torque applied to the conveyed item CA by airflow J2, so that the conveyed item CA rotates not only by airflow J2 but also by airflow J1. For example, airflows J1 and J2 shown in Figure 4 both function to rotate the conveyed material CA around the column direction axis CAx in the same direction of rotation (clockwise in the example).

[0081] Furthermore, regarding the opening range of the first jet nozzle OP1, it is preferable to set the width of the opening range (the direction orthogonal to the conveying direction F) to a certain extent within the width W of the conveyed item CA during conveying, so as to improve the stability or reproducibility of the floating state of the conveyed item CA. Additionally, the opening range of the second jet nozzle OP2 is set with consideration for the stability or reproducibility of the posture change pattern (rotational movement) of the conveyed item CA.

[0082] Figure 8 illustrates the configuration of the change in conveying posture of the conveyed material CA on the conveying path 132t during transport, according to the third embodiment of this invention, performed by the conveying posture control units 132S and 132S'. In this embodiment, multiple conveying posture control units are provided along the conveying direction F. The conveying posture control units 132S and 132S' show an example where airflow J1 is always generated, similar to the second embodiment described above. However, they can also generate airflow J1 only when a change in conveying posture is required based on the recognition result of the conveyed material recognition units ME1 and ME1', similar to the first embodiment.

[0083] In this embodiment, the upstream conveying posture control unit 132S' is configured to rotate the conveyed material CA in the opposite direction by generating an airflow J2' that is opposite to the airflow J2 of the downstream conveying posture control unit 132S, thereby causing the conveyed material CA to rotate in the opposite direction. Furthermore, either the conveying posture control units 132S and 132S' can be located on the upstream or downstream side. In this way, for any one of the four rotational postures AD of the conveyed material CA around the column direction axis CAx—either the conveying posture B, which can be changed by forward rotation relative to the standard conveying posture A, or the conveying posture D, which can be changed by reverse rotation—it can be immediately changed to the standard conveying posture A with a single posture change (rotation of 90 degrees).

[0084] Next, referring to FIG9, the form of the change in conveying posture performed in the conveying posture control units 132S1-132S4 during the conveying of the conveyed item CA on the conveying path 132t according to the fourth embodiment of this embodiment is shown. In this embodiment, in the upstream conveying path section 132tp, since the bottom part 132tpb is configured to be wide, the conveyed item CA is conveyed in a lateral posture that also includes the entire column direction axis CAx facing the width direction of the conveying path section 132tp. Then, a conveying path section 132ts with a reduced width of the bottom part 132tsb is provided. In this conveying path section 132ts, the aforementioned laterally oriented conveyed item CA falls due to its own weight and is thus excluded from the conveying path 132t. As a result, in the conveying path section 132ts, only the conveyed item CA with the entire column direction axis CAx facing the conveying direction F is conveyed.

[0085] The aforementioned conveyor section 132ts is a conveyor section for screening conveyed items CA, and is equipped with conveyor posture control units 132S1-132S4 corresponding to conveyor item identification units ME11-ME14. Conveyor item identification units ME11, ME12, ME13, and ME14, as described above, detect the conveyor posture AD of the conveyed item CA around the column direction axis CAx, and determine whether it is the standard conveyor posture A. Conveyor posture control units 132S1, 132S2, and 132S3 can each rotate the conveyed item CA in a conveyor posture BD other than the standard conveyor posture A by 90 degrees. In this case, the direction of rotation can be either forward or reverse, as long as the three conveyor posture control units 132S1-132S3 can ultimately change all conveyed items CA in any of their conveyor posture BD postures to the standard conveyor posture A.

[0086] In the final conveying posture control unit 132S4, all conveyed items CA that are not in the standard conveying posture A are removed from the conveying path section 132ts. The destination of the removal is the recycling conveying path 133t. In this conveying posture control unit 132S4, all conveyed items CA that have not become the standard conveying posture A due to some posture change error in the upstream conveying posture control units 132S1-132S3, conveyed items CA that have temporarily become the standard conveying posture A but whose posture changed during the conveying process on the conveying path section 132ts, or conveyed items CA in the above-mentioned lateral posture are removed, thereby conveying only conveyed items CA in the standard conveying posture A to the downstream side.

