Alignment control device, alignment control method, and program

Abstract

To align objects on a conveyor table with high precision at any interval.SOLUTION: An alignment control device that places an object on a conveyance table for conveying the object comprises: a transport part that has a plurality of recesses on a periphery part and controls the movement of the conveyed object to send it onto the conveyance table; and a control part that controls the movement of the transport part. The control part controls the rotation of the transport part based on a composite speed command waveform obtained by combining a first speed command waveform that specifies an operating speed of a first virtual transport part assumed to be even-numbered among the objects controlled by the transport part and a second speed command waveform that specifies the operating speed of a second virtual transport part assumed to be odd-numbered. The first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being a period during which the object is controlled by the transport part. One cycle of the speed command waveform includes a section in which the conveyance speed of the conveyance table and the operating speed are synchronized in a delivery section where the object is sent out from the transport part.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to an alignment control device, an alignment control method, and a program. [Background technology]

[0002] Technologies for transporting items (workpieces) such as products and parts are used in manufacturing sites such as factories. For example, Patent Document 1 discloses a technology for controlling a star wheel to transport items such as dry batteries. Also, Patent Document 2 discloses a technology for transporting screws using a turntable. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-228895 [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-199361 Summary of the Invention [Problem to be solved by the invention]

[0004] When lining up workpieces on a moving transport platform such as a conveyor, if the mechanism for supplying the workpieces, such as wheels, and the transport platform's moving speed are not synchronized, a speed difference will occur between the workpieces and the transport platform, causing the workpieces to slip on the transport platform and making it impossible to align them stably at precise intervals.On the other hand, if the mechanism for supplying the workpieces and the transport platform's moving speed are always synchronized, there is the problem that it is difficult to freely set the intervals at which the workpieces are supplied.

[0005] An object of the present invention is to align objects on a conveyance table with high precision at any interval. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the present invention employs the following configuration. An alignment control device according to one aspect of the present invention is an alignment control device that places an object on a transport table for transporting the object, and includes: a transport unit that has a plurality of recesses on its peripheral edge and controls the movement of the transported object to send it onto the transport table; and a control unit that controls the movement of the transport unit, wherein the control unit controls the rotation of the transport unit based on a composite speed command waveform that is a composite of a first speed command waveform that specifies the operating speed of a first virtual transport unit, assumed to be an even-numbered object among the objects controlled by the transport unit, and a second speed command waveform that specifies the operating speed of a second virtual transport unit, assumed to be an odd-numbered object, and the first speed command waveform and the second speed command waveform include speed command waveforms that are set for each cycle, with one cycle being the period during which the object is controlled by the transport unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the operating speed are synchronized in a transfer section in which the object is sent out from the transport unit.

[0007] With the above configuration, objects can be transported at any interval without changing the mechanical shape of the wheel (transport unit). Furthermore, by synthesizing one cycle of a speed command waveform, the rotation of the wheel can be controlled to accommodate any desired transport interval using a simple algorithm. Furthermore, the speed command waveform includes a section in which the speeds of the wheel and the transport table are synchronized during the section in which the objects are transferred to the transport table. This prevents speed differences between the objects and the transport table during transfer, allowing objects to be placed on the transport table at precise intervals.

[0008] Furthermore, the one cycle of the speed command waveform may include an acceleration section preceding the synchronization section and a deceleration section following the synchronization section, and the synchronization section may be a section in which a constant speed is maintained. This allows objects to be aligned at any interval with high precision on a conveyance platform moving at a constant speed.

[0009] The duration of the acceleration section may be set to be longer than the duration of the deceleration section, thereby reducing the impact when an object comes into contact with the wheel.

[0010] Furthermore, the change in speed in the acceleration section and / or the deceleration section may be defined by a straight line, which allows speed control to be performed using a simple algorithm.

[0011] Furthermore, the change in speed in the acceleration section and / or the deceleration section may be defined by a high-order function, thereby reducing the impact that the wheel gives to the object.

