Conveyed article conveyance posture changing mechanism and conveying device

Abstract

To provide a conveying attitude changing mechanism and a conveying device of a conveyed object capable of stably and surely changing the attitude of the conveyed object of a control object by an air current.SOLUTION: The conveyance posture changing mechanism includes the groove-shaped conveyance path 110 that conveys the conveyance object in the conveyance direction by the vibration generated by the conveyance mechanism, and the airflow ejection port 112a for blowing the airflow that rotates the conveyance object passing through the conveyance posture changing place 112P of the conveyance path around the axis along the conveyance direction, and the conveyance path 112a includes the lowest bottom area 112b disposed below the conveyance object at a position where the conveyance object is rotatable around the axis by the airflow blown from the airflow ejection port at the conveyance posture changing place. The posture changing place has a rotation guide surface 112c which is continuously connected to the bottom region and has a contour extending in a concave curve shape capable of being in point or line contact with the surface of the conveyed object along the width direction dW in which the conveyed object moves while rotating around the axis line by the air flow.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a mechanism for changing the conveying position of an object and a conveying device. [Background technology]

[0002] Conventionally, parts feeders and linear feeders, which are a type of vibratory conveying device, have been equipped with an alignment mechanism for aligning conveyed objects, such as electronic components, to a predetermined normal posture while conveying the objects along the conveying path. Such alignment mechanisms may remove conveyed objects that are not in the normal posture from the conveying path by changing the shape of the conveying path or by blowing air currents, but in some cases, a method of changing the posture of the conveyed objects by using air currents is adopted to align the conveyed posture without reducing conveying efficiency (see, for example, Patent Document 1).

[0003] In a method for changing the posture of such an object, as shown in Patent Document 1, an object placed on one side of a conveying path having a W-shaped cross section is flipped to the other side by air (see Figures 4 to 6), and a V-groove is made to merge on the downstream side (see Figure 7), thereby aligning the posture of the object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-040439 [Patent Document 2] Japanese Patent Application Publication No. 7-228332 [Patent Document 3] Japanese Patent Application Laid-Open No. 2001-187628 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the method disclosed in Patent Document 1, the posture of the transported object is changed by flipping it sideways over the central peak of the W-groove, and then downstream, the objects whose posture has not been changed and the objects whose posture has been changed are merged.Therefore, if the transport density of the transported objects becomes high, there is a problem that the transported objects may collide with each other when they merge, causing their posture to change or they may overlap.

[0006] One known method for solving the above problem is to invert parts within a V-shaped groove by appropriately setting the height position of airflow outlets relative to the transported object in a transport path formed by the V-shaped groove, as disclosed in Patent Documents 2 and 3. However, with this method, the inverted orientation of the transported object is likely to vary depending on the position and strength of the airflow blowing onto the transported object, and the transported orientation of the transported object is also likely to change when it comes into contact with the transport surface during transport. This means that the transported object being inverted and exposed to the airflow may collide with other transported objects being transported on both sides, and the transported objects are likely to be influenced by each other. As a result, the desired orientation change due to the airflow cannot be achieved, and there is a high risk of the transported orientation changing failing.

[0007] Therefore, an object of the present invention is to provide a mechanism for changing the position of an object to be conveyed, which is capable of stably and reliably changing the position of an object to be controlled by an airflow, and a conveying device equipped with the mechanism. [Means for solving the problem]

[0008] In view of the above situation, the transport position change mechanism for a transported object of the present invention comprises a groove-shaped transport path that transports the transported object in a transport direction by vibrations generated by the transport mechanism, and an air flow outlet for blowing an air flow that rotates the transported object passing through a transport position change location on the transport path around an axis along the transport direction, wherein the transport path has a lowest bottom region that is positioned below the transported object at a position where the transported object can be rotated around the axis by the air flow blown from the air flow outlet at the transport position change location, and the position change location has a rotary guide surface that is connected to the bottom region in a continuous manner and has a contour that extends in a concave curve that can contact the surface of the transported object in a point-like or line-like manner along the width direction in which the transported object moves while rotating around the axis due to the air flow. Here, it is preferable to further provide a transport posture determination means for determining whether or not to blow airflow from the air flow outlet onto the transported object based on the transport posture of the transported object heading towards the posture change location, and an airflow control means for blowing airflow onto the transported object at the transport posture change location depending on the determination result of the transport posture determination means.

[0009] According to the present invention, the airflow control means blows airflow from the airflow nozzle onto the object placed on the bottom region at the position change location of the conveying path in response to the determination result of the conveying position determination means, which detects the conveying position of the object heading toward the conveying position change location. The object then moves in the width direction while rotating around the axis of the conveying direction. The object then smoothly rotates on the rotary guide surface, which is configured as a concave curved surface along the width direction, changing its conveying position and returning to the lowest bottom region. As a result, the rotational force of the airflow allows the object to smoothly rotate on the rotary guide surface, which has a concave curved contour along the width direction, reducing fluctuations in its conveying position due to changes in the height position of the airflow nozzle relative to the object, or changes in the strength and flow rate of the airflow. Furthermore, because the concave curved rotary guide surface is continuous with the bottom region along the width direction, fluctuations in the conveying position of the object due to influences from the conveying surface are less likely to occur compared to when the object is placed on a conveying path with a flat conveying surface. Furthermore, since the transported object controlled by the airflow control means is less likely to be interfered with by other transported objects adjacent to the upstream or downstream side, fluctuations in the transported object's posture due to forces from the transport surface of the transport path and influences from other transported objects in the transport direction are suppressed without hindering changes in the transported posture due to rotation in the width direction. As a result, fluctuations in the transported posture due to factors other than the airflow control means can be suppressed, and the posture of the transported object can be stably and reliably changed by the airflow control means in accordance with the determination result obtained by the transport posture determination means.