[0087] In the conveyor section 132ts, multiple conveyor identification units ME11-ME14 can be photographed by a camera CM, and each image can be processed to identify the conveyor CA. Alternatively, multiple conveyor identification units ME11-ME14 can be photographed by a single camera CM, and each part of the overall image can be processed to identify the conveyor CA.

[0088] Alternatively, an airflow control unit can be provided. This airflow control unit adjusts the supply pressure, supply time, and supply duration of the airflow J1 or airflow J2 based on an image of the floating or rotating state of the conveyed material CA acquired by the image acquisition method of this embodiment, and controls it to obtain the optimal floating or rotating state. This airflow control unit can adjust only one of the airflows J1 and J2, or it can adjust both J1 and J2 separately. In particular, as mentioned above, airflow J1 sometimes needs to be adjusted to a much weaker value than before, and sometimes subtle and precise adjustments are required to stabilize the floating state of the conveyed material CA. Therefore, it is preferable to construct an adjustment unit capable of precisely controlling the flow rate regulating valve provided on the airflow supply path.

[0089] In this embodiment, the conveyed object CA is separated from the first conveying surface 132ta and floated on the conveying path 132t by a first airflow J1, and the floated conveyed object CA is rotated by a second airflow J2. Therefore, when the posture of the conveyed object CA changes, it is less likely to interfere with the first conveying surface 132ta of the conveying path 132t, thereby enabling more reliable changes in the conveying posture. In particular, by making the conveyed object CA float along the second conveying surface 132tb, the floating state of the conveyed object CA can be stabilized, especially when the second conveying surface 132tb is an inclined surface.

[0090] Furthermore, according to this embodiment, by bringing the second airflow into contact with the conveyor CA, which has been lifted by the first airflow, even a weaker airflow pressure than before can cause the conveyor to rotate, thereby changing its conveying posture. Therefore, since it is not necessary to set the airflow intensity adjustment range to a high level to prevent failure in changing the conveyor's posture, the possibility of obstruction due to excessive airflow intensity can be reduced. Thus, the adjustment range can be increased, and the airflow intensity adjustment operation becomes easier. In addition, by expanding the airflow intensity adjustment range that allows for appropriate control of the conveyor's posture, the reliability of conveyor posture control can be improved. Here, airflow intensity adjustment includes, for example, adjusting the airflow pressure, adjusting the airflow volume, or adjusting the airflow blowing time.

[0091] Furthermore, in this embodiment, after the conveyed material CA changes its posture by rotating with the second airflow J2 at the position where it is floated by the first airflow J1, it returns to the conveying path 132t when it is no longer subject to the first airflow J1. Preferably, it returns to a position in the width direction on the conveying path 132t corresponding to its previous conveying position when it is no longer subject to the first airflow J1. Therefore, since it is not necessary to flip the conveyed material in the width direction and move it laterally to merge it with the original conveying line as in the past, it is possible to avoid posture confusion caused by the preceding and following conveyed materials CA, or confusion in the posture of the preceding and following conveyed materials. Therefore, the conveying posture of the conveyed materials CA, which are conveyed at high speed and high density, can be controlled without obstruction. In addition, the length of the conveying direction F used to unify the conveying posture can be reduced, thus allowing for a compact conveying device.

[0092] Next, different embodiments will be described with reference to Figures 12 and 13. Furthermore, the structure of the conveyor path 132t in this embodiment is referred to by the same reference numerals in the sense that it can be appropriately replaced by the conveyor path 132t used in the other embodiments described above.