[0012] An alignment control method according to one aspect of the present invention is an alignment control method for placing an object on a transport table for transporting the object, wherein a computer controls the movement of a transport unit having a plurality of recesses on its peripheral edge, and controls the movement of the transported object to send it onto the transport table, and the computer controls the rotation of the transport unit based on a composite speed command waveform that is a composite of a first speed command waveform that specifies the operating speed of a first virtual transport unit, assumed to be an even-numbered object among the objects controlled by the transport unit, and a second speed command waveform that specifies the operating speed of a second virtual transport unit, assumed to be an odd-numbered object, among the objects controlled by the transport unit, and the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being the period during which the object is controlled by the transport unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the operating speed are synchronized in a transfer section in which the object is sent out from the transfer section.

[0013] With the above configuration, objects can be transported at any interval without changing the mechanical shape of the wheel (transport unit). Furthermore, by synthesizing one cycle of a speed command waveform, the rotation of the wheel can be controlled to accommodate any desired transport interval using a simple algorithm. Furthermore, the speed command waveform includes a section in which the speeds of the wheel and the transport table are synchronized during the section in which the objects are transferred to the transport table. This prevents speed differences between the objects and the transport table during transfer, allowing objects to be placed on the transport table at precise intervals.

[0014] A program according to one aspect of the present invention causes a computer to function as an alignment control device that positions an object on a transport table for transporting the object, and causes the computer to function as a control unit that controls the movement of a transport unit that has a plurality of recesses on its peripheral edge and controls the movement of the transported object to send it onto the transport table, and the control unit controls the rotation of the transport unit based on a composite speed command waveform that is a composite of a first speed command waveform that specifies the operating speed of a first virtual transport unit, assumed to be an even-numbered object among the objects controlled by the transport unit, and a second speed command waveform that specifies the operating speed of a second virtual transport unit, assumed to be an odd-numbered object, and the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being the period during which the object is controlled by the transport unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the rotation speed are synchronized in a transfer section in which the object is sent out from the transfer section.

[0015] With the above configuration, objects can be transported at any interval without changing the mechanical shape of the wheel (transport unit). Furthermore, by synthesizing one cycle of a speed command waveform, the rotation of the wheel can be controlled to accommodate any desired transport interval using a simple algorithm. Furthermore, the speed command waveform includes a section in which the speeds of the wheel and the transport table are synchronized during the section in which the objects are transferred to the transport table. This prevents speed differences between the objects and the transport table during transfer, allowing objects to be placed on the transport table at precise intervals. [Effects of the Invention]

[0016] According to the present invention, objects can be aligned on the conveyance table at any interval with high precision. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram showing an application example of an alignment control device 1 according to the present invention. [Figure 2] 1 is a diagram showing an example of a hardware configuration of an alignment control device 1 according to an embodiment of the present invention. [Figure 3] 1 is a diagram showing an example of the functional configuration of an alignment control device 1 according to an embodiment of the present invention. [Figure 4] 2A and 2B are diagrams illustrating how a workpiece 50 according to an embodiment of the present invention is sent from a wheel 20 to a conveyor 10. FIG. [Figure 5] 1 is a diagram illustrating a general method for aligning workpieces 50 on a conveyor 10 via wheels 20. FIG. [Figure 6] 1A and 1B are diagrams illustrating a method for aligning workpieces 50 on a conveyor 10 via a wheel 20 by an alignment control device 1 according to an embodiment of the present invention. [Figure 7] 1A and 1B are diagrams illustrating a method for aligning workpieces 50 on a conveyor 10 via a wheel 20 by an alignment control device 1 according to an embodiment of the present invention. [Figure 8] 1A and 1B are diagrams illustrating a method for aligning workpieces 50 on a conveyor 10 via a wheel 20 by an alignment control device 1 according to an embodiment of the present invention. [Figure 9] 1A and 1B are diagrams illustrating a method for aligning workpieces 50 on a conveyor 10 via a wheel 20 by an alignment control device 1 according to an embodiment of the present invention. [Figure 10] 10A and 10B are diagrams illustrating modified examples of the speed command waveform W by the alignment control device 1 according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] An embodiment according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described below with reference to the drawings. However, the embodiment described below is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiment may be appropriately adopted. Note that, although data appearing in this embodiment is described in natural language, more specifically, it may be specified in any of computer-recognizable pseudo-language, commands, parameters, or machine language, but is not limited to these.