[0010] In the present invention, the bottom region preferably has a contour extending in a concave curve that can contact the surface of the transported object in a point-like or linear manner along the width direction. This allows the bottom region to have a concavely curved surface with a contour that is concavely curved, making it possible to easily rotate the transported object placed on the bottom region by the rotational force of the airflow, while achieving a stable transport state that is less likely to cause unintended changes in transport position. Furthermore, the impact of dust and dirt on the bottom region on the transport state can be reduced.

[0011] In the present invention, it is preferable that the contour of the cross-sectional shape of the rotary guide surface along the width direction be formed by a continuous concave curve having a radius of curvature that is equal to or greater than the radius of curvature of a circumscribing circle of the cross-sectional shape of the transported object along the width direction and is not greater than twice the radius of curvature. By setting the curvature within the above appropriate range, the object can be smoothly transported and stably positioned on the bottom region while being able to make point or line contact with the surface of the object, and the transport posture can be easily maintained.

[0012] In the present invention, the airflow is preferably configured to be blown toward the top of the object placed on the bottom region from the side opposite to the extension side of the rotary guide surface. This allows the object placed on the bottom region of the conveying path to rotate in a manner that moves its upper part toward the extension side of the rotary guide surface. In this case, it is desirable to configure the airflow to be ejected obliquely upward from the airflow ejection port. This allows for sufficient rotational force to be applied while reducing the amount of movement in the width direction, thereby enabling the position of the object to be changed smoothly and reliably. However, it is also possible to apply rotational force by blowing the airflow in another direction, such as in the width direction, toward the top of the object.

[0013] In the present invention, the airflow is preferably configured to be blown toward the lower portion of the object placed on the bottom region from the side opposite to the extending side of the rotary guide surface. This allows the object placed on the bottom region of the conveying path to rotate in a manner that moves its lower portion toward the extending side of the rotary guide surface. In this case, it is desirable that the airflow be configured to be blown out from the airflow outlet toward the extending side of the rotary guide surface, i.e., in the width direction. This makes it possible to smoothly and reliably change the position of the object on the rotary guide surface that is configured in a concave curve along the width direction.

[0014] In the present invention, the airflow is preferably configured to be blown from within the bottom region toward a side portion of the object placed on the bottom region, the side portion being on the side where the rotary guide surface extends. This allows the object placed on the bottom region of the conveying path to rotate in a manner that lifts the side portion being on the side where the rotary guide surface extends upward. In this case, the airflow is preferably configured to be blown obliquely upward on the side where the rotary guide surface extends. This allows for a sufficient rotational force to be applied while reducing the amount of movement of the object in the width direction, thereby enabling the object to be smoothly and reliably changed in position on the rotary guide surface configured to have a concave curved contour along the width direction.

[0015] In the present invention, it is preferable that a plurality of the position change locations are provided along the conveying direction on the conveying path, and the rotation guide surface is formed continuously in the conveying direction between the plurality of position change locations. In this way, since similar rotation guide surfaces are formed continuously in the conveying direction, the conveyed objects can be conveyed in a stable position and position between the plurality of position change locations, and therefore it is possible to suppress fluctuations in the conveying position of each conveyed object due to the influence of the conveying surface or the influence of other conveyed objects before and after in the conveying direction.

[0016] In the present invention, the position change location of the conveying path preferably further has a conveyed object regulating surface that regulates the position and arrangement of the conveyed object relative to the air flow outlet from a direction different from that of the bottom region and the rotary guide surface. By providing a conveyance regulating surface that regulates the position and arrangement of the conveyed object relative to the air flow outlet from a direction different from that of the bottom region and the rotary conveying surface, the position and arrangement of the conveyed object relative to the air flow outlet can be regulated and the positional relationship between the air flow and the conveyed object can be limited to a certain extent, thereby stabilizing and stabilizing the magnitude and direction of the rotational force applied by the air flow to the conveyed object, and thereby making it possible to change the position of the conveyed object more stably and reliably.

[0017] In the present invention, the object regulating surface is preferably disposed on the opposite side of the bottom region from the extending side of the rotary guide surface and is provided so as to face the side along which the object rotates. This allows the object's posture and position to be regulated by the object regulating surface, which faces the side along which the object rotates from the opposite side of the extending side of the rotary guide surface. This stabilizes the effect of applying a rotational force to the object by the airflow from the airflow outlet, and the posture-changing and guiding effect of the rotary guide surface on the object, thereby enabling the posture of the object to be changed more stably and reliably.

[0018] In the present invention, the object control surface is preferably formed to have a height of at least half the height of the object from the bottom region as a reference. In particular, it is desirable that the object control surface be formed to have a height equal to or greater than the height of the object. Furthermore, it is desirable that the air flow outlet opens in a part of the object control surface.

[0019] In the present invention, it is preferable that a plurality of the position change locations are provided along the conveying direction on the conveying path, and the conveyed object regulating surface is formed continuously in the conveying direction between the plurality of position change locations.

[0020] Next, a transport device according to the present invention is characterized by comprising the transport posture changing mechanism for the transported object and the transport mechanism that generates the vibration.

[0021] In the present invention, the conveying path preferably includes a downstream conveying path portion downstream of the position change location that slopes downward toward the front of the conveying direction. By providing a downstream conveying path portion downstream of the position change location that slopes downward, the conveying speed of the conveyed objects can be increased downstream of the position change location, preventing jamming of the conveyed objects at the position change location due to a decrease in the conveying speed of the conveyed objects downstream of the position change location. This prevents a decrease in the controllability of the position change of the conveyed objects before and after the position change due to jamming of the conveyed objects, and suppresses changes in the position of the conveyed objects after the position change. In this case, particularly when multiple position change locations are provided in the conveying direction, it is desirable to provide the downstream conveying path portion that slopes downward downstream of the last of the multiple position change locations.