[0093] Figure 12 is a cross-sectional view schematically illustrating the airflow stabilization structure employed in different embodiments. In this embodiment, the vibrating base (groove) of the vibrating conveyor includes: a base block 132Ba, having support surfaces 132Ba1 and 132Ba2 respectively arranged back-to-back in an inclined posture on one side and the other side; a first block 132Bb fixed to the support surface 132Ba1 on one side of the base block 132Ba; and a second block 132Bc fixed to the support surface 132Ba2 on the other side of the base block 132Ba. The first block 132Bb has a first conveying surface 132ta of the conveying path 132t. The second block 132Bc has a portion of the second conveying surface 132tb of the conveying path 132t. However, the portion of the second conveying surface 132tb located below the second jet nozzle OP2 (described later) is formed by the upper part of the support surface 132Ba1 of the base block 132Ba. The first conveying surface 132ta and the second conveying surface 132tb are adjacent to each other and have an angular difference (90 degrees in the example in the figure), thus forming the conveying path 132t.

[0094] Furthermore, a conveying holding surface 132tc is provided on a portion of the lower part of the first conveying surface 132ta. This conveying holding surface 132tc is adjacent to the upper end of the support surface 132Ba1 and is generally concave, with the side away from the support surface 132Ba1 being a concave curved surface. A first air jet OP1 is provided at the lower end of the conveying holding surface 132tc (the position adjacent to the support surface 132Ba1). In addition, a second air jet OP2 is provided between the support surface 132Ba1 and the second conveying surface 132tb. After the conveyed object CA, which is levitated by the airflow blown from the first air jet OP1, is rotated (flipped) and changes to a different posture by the airflow blown from the second air jet OP2, the conveying holding surface 132tc guides the conveyed object CA to smoothly return to its original conveying position along the concave curved surface.

[0095] In this embodiment, a first air supply channel PAs1, provided on the base block 132Ba, opens on the support surface 132Ba1. A first blowing channel PAc1 and a first exhaust channel PAe1, both communicating with the first air supply channel PAs1, are formed by the support surface 132Ba1 and a groove formed on the opposing surface of the first block 132Bb opposite to the support surface 132Ba1. The first blowing channel PAc1 opens in the first jet port OP1, ejecting a portion of the airflow supplied from the first air supply channel PAs1 onto the conveying path 132t. The first exhaust channel PAe1 discharges the remaining portion of the airflow supplied from the first air supply channel PAs1. Furthermore, the first exhaust channel PAe1 is configured as a ventilation channel in the illustrated example, but it can be a simple gap as long as it is a structure capable of discharging airflow. Here, the air supply direction of the first air supply channel PAs1 and the blowing direction of the first blowing channel PAc1 are inclined relative to each other, with an angle difference of approximately 45 degrees clockwise in the illustrated example. Furthermore, the air supply direction of the first air supply channel PAs1 is inclined to the exhaust direction of the first exhaust channel PAe1, with an angle difference of approximately 135 degrees counterclockwise in the illustrated example. Moreover, the blowing direction of the first blowing channel PAc1 and the exhaust direction of the first exhaust channel PAe1 are opposite. Additionally, the first blowing channel PAc1 has a smaller ventilation cross-sectional area than the first air supply channel PAs1. Here, the ventilation cross-sectional area of ​​the first air supply channel PAs1 is larger than the ventilation cross-sectional area of ​​either the first blowing channel PAc1 or the first exhaust channel PAe1. Preferably, the three ventilation channels converge (connect) at one location. In this case, it is preferable that the first air supply channel PAs1 is connected to the side of the first exhaust channel PAe1, which has a larger ventilation cross-sectional area than the first blowing channel PAc1.