[0019] §1 Application Examples FIG. 1 is a diagram illustrating an example of an application of an alignment control device 1 according to the present invention. FIG. 1 shows an apparatus for transporting workpieces 50 (e.g., PET bottle caps) in a factory, illustrating how the workpieces 50 are aligned and transported on a conveyor (transport platform) 10. The workpieces 50 are an example of the "object" according to the present invention. The wheel (transport unit) 20 is a star-shaped wheel having a recess 21 and a protrusion 22 on its periphery. The conveyor 10 moves at a constant speed in the direction indicated by arrow A1, and the wheel 20 is controlled to rotate in the direction indicated by arrow A2 (counterclockwise). The workpieces 50 transported by the conveyor 10 from the left side of FIG. 1 are temporarily held in the recess 21 of the wheel 20, and then, as the wheel 20 rotates, are pushed out onto the conveyor 10 by the protrusion 22 and transported to the right in the figure. The alignment control device 1 according to the present invention controls the rotation of the wheel 20 to align the transported workpieces 50 at a desired interval. Here, the control of the rotation of the wheel 20 may be the control of the rotation speed by controlling the rotation position (position control that stops the rotation shaft at a predetermined position). Hereinafter, when speed control or control of rotation speed is mentioned, it may mean that the rotation speed is controlled as a result of position control.

[0020] §2 Configuration example (1. Hardware Configuration) FIG. 2 is a diagram showing an example of the hardware configuration of the alignment control device 1 according to this embodiment. The alignment control device 1 includes a star-shaped wheel 20 and a control device 30. The control device 30 is a computer including a processor 11, a main memory 12, an input / output interface 13, a communication interface 14, and a storage device 15. The storage device 15 is a computer-readable recording medium such as a semiconductor memory (which may be, but is not limited to, a volatile memory or a non-volatile memory) or a disk medium (which may be, but is not limited to, a magnetic recording medium or a magneto-optical recording medium). The storage device 15 stores a program to be executed by the processor 11. The program is read from the storage device 15 into the main memory 12 and interpreted and executed by the processor 11 to perform various functions.

[0021] (2. Functional Configuration) 3 is a block diagram showing functional modules of a program executed by processor 11 of control device 30. As shown in FIG. 3, the functional modules executed by processor 11 of control device 30 include a rotation control unit (control unit) 101.

[0022] §3 Example of operation Next, a method for controlling the alignment of works by the alignment control device 1 according to this embodiment will be described. FIG. 4 is a diagram illustrating how the workpiece 50 is sent from the wheel 20 to the conveyor 10. FIG. 4 shows the workpiece 50 being transported as viewed from above, with the workpiece 50 flowing on the conveyor 10 from left to right in FIG. 4. The wheel 20 rotates in the direction of the arrow (counterclockwise). The wheel 20 has 16 recesses 21 shaped to be able to hold the workpiece 50 therein, and the angle between adjacent recesses 21 is 22.5 degrees. In the figure, P1 to P3 indicate the positions of the centers of the workpieces 50.

[0023] As shown in FIG. 4, the conveyed workpiece 50 contacts the protrusion 22 on the right side of the recessed portion 21 at position P1, is pulled into the recessed portion 21 as the wheel 20 rotates, and when the wheel 20 rotates 22.5 degrees, the workpiece 50 is contained within the recessed portion 21 at position P2. As the wheel 20 rotates, the workpiece 50 is pushed out by the protrusion 22 on the left side of the recessed portion 21, and is sent out from the recessed portion 21 onto the conveyor 10 at position P3, which is 22.5 degrees from position P2. From positions P1 to P3, the workpiece 50 is in contact with both the conveyor 10 and the wheel 20, and is subjected to forces from both. For this reason, when transferring from the wheel 20 to the conveyor 10, if the movements of the conveyor 10 and the wheel 20 are not synchronized (if they are not relatively stationary), the movement of the workpiece 50 will be unstable. In this embodiment, the section where the workpiece 50 is interfered with by the hole 20 is defined as a "transfer section," and in this section, the movements of the conveyor 10 and the wheel 20 are controlled to be synchronized.