[0022] In the present invention, the conveying path preferably includes an upstream conveying path portion upstream of the position change location that is configured to slope upward toward the front of the conveying direction. By providing an upstream conveying path portion configured to slope upward upstream of the position change location, the conveying speed of the conveyed objects can be reduced upstream of the position change location, thereby suppressing the conveying density of the conveyed objects upstream of the position change location and preventing jamming of the conveyed objects at the position change location. This prevents a decrease in the controllability of the position change of the conveyed objects before and after the position change due to jamming of the conveyed objects, and also prevents the position change of the conveyed objects after the position change. In this case, particularly when multiple position change locations are provided in the conveying direction, it is desirable to provide the upstream conveying path portion with an upward slope upstream of the first of the multiple position change locations. [Effects of the Invention]

[0023] According to the present invention, it is possible to realize a mechanism for changing the attitude of a transported object that is a control target and that can stably and reliably change the attitude of the transported object using an airflow. [Brief explanation of the drawings]

[0024] [Figure 1]1A and 1B are a plan view and a side view showing the overall configuration of a conveying device 100 which is an embodiment of a conveying posture changing mechanism and a conveying device for a conveyed object according to the present invention. [Figure 2] 2A is a perspective view showing an example of an object TG conveyed by the conveying device 100 shown in FIG. 1, FIG. 2B is an end view in the conveying direction F, and FIG. 2C is a side view along the conveying direction F. FIG. [Figure 3] 1A is an enlarged partial plan view showing the area where the conveying path portion within the conveying object alignment control range 111 and the conveying path portion within the conveying posture control range 112 of the conveying path 110 provided on the supply side conveying body 104 of the conveying device 100 are provided, (b) is an enlarged partial plan view and (c) is an enlarged partial cross-sectional view of the conveying path portion 111a in the upstream area, and (d) is an enlarged partial cross-sectional view and (e) is an enlarged partial cross-sectional view of the conveying path portion 111b. [Figure 4] 4A is a cross-sectional view of the supply-side conveyance body 104 taken along line IV-IV in FIG. 3, and FIG. 4B is an enlarged partial cross-sectional view showing a cross-sectional portion of the conveyance path, which is a part of the supply-side conveyance body 104. [Figure 5] FIG. 5 is an enlarged partial cross-sectional view showing an example (first embodiment) of a variation of the cross-sectional structure of the transport path in FIG. 4. [Figure 6] 5 is an enlarged partial cross-sectional view showing another example (second embodiment) of the variation of the cross-sectional structure of the transport path in FIG. 4. FIG. [Figure 7] 5 is an enlarged partial cross-sectional view showing still another example (third embodiment) of the variation of the cross-sectional structure of the transport path in FIG. 4. FIG. [Figure 8] 1A to 1C are cross-sectional views schematically showing variations (fourth to sixth embodiments) of the cross-sectional structure of a transport path according to different aspects. [Figure 9] 10A to 10C are cross-sectional views schematically showing variations (seventh to ninth embodiments) of the cross-sectional structure of the transport path according to further different embodiments. [Figure 10] FIG. 2 is a block diagram illustrating a configuration of a control system for a transport posture changing mechanism for a transported object according to the present embodiment. [Figure 11] 10A and 10B are explanatory diagrams showing the contents of image processing for detecting an object based on an image of the object, determining the orientation of the object, and changing the orientation of the object in this embodiment. [Figure 12]10A to 10C are explanatory diagrams showing how the posture of an object changes over time at posture change locations 112A, 112B, and 112C in this embodiment. [Figure 13] 13A to 13C are explanatory views showing the manner in which the posture of the transported article is changed over time at the posture change location of the embodiment, following the manner in FIG. 12. [Figure 14] 10A and 10B are explanatory diagrams showing an example of a mode of a conveying path in the conveyed object posture changing mechanism of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0025] Next, embodiments of a transport position changing mechanism and a transport device according to the present invention will be described in detail with reference to the accompanying drawings. First, the overall configuration of a first embodiment will be described with reference to Figs. 1 and 2.

[0026] FIG. 1 is a plan view (a) and a side view (b) showing the overall configuration of a conveying device 100 according to this embodiment. The conveying device 100 includes a vibration mechanism 103 including a supply vibration mechanism 101 and a collection vibration mechanism 102, a supply conveying body 104 that is vibrated by the supply vibration mechanism 101, and a collection conveying body 105 that is vibrated by the collection vibration mechanism 102. The conveying device 100 is a vibrating conveying device in which an object is conveyed by the vibration mechanism 103. The conveying device 100 is a conveying device generally called a linear (straight) feeder, more specifically, a circulating linear feeder. However, the embodiment according to the present invention can also be configured using other vibrating conveying devices, such as a bowl feeder or a standalone linear feeder. As is well known, the vibration mechanism 103 applies a reciprocating vibration to the supply conveying body 104, which causes a slight displacement diagonally upward toward the forward direction of conveyance. This reciprocating vibration moves the object along the conveying path described below toward the forward direction of conveyance.

[0027] The transported object TG is not particularly limited. In this embodiment, as an example, a substantially cubic transported object TG is used, as shown in FIG. 2. The transported object TG has a main body TGa and end portions TGe, each consisting of an electrode or the like, at both longitudinal ends. The longitudinal dimension is length L, the width W, the vertical dimension perpendicular to the longitudinal direction, and height H. In this embodiment, L > W, L > H. Here, as shown in the illustrated example, it is preferable that W = H. In the illustrated example, the relationship is L = 2W = 2H, and for example, L = 0.4 mm and W = H = 0.2 mm, which is too small to be shown in FIG. 1. However, the transported object TG is not limited to the illustrated example, as long as it has a three-dimensional shape that allows for changeable transport position, i.e., multiple positions.