[0096] Furthermore, the second air supply channel PAs2, provided on the second block 132Bc, opens on the support surface 132Ba2 of the base block 132Ba. A second blowing channel PAc2 and a second exhaust channel PAe2, both communicating with the second air supply channel PAs2, are formed through the support surface 132Ba2 and a groove formed on the opposing surface of the second block 132Bc opposite to the support surface 132Ba2. The second blowing channel PAc2 opens in the second jet port OP2, ejecting a portion of the airflow supplied from the second air supply channel PAs2 onto the conveying path 132t. The second exhaust channel PAe2 discharges the remaining portion of the airflow supplied from the second air supply channel PAs2. Furthermore, the second exhaust channel PAe2 is configured as a ventilation channel in the illustrated example, but it can also be a simple gap as long as it is a structure capable of discharging airflow. Here, the air supply direction of the second air supply channel PAs2 and the blowing direction of the second blowing channel PAc2 are inclined relative to each other, with an angle difference of approximately 45 degrees clockwise in the illustrated example. Furthermore, the air supply direction of the second air supply passage PAs2 is inclined to the exhaust direction of the second exhaust passage PAe2, with an angle difference of approximately 135 degrees counterclockwise in the example shown. In this specification, "angle difference" refers to the angle (absolute value) at which the airflow direction changes. Moreover, the blowing direction of the second blowing passage PAc2 and the exhaust direction of the second exhaust passage PAe2 are opposite. Additionally, the second blowing passage PAc2 has a smaller ventilation cross-sectional area than the second exhaust passage PAe2. Here, the ventilation cross-sectional area of ​​the second air supply passage PAs2 is larger than the ventilation cross-sectional area of ​​either the second blowing passage PAc2 or the second exhaust passage PAe2. Preferably, the three ventilation passages converge (connect) at one location. In this case, it is preferable that the second air supply passage PAs2 is connected to the side of the second exhaust passage PAe2, which has a larger ventilation cross-sectional area than the second blowing passage PAc2.

[0097] Figure 13 is an explanatory diagram showing the configuration of the conveyed object CA on the conveyor path 132t in a schematic manner. In this embodiment, the conveyor path 132t is repeatedly vibrated obliquely upward in the conveying direction by the excitation mechanism of the vibrating conveyor, thereby causing the conveyed object CA to move along the conveyor path 132t. At this time, the conveyed object CA sometimes arrives at the conveying posture control unit in a state separated from the second conveying surface 132tb, as shown in Figure 13 (a-1), and sometimes arrives at the conveying posture control unit in a state close to or abutting the second conveying surface 132tb, as shown in Figure 13 (b-1). This is because, in the vibrating conveyor, the conveyed object CA is conveyed while repeatedly abutting against the first conveying surface 132ta or the second conveying surface 132tb of the conveyor path 132t, pushing the conveyed object CA obliquely forward and making it fly in the air. Therefore, the position of the conveyed object CA during conveying will deviate within the conveyor path 132t.

[0098] However, in the absence of the airflow stabilization structure of this embodiment, when the conveyed material CA is in the state shown in FIG13 (a-1) as described above, the airflow J1 blown from the first jet port OP1 causes the conveyed material CA to float to the position corresponding to the second jet port OP2, as shown in FIG13 (a-2). On the other hand, when the conveyed material CA is in the state shown in FIG13 (b-1), the airflow J1 blown from the first jet port OP1 causes the conveyed material CA to float to a position higher than the position corresponding to the second jet port OP2, as shown in FIG13 (b-2). This is because, as shown in FIG13 (b-1), since the gap between the conveyed material CA and the second conveying surface 132tb is small or non-existent, the airflow J1 rarely escapes through the gap. Therefore, compared with the case in FIG13 (a-2), the airflow pressure on the conveyed material CA increases.

[0099] The deviation in the height at which the transported object CA is lifted by the airflow J1 described above will also be caused by changes in the position of the transported object CA relative to the first jet OP1 in the transport direction, the distance between the transported object CA and the first transport surface 132ta, and changes in the transport posture (tilting posture, etc.) of the transported object CA.