[0024] FIG. 5 illustrates a typical method for aligning workpieces 50 on a conveyor 10 via a wheel 20. FIG. 5(A) shows an example of aligning workpieces 50 at equal intervals on the conveyor 10. Graphs G1 and G2 respectively represent the time-varying position and speed of the conveyor 10. Point R represents the timing at which a workpiece 50 is fed from one recess 21 of the wheel 20 and the position information is reset. As shown in graph G1, the workpieces 50 are fed at regular intervals, with one cycle being the distance traveled by the conveyor 10 corresponding to the spacing between workpieces 50. The workpieces 50 are aligned on the conveyor 10 at regular intervals d. As shown in graph G2, when the conveyor 10 travels at a constant speed, the workpieces 50 are fed at regular intervals. Graphs G3 and G4 respectively represent the time-varying position and speed of the wheel 20. As shown in the graphs, the rotational speed of the wheel 20 is constant, and the workpieces 50 are fed at regular intervals. In the example of FIG. 5(A), the speeds of the conveyor 10 and the wheel 20 are constant, and in the transfer section from the wheel 20 to the conveyor 10, the speeds of the conveyor 10 and the wheel 20 are synchronized.

[0025] FIG. 5(B) shows an example in which the third workpiece 50 is aligned with a 1.25x interval and the fifth workpiece 50 is aligned with a 2x interval. Graphs G1 and G2 show the time changes in the position and speed of the conveyor 10. As shown in graph G2, the conveyor 10 has a constant transport speed, but the third and fifth workpieces 50 are delivered with 1.25x and 2x the time interval, respectively, so the third and fifth workpieces 50 are aligned with 1.25x and 2x the time interval, respectively, on the conveyor 10. Graphs G3 and G4 show the time changes in the position and speed of the wheel 20, respectively. As shown in graph G4, the third workpiece 50 needs to be delivered with a 1.25x interval, so the rotational speed is slowed to 1 / 1.25x (0.8x). Furthermore, since the fifth workpiece 50 needs to be sent out with twice the time between each, the rotation speed is reduced to 1 / 2 (0.5). In the example of Fig. 5(B), the speeds of the conveyor 10 and wheel 20 are synchronized in the transfer sections for the first, second, fourth, and sixth workpieces 50, but the speeds of the conveyor 10 and wheel 20 are not synchronized in the transfer sections for the third and fifth workpieces 50 (T1 in the figure).

[0026] FIG. 6 is a diagram illustrating a method for aligning workpieces 50 on a conveyor 10 via a wheel 20 using the alignment control device 1 according to this embodiment. FIG. 6 shows an example of aligning workpieces 50 at equal intervals on the conveyor 10. Graphs G1 and G2 respectively represent the time changes in the position and speed of the conveyor 10, and point R represents the timing at which a workpiece 50 is sent out from one of the recesses 21 of the wheel 20 and the position information is reset. As in FIG. 5(A), the transport speed of the conveyor 10 is constant, and the workpieces 50 are sent out at regular intervals and aligned at regular intervals.

[0027] The alignment control device 1 according to this embodiment controls the wheel 20 by virtually dividing it into two parts: wheel A (first virtual transfer section) and wheel B (second virtual transfer section). Wheel A is assumed to have half (even-numbered) of the 16 recesses 21, and wheel B is assumed to have the remaining half (odd-numbered) of the 16 recesses 21. The changes in the position and speed of wheel A under these assumptions are shown in graphs G3 and G4. As shown in graph G3, because wheel A includes even-numbered recesses 21, the period in which the release point R of the workpiece 50 appears is twice as long as it actually is.

[0028] The rotation control unit 101 of the alignment control device 1 sets a speed command for the wheel 20 for each cycle, with one cycle being the period during which one workpiece 51 is sent out from the recessed portion 21 in the virtual wheel A (every other recessed portion 21 in the actual wheel 20). Specifically, as shown in graph G4, a trapezoidal speed command waveform W is set. As shown in the figure, the speed command waveform W has an acceleration section at the beginning, followed by a constant speed section T1 and a deceleration section. The constant speed section corresponds to the transfer section T1 from the wheel 20 to the conveyor 10.