[0028] The supply conveying body 104 has a supply conveying path 110 that extends linearly in the left-right direction in the figure. This supply conveying path 110 is formed in a groove shape as a whole from an upstream end 110a on the left side of the figure to a downstream end 110b on the right side of the figure. In addition, a recovery conveying path 120 is provided parallel to the supply conveying path 110 and conveys the conveyed object in the opposite direction to the supply conveying path 110. This recovery conveying path 120 is configured so that its upstream end 120a on the right side of the figure receives the conveyed object TG from midway along the supply conveying path 110, and its downstream end 120b on the left side of the figure delivers the conveyed object TG to the upstream end 110a of the supply conveying path 110. Furthermore, on the side of the supply conveying path 110 on the side facing the recovery conveying path 120, there is formed an inclined guide section 115 having a downward inclined path that guides the conveyed object TG removed from the supply conveying path 110, and a side conveying path 116 that extends in the same direction as the supply conveying path 110 and is configured to send out the conveyed object TG removed further to the recovery conveying path 120 side of this inclined guide section 115 to an upstream end 120a of the recovery conveying path 120. The conveyed object TG removed from the supply conveying path 110 is sent out to a downstream end 120b of the recovery conveying path 120 by the side conveying path 116 via the inclined guide section 115, and is conveyed in the opposite direction (to the left in the figure) on the recovery conveying path 120, and is sent out from the downstream end 120b of the recovery conveying path 120 to the upstream end 110a of the supply conveying path 110. In the illustrated example, in order to set the supply conveying path 110 horizontally in the supply direction, the recovery conveying path 120 is set to gradually rise from the right side to the left side as shown in Figure 1(b) so that the upstream end 120a that receives the rejected conveyed material TG is low and the downstream end 120b that sends the conveyed material TG to the upstream end 110a of the supply side conveying path 110 is high, and accordingly the recovery side conveying body 105 is also set to gradually rise from the right side to the left side.

[0029] In the conveying device 100 of this embodiment, the conveyed object TG is gradually supplied from a conveyed object supply means such as a hopper device (not shown) near the downstream end 120b of the recovery conveying path 120 provided on the recovery conveying body 105. Then, the conveyed object TG circulates between the supply conveying path 110 and the recovery conveying path 120, and is finally supplied from the downstream end 110b of the supply conveying path 110 to various supplied devices that receive the conveyed object TG, such as an inspection device or mounting device (not shown).

[0030] FIG. 3 shows a plan view (a) of the supply conveying path 110 formed on the supply conveying body 104, showing the object alignment control range 111, which is the upstream conveying path range formed from the upstream end 110a, and the conveying posture control range 112, which is the midstream conveying path range formed following the object alignment control range 111. As shown in enlarged partial plan views (b) and (c), the upstream object alignment control range 111 is provided with a conveying path portion 111a having a concavely curved conveying surface with a concavely curved outline in the width direction perpendicular to both the conveying direction and the vertical direction. In this specification, a conveying surface having such a shape is simply referred to as an "R-groove-shaped." In this R-groove-shaped conveying path portion 111a, the conveying object TG operates to be stably conveyed in a conveying posture with its longitudinal direction basically oriented in the conveying direction F, and the conveying object TG1 shown in FIG. 3(b) exhibits this conveying posture. However, among the transported objects supplied, there is also transported object TG2 whose longitudinal direction is oriented in the width direction, so an air flow is blown in the transport direction F using an air flow blowing nozzle 117 or the like, and the transport posture of transported object TG2 is corrected to be like that of transported object TG1.

[0031] Next, in the transported object sorting area 111A provided in a portion having the transport path portion 111a within the transported object alignment control range 111, as shown in FIG. 3(c), the transported object TG4, which is being transported overlapping the transported object TG3 arranged on the transport path portion 111a, is removed to the side from the transport path portion 111a by an airflow from the airflow blowing port 111Pa. The removed object TG4 passes through the aforementioned inclined guide portion 115 and reaches the side transport path 116, and is circulated as described above. In the transported object alignment control range 111, the transported object TG gradually transitions from the R-groove-shaped transport path portion 111a to the transport path portion 111b having the L-shaped cross section shown in FIG. 3(d), stabilizing the transport posture of the transported object TG. Specifically, the transition from conveying path portion 111a to conveying path portion 111b begins with a part of the R-groove-shaped conveying surface, and an L-shaped conveying surface (hereinafter simply referred to as "L-groove") having a structure in which two flat surfaces intersect at approximately right angles is gradually dug in and expanded as it progresses in the conveying direction F, until eventually the entire surface is configured in an L-groove shape.

[0032] In the transported object sorting area 111B provided in the L-groove-shaped transport path portion 111b within the transported object alignment control range 111, as shown in FIG. 3(d), transported object TG6, which is transported overlapping on top of transported object TG5, is removed by an airflow blown from the airflow outlet 111Pb. The removed object TG6 is circulated in the same manner as the above-mentioned transported object TG4. In addition, in the transported object sorting area 111C further downstream in the transported object alignment control range 111, as shown in FIG. 3(e), transported object TG7, whose longitudinal direction is oriented in the width direction on the transport path portion 111b, is removed by blowing air from the airflow outlet 111Pc located above. The removed object TG6 is circulated in the same manner as the above-mentioned transported object TG4.