[0100] However, in this embodiment with an airflow stabilization structure, as described above, in the first airflow blowing unit, there is an airflow discharge path formed by the first exhaust channel PAe1. Therefore, due to changes in the position or orientation of the conveyed object CA in the aforementioned conveying path 132t, the change in airflow pressure between the airflow J1 and the conveyed object CA causes a change in the internal pressure of the first blowing channel PAc1. Consequently, the ventilation resistance of the first blowing channel PAc1 changes. Therefore, the increase or decrease in airflow flowing from the first supply channel PAs1 to the first blowing channel PAc1 and the increase or decrease in airflow flowing to the first exhaust channel PAe1 change in a mutually inversely correlated manner. Therefore, the change in airflow pressure on the conveyed object CA caused by the airflow J1 blown from the first jet nozzle OP1 is absorbed and mitigated by the aforementioned airflow discharge path. Thus, as shown in Figures 13(a-3) and (b-3), in either case (a-1) or (b-1) of Figure 13, approximately the same buoyancy height of the conveyed object CA can be obtained.

[0101] Furthermore, an airflow adjustment unit, such as a switching valve or flow adjustment valve (not shown), is typically installed upstream of the first air supply channel PAs1. In this case, since the air pressure or flow rate of the first blowing channel PAc1 increases or decreases by adjusting the amount of the airflow adjustment unit, the pressure or flow rate of the airflow J1 blown from the first jet port OP1 ultimately increases or decreases. At this time, the aforementioned adjustment amount not only increases or decreases the air pressure or flow rate of the first blowing channel PAc1, but also increases or decreases the air pressure or flow rate of the first exhaust channel PAe1. Therefore, in this embodiment, compared with the conventional structure, the rate of change of the air pressure or flow rate of the airflow J1 blown from the first jet port OP1 relative to the aforementioned adjustment amount is smaller. That is, since the airflow adjustment unit has lower sensitivity to adjusting the airflow J1 of the first jet port OP1, the adjustment operation becomes easier, and the air pressure or flow rate of the airflow J1 can be adjusted with higher precision and stability than before. In particular, since the airflow J1 needs to be precisely adjusted and set to lift the conveyed object CA to a position (height) corresponding to the second jet port OP2, the adjustment operation is difficult. Furthermore, since the stability of the aforementioned position (height) is easily affected by external factors (e.g., pressure fluctuations in the compressed air source or flow control valve), the existence of an airflow discharge path is important and effective. Here, it is preferable to continuously blow the airflow J1, as in the previous embodiment. In this case, the correspondence or stability with respect to the position or orientation of the conveyed object CA is more important than the transient characteristics of the airflow J1.

[0102] Furthermore, by making the angle difference between the blowing direction of the first blowing channel PAc1 and the air supply direction of the first air supply channel PAs1 smaller than the angle difference between the exhaust direction of the first exhaust channel PAe1 and the air supply direction, airflow can be preferentially supplied to the first blowing channel PAc1. Therefore, it is easier to ensure and stabilize the supply pressure of airflow J1. In addition, by making the ventilation cross-sectional area of ​​the first blowing channel PAc1 smaller than that of the first exhaust channel PAe1, the pressure change of the first blowing channel PAc1 can be easily and quickly transmitted to the first air supply channel PAs1 side, and the airflow discharge effect of the first exhaust channel PAe1 can be improved. Therefore, the stability of the pressure or flow rate of airflow J1 can be improved, and the stability of the airflow action relative to the conveyed material CA can also be improved. Furthermore, since the amount of pressure or flow rate change of airflow J1 relative to the specified adjustment operation amount can be further reduced, the adjustment of airflow J1 can be further simplified, and high precision of pressure or flow rate can be achieved.