[0029] Similarly, graphs G5 and G6 show the changes in the position and speed of wheel B. As shown in graph G5, wheel B includes odd-numbered recesses 21, so similar to graph G3, the period in which the workpiece 50 delivery point R appears is twice as long as the actual period. As with wheel A, the rotation control unit 101 sets a speed command for wheel 20 for each period, with one period being the period from immediately after the delivery of the previous workpiece 50 on wheel B to the delivery of the next workpiece 50 (actually, the period from immediately after the delivery of the second previous workpiece 50 to the delivery of the next workpiece 50). Specifically, as shown in graph G6, a trapezoidal speed command waveform W similar to that of graph G4 is set. The speed command waveform W has an acceleration section, a constant speed section, and a deceleration section. The constant speed section corresponds to the transfer section T1 from wheel 20 to conveyor 10.

[0030] As mentioned above, the speed commands for virtual wheels A and B are actually commands for sending out every other workpiece (sending out from every other recess), so the period of each command is twice the actual sending period, and the periods of the commands for wheels A and B are shifted by half a period (equivalent to one actual period).

[0031] The rotation control unit 101 controls the speed of the wheel 20 using a speed command waveform obtained by combining a speed command waveform W for wheel A and a speed command waveform W for wheel B. FIG. 7 is a diagram showing the combined speed command waveform G7 and a change in position G8 when the wheel 20 is controlled by the combined speed command waveform. In this embodiment, as shown in graph G7, the combined waveform becomes a command waveform at a constant speed, similar to FIG. 5(A), and the workpieces 50 are sent out from the wheel 20 at regular time intervals. In this way, when aligning the workpieces 50 at equal intervals, the result is the same control as the control method in FIG. 5(A).

[0032] On the other hand, if the spacing between the workpieces 50 is changed midway, the results will be different from the example in FIG. 5(B). FIG. 8 is a diagram illustrating a control method according to this embodiment when the spacing between the workpieces 50 is changed to 1.25 times and 2 times midway. Graphs G9 and G10 show changes in the position and speed of the conveyor 10. Graphs G11 and G13 represent the position of a virtual conveyor, with one cycle being two cycles of the actual conveyor 10. Graph G12 shows the position and speed of virtual wheel A, and graph G14 shows the position and speed of virtual wheel B. As shown in FIG. 8, two peaks (two cycles) in graph G9 correspond to one cycle of wheels A and B, respectively, and the cycles of wheels A and B are offset by half a cycle (one peak in graph G9).

[0033] As shown in graphs G12 and G14, rotation control unit 101 sets a trapezoidal speed command waveform W for each period, similar to graphs G4 and G6. As shown in graphs G12 and G14, when the workpiece spacing changes to 1.25 times or 2 times, the spacing at which the speed command waveform W is set also changes accordingly.

[0034] The rotation control unit 101 controls the rotation of the wheel 20 using a speed command waveform obtained by combining a speed command waveform W for wheel A and a speed command waveform W for wheel B. FIG. 9 is a diagram showing the combined speed command waveform G15 and the position change G16 when the wheel 20 is controlled by the combined speed command waveform. As shown in FIG. 9, unlike FIG. 5(B), in the transfer section from the wheel 20 to the conveyor 10, the speed is always constant and synchronized with the conveyor 10. Furthermore, regardless of the transport interval of the workpieces 50, the rotation of the wheel 20 can be controlled by combining a constant speed command waveform W.

[0035] FIG. 10 is a diagram illustrating an example of a modified example of one cycle of the speed command waveform W. The speed command waveform W is not limited to the trapezoidal waveform shown in FIG. 10(A) as long as the speed in the transfer section from the wheel 20 to the conveyor 10 is synchronized with the conveyor 10. For example, as shown in FIG. 10(B), the speed in the acceleration / deceleration sections before and after the synchronization section may be changed according to a higher-order function rather than a constant acceleration. This makes the speed change more gradual, and the impact on the workpiece 50 can be kept smaller.