[0033] In the conveying attitude control range 112, conveying attitude change locations 112A, 112B, and 112C are provided along the conveying direction F. FIG. 4 is a cross-sectional view (a) showing the overall cross-sectional structure including the conveying path portion 112a at the conveying attitude change locations 112A, 112B, and 112C within the conveying attitude control range 112, and an enlarged partial cross-sectional view (b) of the conveying path portion 112a in the cross-sectional view (a). Note that the cross-sectional view (a) shows the cross-sectional structure taken along line IV-IV (a dashed line) in FIG. 3. The supply conveyor 104 is provided with a main body 104A extending along the conveying direction F and an additional block 104B detachably attached to the main body 104A. The transport path portion 112a is composed of a groove provided in the main body portion 104A and an object support surface provided in the additional block 104B facing the groove, and an airflow blowing path 112Q toward the transport path portion 112a is formed between the main body portion 104A and the additional block 104B. An airflow supply path 112R passing through the additional block 104B is formed by attaching a tube drawn from an airflow supply facility (not shown) (including a compressor, gas cylinder, piping, and on-off valves such as solenoid valves). The airflow supply path 112R communicates with the airflow blowing path 112Q and guides the airflow supplied from the airflow supply facility to airflow outlets 112P (112Pa, 112Pb, 112Pc), or airflow outlet 112Pc in the illustrated example, thereby applying a rotational force to the transported object TG. Furthermore, the airflow supply path 112R communicates with an air vent path 112S formed between the main body 104A and the additional block 104B. Because this air vent path 112S is open to the outside, when the supply of airflow from the airflow supply equipment stops after the airflow is blown from the airflow outlet 112P via the airflow supply path 112R and the airflow blowing path 112Q, the pressure within the airflow supply path 112R can be rapidly released to the outside, making it possible to quickly stop the airflow blown from the airflow outlet 112P. Here, as shown in FIG. 4(a), it is preferable that the air vent path 112S is configured to communicate with the airflow supply path 112R on the upstream side of the airflow blowing path 112Q and to extend to the outside on the opposite side of the airflow blowing path 112Q.

[0034] As shown in FIG. 4(b), the conveying path portion 112a of the first embodiment has a bottom region (lowest surface portion) 112b within the groove structure and a rotary guide surface 112c having a contour extending in a concave curve from the bottom region 112b to the right side in the figure. The airflow outlet 112P (112Pc) is configured to blow an airflow obliquely upward from the left side of the groove structure of the conveying path portion 112a toward the top of the conveyed object TG. Therefore, when the conveyed object TG is placed on the bottom region 112b, the airflow blows obliquely upward toward the top of the conveyed object TG, causing it to rotate clockwise in the figure and move in the width direction (dW, described below). This width direction is perpendicular to both the conveying direction F and the vertical direction (dV, described below). The conveyed object TG rotates due to the airflow and moves in the width direction to the right side in the figure. Therefore, the rotation guide surface 112c has a concave curved contour that is continuous with the bottom region 112b and extends to the right in the drawing along the width direction.

[0035] The bottom region 112b is the portion that has the lowest conveying surface in the groove-shaped (R-groove-shaped) conveying path 112a, and the surface of the bottom region 112b may be smoothly connected so that the rotation guide surface 112c is continuous. However, in order to suppress interference with the conveyed object TG, the surface of the bottom region 112b is preferably configured so that the outer surface of the conveyed object TG comes into point contact or line contact with the surface of the rotation guide surface 112c, similar to the rotation guide surface 112c. In particular, it is desirable to configure the surface of the bottom region 112b so that it has a contour that extends in a concave curve along the width direction, similar to the rotation guide surface 112c.

[0036] The conveying path portion 112a is provided with an article control surface 112d that controls the conveyed article TG from a direction different from that of the bottom region 112b and the rotary guide surface 112c. The article control surface 112d is formed as part of the conveying path support surface, facing the rotary guide surface 112c on the opposite side of the bottom region 112b from the rotary guide surface 112c. In the illustrated example, the article control surface 112d is disposed adjacent to the bottom region 112b. Also, in the illustrated example, the article control surface 112d is configured as a vertical surface along the vertical direction. Furthermore, an air flow outlet 112P opens in a part of the article control surface 112d. The air flow blown from the air flow outlet 112P is blown obliquely upward toward the upper left side of the article TG, which is disposed above the bottom region 112b and disposed adjacent to the article control surface 112d. However, even if the airflow is directed toward the upper part of the transported object TG and blown in the width direction (to the right in the figure), the transported object TG can be rotated, although the amount of movement of the transported object TG in the width direction increases slightly.

[0037] Next, with reference to FIGS. 5 to 7, the effects of the transport position change locations 112A, 112B, and 112C of the transport path portion 112a will be described. Here, FIG. 5 is a first embodiment showing an example of the transport path portion 112a when the aforementioned transported object control surface 112d is not provided. FIG. 6 is a second embodiment showing an example in which the transported object control surface 112d is provided, but the height of the transported object control surface 112d is lower than the height H of the transported object TG, and an air flow outlet 112P is formed above the transported object control surface 112d. Furthermore, FIG. 7 is a third embodiment showing an example in which the height of the transported object control surface 112d is equal to or higher than the height H of the transported object TG, and the air flow outlet 112P opens in a part of the transported object control surface 112d. The third embodiment has a structure corresponding to the transport path portion 112a of the present embodiment shown in FIG. 4(b).

[0038] First, referring to FIG. 5, the effect of the rotary guide surface 112c in the conveying path portion 112a will be described. In the first embodiment, the rotary guide surface 112c has a concave curved surface having a concave curved contour with a radius of curvature Rc and a center of curvature Oc set above the center position of the bottom region 112b in the width direction dW. However, the rotary guide surface 112c according to the present invention does not need to have a fixed center of curvature Oc, nor does it need to have a constant radius of curvature Rc. It is sufficient that the contour of the surface along the width direction dW as a whole is configured as a concave curve that is continuous with the bottom region 112b. The rotary guide surface 112c may be a concave curved surface that makes point or line contact with the outer surface of the transported object TG. However, it is preferable that the radius of curvature of the concave curve that is the contour of the cross-sectional shape of the rotary guide surface 112c is within a range from greater than or equal to twice the radius of the circumscribing circle of the cross section of the transported object TG. This is because if the radius of curvature becomes too small below the above range, the smoothness of the conveying behavior of the transported item TG in the conveying direction F decreases, and if the radius of curvature becomes too large above the above range, the conveying surface approaches a flat surface, and the effect of the present invention cannot be obtained.