[0103] On the other hand, in this embodiment, the second airflow blowing unit that blows airflow J2 from the second jet port OP2 also has an airflow stabilization structure with a second air supply channel PAs2, a second blowing channel PAc2, and a second exhaust channel PAe2, just as described above. Therefore, for the airflow J2 used to rotate (flip) the conveyed material CA, the airflow pressure on the conveyed material CA is basically stable and the deviation is reduced, just as described above. Furthermore, for the airflow adjustment mechanism to adjust the air pressure or flow rate, the adjustment operation can be made easier, more accurate, and more stable. However, unlike the airflow J1 described above, the airflow J2 blown from the second jet port OP2 cannot flow continuously. Instead, it is controlled by a switch valve or the like provided upstream of the second air supply channel PAs2. Therefore, regarding the transient response controlled by the switch, by setting the airflow discharge path formed by the second exhaust channel PAe2, when the airflow supplied to the second supply channel PAs2 stops, the air pressure in the second blowing channel PAc2 is easily discharged, thus enabling a rapid reduction in the pressure of the airflow J2. Therefore, the possibility of blowing airflow J2 onto the next normally positioned conveyor after it has been mistakenly rotated (flipped) by the action of airflow J2 can be reduced. Furthermore, the effects produced by making the angle difference between the blowing direction of the second blowing channel PAc1 and the supply direction of the second supply channel PAs2 smaller than the angle difference between the exhaust direction and the supply direction of the second exhaust channel PAe2, and the effects produced by making the ventilation cross-sectional area of ​​the second blowing channel PAc2 smaller than the ventilation cross-sectional area of ​​the second exhaust channel PAe2, are the same as those of the first airflow blowing unit.

[0104] Furthermore, the method for controlling the conveying posture and the conveying system of the present invention are not limited to the examples shown in the figures above, and various modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the first conveying surface 132ta and the second conveying surface 132tb of the conveying path 132t both have flat surfaces, but the conveying path 132t may also have concave or convex curved conveying surfaces, or it may have an integral concave groove structure instead of multiple conveying surfaces.

[0105] Furthermore, in the above embodiment, airflows J1 and J2 are generated from jet nozzles OP1 and OP2 that open on the conveying surface of the conveying path 132t. However, airflows can also be generated from locations other than the conveying surface, such as from an airflow pipe. Moreover, in the above embodiment, the case of changing the rotational posture of the conveyed item CA around the column direction axis CAx has been described. However, the present invention can also be applied to cases where other changes in the conveying posture are implemented, such as changing the forward and backward posture of the conveyed item CA, etc.

[0106] Furthermore, in the above embodiments, only the case where the conveying posture is changed in a certain form in the conveying posture control unit is shown, but it is also possible to select and implement multiple control forms of the conveying posture. For example, it can also be configured such that the intensity or time of the airflow is preset to any angle among multiple angles such as 90 degrees, 180 degrees, and 270 degrees, which allows the rotation angle of the conveyed object CA to be 90 degrees, 180 degrees, or 270 degrees, and the conveying posture is changed according to the selected rotation angle based on the discrimination result.

[0107] Furthermore, in the aforementioned airflow stabilization structure, by setting an airflow discharge path consisting of exhaust channels PAe1 and PAe2 midway through the airflow introduction path formed by the air supply channels PAs1 and PAs2 and the blowing channels PAc1 and PAc2, it is possible to suppress airflow pressure variations caused by the presence or absence of the conveyed material CA at the first jet port OP1 or the second jet port OP2, or by the position or orientation of the conveyed material CA. That is, even if the outflow resistance of the airflow changes depending on the presence or absence of the conveyed material at the first jet port OP1 or the second jet port OP2, or by the position or orientation of the conveyed material, the pressure changes (changes in ventilation resistance) in the blowing channels PAc1 and PAc2 caused by this change are absorbed and mitigated by the relative change in the amount of airflow supplied from the air supply channels PAs1 and PAs2 to the blowing channels PAc1 and PAc2 and the amount of airflow discharged to the exhaust channels PAe1 and PAe2. Therefore, the airflow pressure on the conveyed material CA is stabilized by the airflow. Furthermore, airflow adjustment units such as on / off valves or flow adjustment valves are installed upstream of the air supply channels PAs1 and PAs2. However, when adjusting the air supply channels PAs1 and PAs2 through these airflow adjustment units, the airflow discharge path formed by the exhaust channels PAe1 and PAe2 reduces the degree of change in airflow pressure or volume relative to the specified adjustment operation amount, thus making flow adjustment easier. Moreover, when the air supply channels PAs1 and PAs2 stop supplying airflow, the air pressure in the blowing channels PAc1 and PAc2 rapidly decreases through the aforementioned airflow discharge path, thereby quickly stopping the airflow J1 and J2. This reduces the possibility of erroneous attitude control of the subsequent normally transported material CA. By employing the above-mentioned airflow stabilization structure, attitude control errors of the transported material CA caused by airflow can be significantly reduced.