[0036] 10(C) and (D), the speed change may be set to be gradual in the acceleration section and rapid in the deceleration section, thereby reducing the impact when the protrusions 22 of the wheel 20 come into contact with the workpiece 50.

[0037] As described above, according to this embodiment, the wheel 20 is divided into a virtual wheel A including even-numbered recesses 21 and a virtual wheel B including odd-numbered recesses 21 and controlled. The rotational speed of the wheel 20 is controlled using a waveform obtained by combining the speed command waveforms of both. Each speed command waveform is composed of a speed command waveform W for each cycle, with one cycle being the period during which the workpiece 50 is controlled by the recess 21. The speed command waveform W for one cycle synchronizes the conveying speed of the conveyor 10 with the rotational speed of the wheel 20 in the transfer section where the workpiece 50 is sent from the recess 21. This allows the workpiece 50 to be transported at any interval simply by controlling the speed, without changing the mechanical shape of the wheel 20. Furthermore, speed control corresponding to any transport interval can be achieved using a simple algorithm using one cycle of the speed command waveform W. Furthermore, the speed command waveform W includes a section in which the speeds of the wheel 20 and the conveyor 10 are synchronized during the section in which the workpiece 50 is transferred to the conveyor 10, thereby preventing a speed difference from occurring between the workpiece 50 and the conveyor 10 during transfer, and allowing the workpiece 50 to be positioned on the conveyor 10 at precise intervals.

[0038] Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in every respect, and it goes without saying that various improvements and modifications can be made without departing from the scope of the present invention.

[0039] Note that part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes. (Appendix 1) An alignment control device that places an object on a transport platform for transporting the object, a transfer unit having a plurality of recesses on a peripheral portion thereof, which controls the movement of the transported object and sends it onto the transport table; a control unit that controls the movement of the transport unit, The control unit an alignment control device that controls the rotation of the transport unit based on a composite speed command waveform that is a composite of a first speed command waveform that specifies the operating speed of a first virtual transport unit that is assumed to be even-numbered among the objects controlled by the transport unit, and a second speed command waveform that specifies the operating speed of a second virtual transport unit that is assumed to be odd-numbered among the objects controlled by the transport unit, wherein the first speed command waveform and the second speed command waveform include speed command waveforms that are set for each cycle, with one cycle being a period during which the objects are controlled by the transport unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the operating speed are synchronized in a delivery section where the objects are sent out from the transport unit.

[0040] (Appendix 2) The speed command waveform for one cycle is 2. An alignment control device as described in Appendix 1, including an acceleration section preceding the synchronized section and a deceleration section following the synchronized section, wherein the synchronized section is a section in which a constant speed is maintained.

[0041] (Appendix 3) 3. The alignment control device according to claim 2, wherein the duration of the acceleration section is set to be longer than the duration of the deceleration section.

[0042] (Appendix 4) 3. The alignment control device of claim 2, wherein the change in speed in the acceleration section and / or the deceleration section is defined as a straight line.

[0043] (Appendix 5) 3. The alignment control device according to claim 2, wherein the change in speed in the acceleration section and / or the deceleration section is defined by a higher-order function.

[0044] (Appendix 6) 1. An alignment control method for placing an object on a transport platform for transporting the object, comprising: a computer controls the movement of a transfer unit that has a plurality of recesses on its periphery and controls the movement of the transported object to send it onto the transport table; The computer controlling the rotation of the transport unit based on a composite speed command waveform obtained by combining a first speed command waveform that defines the operating speed of a first virtual transport unit assumed to be an even-numbered object among the objects controlled by the transport unit and a second speed command waveform that defines the operating speed of a second virtual transport unit assumed to be an odd-numbered object; the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being a period during which the object is controlled by the transfer unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the operating speed are synchronized in a delivery section in which the object is sent out from the transfer section.