[0039] In this embodiment, the airflow outlet 112P is configured to blow the airflow obliquely upward toward the upper portion of the object TG placed on the bottom region 112b. Therefore, the rotational force of the airflow causes the object TG to rotate clockwise as shown by the two-dot chain line, and the object TG moves to the right in the width direction while rising slightly obliquely upward. Since the rotation guide surface 112c has a concave curved contour along the width direction dW, when the object TG assumes the rotational position shown by the three-dot chain line, the second outer surface TGb adjacent to the first outer surface TGa that initially faced the bottom region 112b faces the rotation guide surface 112c. Then, as the rotational force of the airflow decreases, the object TG is finally positioned again on the bottom region 112b, with the second outer surface TGb facing the rotation guide surface 112c, as shown by the dashed line.

[0040] (Action and effect of the rotation guide surface 112c having a concave curved contour) As described above, by providing the rotary guide surface 112c having a concave curved contour in the width direction that is continuous with the bottom region 112b of the groove-shaped portion of the conveying path portion 112a, the conveyed object TG, which moves in the conveying direction F due to the vibration of the supply conveyor 104, is smoothly guided toward the bottom region 112b by the concave curved rotary guide surface 112c. Therefore, compared to a case where a flat conveying surface with an L-shaped groove such as the conveying path portion 111b is provided, the conveyed object TG is less likely to move linearly due to the force received from contact with the conveying surface and is more likely to return to the bottom region 112b. Therefore, when not subjected to a rotational force due to the airflow, the conveyed object TG is placed in a stable conveying position on the bottom region 112b and is less likely to move away from the bottom region 112b. Therefore, the conveyed object TG that is not on the bottom region 112b is more likely to move smoothly toward the bottom region 112b without changing its conveying position. On the other hand, when subjected to a rotational force due to the air flow, the rotation guide surface 112c is less likely to hinder the rotation of the transported item TG within the transport path portion 112a, making it easier for the transported item TG to rotate around the axis of the transport direction F, thereby eliminating the possibility of failure to change posture due to the air flow.

[0041] (Effect of the direction of rotation caused by the airflow on the rotation guide surface 112c) In particular, in the first embodiment, the object TG on the bottom region 112b rotates clockwise due to the rotational force of the airflow blown onto its upper corners (see the solid line, two-dot chain line, and three-dot chain line in FIG. 5 ) and moves slightly to the right in the width direction. Therefore, to change the outer surface facing the bottom region 112b from the first outer surface TGa to the adjacent second outer surface TGb, the conveying orientation needs to be rotated 90 degrees clockwise. However, since the rotation guide surface 112c, which has a concave curved contour, is inclined counterclockwise relative to the bottom region 112b as it moves toward the right in the width direction, if the conveying orientation is considered to have changed when the second outer surface TGb faces the opposing conveying surface, the amount of rotation of the object TG required to change the conveying orientation becomes smaller than the 90-degree angle difference between the adjacent outer surfaces due to the above-mentioned movement in the width direction. Therefore, changing the conveying orientation by the rotation of the object TG about the axis of the conveying direction F caused by the airflow is further facilitated. In addition, the transported goods TG rotates as the airflow is blown onto the top of it, moving in the width direction of the rotary guide surface 112c, and after changing its transport posture, it returns to the original position on the bottom region 112b by the rotary guide surface 112c, so that the transported goods TG do not rise significantly above the bottom region 112b, and the posture change can be completed without disturbing the vertical row state.

[0042] (Effects of the bottom region 112b having a concave curved contour) In this embodiment, as shown in Figure 4(b) and Figures 5 to 7, the bottom region 112b is not simply continuous with the rotation guide surface 112c, but the bottom region 112b itself has a concavely curved surface with a concavely curved contour along the width direction dW. In particular, in the first embodiment shown in Figure 5, the conveying path portion 112a has a concavely curved contour over the entire width direction. As a result, regardless of where the conveyed object TG is located within the conveying path portion 112a, it is in point or line contact with the conveying surface, thereby reducing the generation of static electricity during conveying and the effects of dust accumulating on the conveying path (such as dust adhesion and clogging of the conveyed object due to dust).

[0043] (Action and effect of the transported object regulation surface 112d) In this embodiment, similar to the second embodiment shown in FIG. 6 and the third embodiment shown in FIG. 7, the transported article control surface 112d is provided on the left side in the width direction in the drawing. This transported article control surface 112d basically controls the transported article TG from a different direction from the bottom region 112b and the rotation guide surface 112c. In particular, in the illustrated example, in this embodiment, the transported article control surface 112d is provided on the same side as the air flow outlet 112P with respect to the transported article TG on the bottom region 112b. Therefore, the transported article control surface 112d controls the transported article TG from the left side in the width direction in the drawing, which is the side from which the air flow is blown onto the transported article TG. The position of the transported article TG in the width direction dW within the transport path portion 112a is controlled by the transported article control surface 112d. Therefore, the transported article regulating surface 112d stabilizes the widthwise arrangement and transport posture of the transported article TG within the transport path portion 112a, and also stabilizes the action of the airflow on the transported article TG by regulating the relative position of the transported article TG with respect to the airflow outlet 112P. Here, as in the second embodiment shown in Fig. 6, the transported article regulating surface 112d may be lower than the height H of the transported article TG above the bottom region 112b. However, as in the third embodiment shown in Fig. 7, the transported article regulating surface 112d is formed to be equal to or higher than the height H of the transported article TG above the bottom region 112b, thereby further improving the stability of the transport position and transport posture of the transported article TG. Furthermore, by providing the airflow outlet 112P so that it opens in a part of the transported article regulating surface 112d, it is possible to reduce the escape of the airflow, and therefore the airflow can be more efficiently blown toward the transported article TG, thereby further improving the controllability of the transport posture of the transported article TG.