Claims

1. A method for controlling the posture of a conveyed object, wherein the conveying posture of the conveyed object is controlled by blowing an airflow onto the conveyed object along a conveying path in a conveying direction, the method being characterized in that the conveyed object is levitated by a first airflow along the conveying path, and the levitated conveyed object is rotated in a width direction orthogonal to the conveying direction by a second airflow along the conveying path, thereby changing the posture of the conveyed object; a conveyed object identification unit is provided in a predetermined area in the conveying direction of the conveying path; a conveying posture control unit is provided in the conveying path; the conveying posture control unit is configured to change the conveying posture of the conveyed object based on the identification result of the conveyed object determined in the conveying object identification unit; the opening range in the conveying direction of a first jet nozzle emitting the first airflow is formed from a position upstream of the opening position in the conveying direction of a second jet nozzle emitting the second airflow; the first airflow is continuously generated in the conveying posture control unit to levitate all the conveyed objects reaching the conveying posture control unit; and the presence or absence of the second airflow is determined for each conveyed object reaching the conveying posture control unit based on the identification result.

2. The posture control method for conveyed objects according to claim 1, characterized in that, After the transported object changes its posture by rotating with the second airflow at the position where it is lifted by the first airflow, it returns to the transport path when it is no longer subject to the first airflow.

3. The posture control method for conveyed objects according to claim 2, characterized in that, When the transported material is no longer subjected to the first airflow, it returns to a position in the width direction on the transport path corresponding to the transport position before it was lifted.

4. A conveying system, characterized in that, It includes: a conveying path for conveying a conveyed object; a first airflow blowing unit that levitates the conveyed object by blowing a first airflow onto it on the conveying path; a second airflow blowing unit that rotates the conveyed object in a width direction orthogonal to the conveying direction along the conveying path by blowing a second airflow onto the conveyed object that has been levitated by the first airflow; and a conveyed object identification unit that identifies the conveyed object that should be controlled in a conveying posture control unit configured to generate the first airflow and the second airflow. The system includes a conveying posture control unit, which selects whether to use the first airflow and the second airflow to control the conveying posture or control the mode based on the identification result of the conveyed object in the conveying object identification unit. The conveying path has a first conveying surface and a second conveying surface. The second conveying surface has a predetermined angle relative to the first conveying surface, so that the conveyed object can be arranged between the second conveying surface and the first conveying surface. The first airflow blowing unit has a first jet port that opens on the first conveying surface, and the second airflow blowing unit has a second jet port that opens on the second conveying surface. The opening range of the first jet port in the conveying direction is formed from a position upstream of the opening position of the second jet port in the conveying direction. The first airflow blowing unit continuously blows the first airflow onto all the conveyed objects in a manner that makes all the conveyed objects reaching the conveying posture control unit float. On the other hand, the second airflow blowing unit is configured to generate the second airflow for each of the conveyed objects reaching the conveying posture control unit.

5. The conveying system according to claim 4, characterized in that, The second conveying surface is configured to rise as it moves away from the first conveying surface, and the conveyed material is separated from the first conveying surface by the first airflow and floats up.

6. The conveying system according to claim 5, characterized in that, The transported material is lifted along the second transport surface by the first airflow.

7. The conveying system according to claim 6, characterized in that, The second conveying surface is an inclined surface.

8. The conveying system according to claim 4, characterized in that, The transport object identification unit acquires an image of the transport object in a transport object identification unit located upstream of the transport posture control unit, and identifies the transport object through image processing.