[0045] (Appendix 7) Computer, A program that functions as an alignment control device that places an object on a transport platform for transporting the object, causing the computer to function as a control unit that controls the movement of a transfer unit that has a plurality of recesses on its periphery and that controls the movement of the transported object and sends it onto the transport table; The control unit controlling the rotation of the transport unit based on a composite speed command waveform obtained by combining a first speed command waveform that defines the operating speed of a first virtual transport unit assumed to be an even-numbered object among the objects controlled by the transport unit and a second speed command waveform that defines the operating speed of a second virtual transport unit assumed to be an odd-numbered object; the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being a period during which the object is controlled by the transfer unit, and one cycle of the speed command waveform includes a section in which the conveying speed of the conveyance table and the rotational speed are synchronized in a delivery section in which the object is sent out from the transfer section. [Explanation of symbols]

[0046] 1...Alignment control device, 10...Conveyor, 11...Processor, 12...Main memory, 13...Input / output interface, 14...Communication interface, 15...Storage device, 20...Wheel, 21...Recess, 22...Protrusion, 30...Control device, 50...Workpiece, 101...Rotation control unit

Claims

1. An alignment control device that places an object on a transport platform for transporting the object, a transfer unit having a plurality of recesses on a peripheral portion thereof, which controls the movement of the transported object and sends it onto the transport table; a control unit that controls the movement of the transport unit, The control unit an alignment control device that controls the rotation of the transport unit based on a composite speed command waveform that is a composite of a first speed command waveform that specifies the operating speed of a first virtual transport unit that is assumed to be even-numbered among the objects controlled by the transport unit, and a second speed command waveform that specifies the operating speed of a second virtual transport unit that is assumed to be odd-numbered among the objects controlled by the transport unit, wherein the first speed command waveform and the second speed command waveform include speed command waveforms that are set for each cycle, with one cycle being a period during which the object is controlled by the transport unit, and one cycle of the speed command waveform includes a section in which the transport speed of the transport table and the operating speed are synchronized in a transfer section where the object is sent out from the transport unit.

2. The speed command waveform for one cycle is The alignment control device according to claim 1 , further comprising an acceleration section preceding the synchronized section and a deceleration section following the synchronized section, wherein the synchronized section is a section in which a constant speed is maintained.

3. 3. The alignment control device according to claim 2, wherein the duration of the acceleration section is set to be longer than the duration of the deceleration section.

4. The alignment control device according to claim 2 , wherein the change in speed in the acceleration section and / or the deceleration section is defined by a straight line.

5. The alignment control device according to claim 2 , wherein the change in speed in the acceleration section and / or the deceleration section is defined by a high-order function.

6. 1. An alignment control method for placing an object on a transport platform for transporting the object, comprising: a computer controls the movement of a transfer unit that has a plurality of recesses on its periphery and controls the movement of the transported object to send it onto the transport table; The computer controlling the rotation of the transport unit based on a composite speed command waveform obtained by combining a first speed command waveform that defines the operating speed of a first virtual transport unit assumed to be an even-numbered object among the objects controlled by the transport unit and a second speed command waveform that defines the operating speed of a second virtual transport unit assumed to be an odd-numbered object; the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being a period during which the object is controlled by the transfer unit, and one cycle of the speed command waveform includes a section in which the conveying speed of the conveyance table and the operating speed are synchronized in a delivery section in which the object is sent out from the transfer section.

7. Computer, A program that functions as an alignment control device that places an object on a transport platform for transporting the object, causing the computer to function as a control unit that controls the movement of a transfer unit that has a plurality of recesses on its periphery and that controls the movement of the transported object and sends it onto the transport table; The control unit controlling the rotation of the transport unit based on a composite speed command waveform obtained by combining a first speed command waveform that defines the operating speed of a first virtual transport unit assumed to be an even-numbered object among the objects controlled by the transport unit and a second speed command waveform that defines the operating speed of a second virtual transport unit assumed to be an odd-numbered object; the first speed command waveform and the second speed command waveform include speed command waveforms set for each cycle, with one cycle being a period during which the object is controlled by the transfer unit, and one cycle of the speed command waveform includes a section in which the conveying speed of the conveying table and the rotational speed are synchronized in a delivery section in which the object is sent out from the transfer section.

Images