[0044] When the article control surface 112d is provided as shown in FIGS. 4(b), 6, and 7, the center of curvature Oc of the rotation guide surface 112c is preferably positioned directly above the axis of the conveying direction F of the article TG when the article TG is placed at the center of the bottom region 112b, regardless of the article control surface 112d, as shown in FIG. 4(b), or directly above the axis of the conveying direction F of the article TG placed on the bottom region 112b so as to be in contact with the article control surface 112d, as shown in FIG. 6, or at a position offset by ΔW toward the rotation guide surface 112c from the axis, as shown in FIG. 7. In this case, ΔW is preferably equal to or less than half the width W or height H of the article TG. This allows the article TG to be turned over on the spot without significantly disrupting the conveying queue of the article TG. 4(b), 5, 6, and 7, when the rotary guide surface 112c is formed with a contour having a single radius of curvature Rc about a single center of curvature Oc, it has the advantage of facilitating the processing of the groove structure of the conveying path portion 112a and uniformly realizing the effects of the concavely curved conveying surface over the entire rotary guide surface 112c. In any of the above cases, it is further desirable, from the same viewpoint as above, to configure the bottom region 112b to have a conveying surface formed in a concave curved shape with the same contour having the same center of curvature Oc and the same radius of curvature Rc as the rotary guide surface 112c.

[0045] Next, Figures 8(a)-(c) show a second embodiment having a cross-sectional structure of the transport path portion 112a at the transport position change location that is different from the first embodiment shown in Figure 4(b) and the embodiments shown in Figures 5 to 7. Here, Figure 8(a) is a fourth embodiment showing an example of the transport path portion 112a when the aforementioned transported object control surface 112d is not provided. Also, Figure 8(b) is a fifth embodiment showing an example in which the transported object control surface 112d is provided, but the height of the transported object control surface 112d is lower than the height H of the transported object TG, and an air flow outlet 112P' is formed in a portion (lower portion) of the transported object control surface 112d. Furthermore, Figure 8(c) is a sixth embodiment showing an example in which the height of the transported object control surface 112d is equal to or greater than the height H of the transported object TG, and an air flow outlet 112P' is opened in a portion (lower portion) of the transported object control surface 112d. The sixth embodiment has a structure corresponding to the transport path portion 112a of the present embodiment shown in Fig. 4(b). In this embodiment, in each of the above embodiments, the air flow outlet 112P' is arranged at the bottom near the bottom region 112b, and the air flow is blown in the width direction dW toward the bottom of the transported object TG placed on the bottom region 112b.

[0046] The second embodiment can also achieve essentially the same effects as the first embodiment. However, in the second embodiment, the airflow applies a rotational force to the lower part of the transported object TG, causing the transported object TG to rotate counterclockwise in the figure. At this time, the transported object TG rotates while moving slightly upward and to the right, changes its outer surface facing the bottom region 112b and the rotary guide surface 112c, descends onto the rotary guide surface 112c, and finally returns from the rotary guide surface 112c to the bottom region 112b. In this illustrated example, the airflow is blown in the tangential direction of the surface of the bottom region 112b and the surface of the rotary guide surface 112c, so the transported object TG rotates stably along the surfaces of the bottom region 112b and the rotary guide surface 112c, allowing the transported object TG to reliably and quickly change its transport posture.

[0047] Next, FIGS. 9(a)-(c) show a third embodiment having a cross-sectional structure of the transport path portion 112a at the transport posture change location that is different from the first embodiment shown in FIG. 4(b), the examples shown in FIGS. 5 to 7, and the second embodiment shown in FIG. 8. Here, FIG. 9(a) is a seventh embodiment showing an example of the transport path portion 112a when the aforementioned transported object control surface 112d is not provided. Also, FIG. 9(b) is an eighth embodiment showing an example in which the transported object control surface 112d is provided but the height of the transported object control surface 112d is lower than the height H of the transported object TG. Furthermore, FIG. 9(c) is a ninth embodiment showing an example in which the height of the transported object control surface 112d is equal to or greater than the height H of the transported object TG. The ninth embodiment has a structure corresponding to the transport path portion 112a of the present embodiment shown in FIG. 4(b). In this embodiment, in each of the above examples, the air flow outlet 112P'' is opened in the bottom region 112b, and air is blown diagonally upward to the right side of the illustration toward the right-hand side portion of the lower part of the transported object TG placed on the bottom region 112b.

[0048] The third embodiment can also achieve essentially the same effects as the first embodiment. However, in the third embodiment, the airflow applies a rotational force to the right-hand portion of the lower part of the transported object TG, causing the transported object TG to rotate counterclockwise in the illustration. At this time, the transported object TG rotates while moving slightly upward and to the right, changes its outer surface facing the bottom region 112b and the rotary guide surface 112c, and then descends onto the rotary guide surface 112c. Finally, it returns from the rotary guide surface 112c to the bottom region 112b. In this illustrated example, the airflow is blown obliquely upward from the surface of the bottom region 112b, thereby reducing the amount of movement of the transported object TG to the right in the width direction. This allows the transported object TG to stably rotate on the spot along the surfaces of the bottom region 112b and the rotary guide surface 112c, thereby enabling the transported object TG to reliably and quickly change its transport posture.