9. The conveying system according to claim 4, characterized in that, The first airflow blowing unit includes: a first air supply channel for supplying airflow; a first blowing channel connected to the first air supply channel and facing the first jet nozzle; and a first exhaust section connected to the first air supply channel and the first blowing channel, forming an airflow discharge path different from the first blowing channel.

10. The conveying system according to claim 9, characterized in that, The angle difference between the air supply direction of the first air supply channel and the blowing direction of the first blowing channel is smaller than the angle difference between the air supply direction and the exhaust direction of the first exhaust section.

11. The conveying system according to claim 9, characterized in that, The ventilation cross-sectional area of ​​the first blowing channel is smaller than the ventilation cross-sectional area of ​​the first exhaust section.

12. The conveying system according to any one of claims 4 to 11, characterized in that, The second airflow blowing unit includes: a second air supply channel for supplying airflow; a second blowing channel connected to the second air supply channel and facing the second jet nozzle; and a second exhaust section connected to the second air supply channel and the second blowing channel, forming an airflow discharge path different from the second blowing channel.

13. A conveying system, characterized in that, The device comprises: a conveying path for conveying a conveyed object; a first airflow blowing unit for levitizing the conveyed object by blowing a first airflow onto it on the conveying path; and a second airflow blowing unit for rotating the conveyed object in a width direction orthogonal to the conveying direction along the conveying path by blowing a second airflow onto the conveyed object, which has been levitized by the first airflow. The conveying path has a first conveying surface and a second conveying surface, the second conveying surface having a predetermined angle relative to the first conveying surface, thereby enabling the conveyed object to be disposed between the second conveying surface and the first conveying surface. The first airflow blowing unit has a first jet nozzle opening on the first conveying surface, and the second airflow blowing unit has a second jet nozzle opening on the second conveying surface. The opening range of the first jet nozzle in the conveying direction is formed from a position upstream of the opening position of the second jet nozzle in the conveying direction. The first airflow blowing unit comprises: a first air supply channel for supplying airflow; and a first blowing channel communicating with the first air supply channel and facing the first jet nozzle. The first exhaust section is connected to the first air supply channel and the first blowing channel, and forms an airflow discharge path different from that of the first blowing channel. The angle difference between the air supply direction of the first air supply channel and the blowing direction of the first blowing channel is smaller than the angle difference between the air supply direction and the exhaust direction of the first exhaust section.

14. The conveying system according to claim 13, characterized in that, The ventilation cross-sectional area of ​​the first blowing channel is smaller than the ventilation cross-sectional area of ​​the first exhaust section.

15. A conveying system, characterized in that, The device comprises: a conveying path for conveying a conveyed object; a first airflow blowing unit for levitizing the conveyed object by blowing a first airflow onto it on the conveying path; and a second airflow blowing unit for rotating the conveyed object in a width direction orthogonal to the conveying direction along the conveying path by blowing a second airflow onto the conveyed object, which has been levitized by the first airflow. The conveying path has a first conveying surface and a second conveying surface, the second conveying surface having a predetermined angle relative to the first conveying surface, thereby enabling the conveyed object to be disposed between the second conveying surface and the first conveying surface. The first airflow blowing unit has a first jet nozzle opening on the first conveying surface, and the second airflow blowing unit has a second jet nozzle opening on the second conveying surface. The opening range of the first jet nozzle in the conveying direction is formed from a position upstream of the opening position of the second jet nozzle in the conveying direction. The first airflow blowing unit comprises: a first air supply channel for supplying airflow; and a first blowing channel communicating with the first air supply channel and facing the first jet nozzle. The first exhaust section is connected to the first air supply channel and the first blowing channel, and forms an airflow discharge path different from that of the first blowing channel. The cross-sectional area of ​​the first blowing channel is smaller than that of the first exhaust section.

16. The conveying system according to any one of claims 13 to 15, characterized in that, The second airflow blowing unit includes: a second air supply channel for supplying airflow; a second blowing channel connected to the second air supply channel and facing the second jet nozzle; and a second exhaust section connected to the second air supply channel and the second blowing channel, forming an airflow discharge path different from the second blowing channel.

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