[0049] Next, the configuration and operation method of the control unit of the conveying device 100 according to each embodiment will be described with reference to FIG. 10. The control unit of the conveying device 100 includes a conveying control unit that controls and drives the vibration mechanism unit 103 including the supply vibration mechanism 101 and the recovery vibration mechanism 102, and a material supply control unit such as a supply hopper (not shown). However, since these are well-known technologies, this specification will only describe a control system for blowing airflows from the airflow outlets 112Pa, 112Pb, and 112Pc at the conveying attitude change locations 112A, 112B, and 112C. In this embodiment, the control system includes a conveyed object detection unit 106, a conveying attitude determination unit 107, an airflow control unit 108, and an airflow driving unit 109, all of which are shown in FIG. 10. The transported object detection unit 106 has a transported object imaging unit 106A that captures an image of the transport attitude control range 112 of the transport path 110 shown in Figures 1 and 3, and a transported object image processing unit 106B that processes the transported object image captured by the transported object imaging unit 106A. The transported object attitude determination unit 107 determines the transported object attitude from the image processing data sent from the transported object image processing unit 106B, and outputs a signal corresponding to the determination result to the airflow control unit 108. The airflow control unit 108 controls the airflow driving unit 109 to operate in accordance with the determination result. The airflow driving unit 109 is configured by a structure such as a solenoid valve or a switching valve that can set whether or not to blow airflow from the airflow outlet 112P.

[0050] The transported object imaging unit 106A is configured with a camera device, only a portion of which is shown in FIG. 1, and periodically or irregularly captures an image of the imaging area 106X shown in FIG. 3. An example of this image is shown in FIG. 11. The transported object image 106Y shown in FIG. 11 is a partial image included in the entire image captured by the transported object imaging unit 106A having the imaging area 106X, and limited to the area through which the transported object TG is transported, within a range necessary for determining the transport posture of the transported object TG. As shown in FIG. 11, the transported object image processing unit 106B detects and searches for the transported object TG at locations corresponding to the transport posture change locations 122A, 122B, and 122C in the transported object image 106Y. At each of the transport posture change locations 122A, 122B, and 122C, a detection area Da is set upstream of the first detection position Px, and a predetermined portion of the transported object TG (e.g., the center of the transport direction F) is detected in this detection area Da.

[0051] To ensure a stable photographing state, the transport image 106Y is not placed on the vibration mechanism 103 of the transport device 100, but is placed on a vibration isolation table or other location around the vibration mechanism 103 that is less susceptible to vibration. Therefore, the transport image 106Y is distorted left and right in the figure due to the reciprocating vibration of the supply transport body 104 in the transport direction F. Therefore, a reference mark 112Tc (which may be a character, symbol, figure, pattern, or other component exposed on the surface) provided on the supply transport body 104 is provided inside the transport image 106Y. The reference mark 112Tc is detected in a confirmation area Ca in the transport image 106Y, and the position of the reference mark 112Tc within the confirmation area Ca is detected. Based on the position of the reference mark 112Tc, the detection area Da set in the transport image 106Y and the first detection position Px and the second detection position Py (described later) are corrected in image processing settings to compensate for the image misalignment due to vibration.

[0052] When periodically capturing the conveyance image 106Y in the conveyed object imaging unit 106A, when the length of the conveyed object TG in the conveyance direction F is L [mm], the length of the detection area Da in the conveyance direction F is DL [mm], the imaging period is Ts [sec], and the conveyance speed of the conveyed object TG is Vs [mm / sec], the length DL of the detection area Da is set as follows. DL≧L+Ts·Vs…(1) This is to ensure that all the conveyed objects TG being conveyed in the conveyance path portion 112a are captured in such a manner that they can always be detected within the detection area Da of any one of the conveyance images 106Y by adjusting the relationship between the imaging interval of the conveyance image 106Y and the detection range of the detection area Da. In reality, there are variations in the above-mentioned conveyance speed Vs for each conveyed object TG, depending on the location or over time. Therefore, it is preferable to set it so that all the conveyed objects TG are preferably captured in two or more conveyance images 106Y, and desirably three or more conveyance images 106Y. That is, in the following formula, DL≧L+n·Ts·Vs…(2) It is preferable that the natural number n is 2 or more, and desirably 3 or more. For example, by setting the natural number n to be in the range of 3 - 7, it is possible to ensure the balance between the certainty and accuracy of the conveyance image processing and the processing load on the control unit. This is because when n is small, there is a high risk of missed capture (and consequently missed detection) of the conveyed object TG due to variations in the conveyance speed, and conversely, when n is large, the burden of image processing increases. However, if the length DL of the detection area Da exceeds twice the length L of the conveyed object TG, there is a possibility that two or more conveyed objects TG are detected simultaneously in the detection search process within the detection area Da, which complicates the image processing and makes it difficult to increase the speed. For this reason, it is preferable that DL≦L×2, and particularly, it is desirable that DL<D×2.

[0053] In addition, in the case where the transported goods imaging unit 106A irregularly captures the transported goods images 106Y, when the transported goods TG reaches a predetermined detection position, a detector such as an optical sensor may detect the transported goods TG, and the detection signal of this detector may be used as a trigger to perform imaging. In this way, imaging is performed by the detector every time the transported goods TG reaches the detection position, so that the transported goods images 106Y can be acquired when all the transported goods TG arrive.

[0054] When the conveyance image processing unit 106B detects the conveyance object TG in the detection area Da shown in Fig. 11, it derives conveyance posture data according to the appearance of the detected conveyance object TG. In the illustrated example, since there are multiple (3) conveyance posture change locations 112A, 112B, and 112C in one conveyance image 106Y, the conveyance posture data and whether the conveyance object TG is detected in the detection area Da at each location are derived in parallel. In the example shown in Fig. 11, the channels CH1, CH2, and CH3 of the conveyance image processing unit 106B for each of the conveyance posture change locations 112A, 112B, and 112C operate in parallel, and the whether or not the conveyance object TG is detected and the conveyance posture data for each channel are sent to the determination processing units 107A, 107B, and 107C of the conveyance posture determination unit 107.

[0055] The transported object TG detected in the detection area Da is detected by a detection search performed by image processing such as pattern matching, such as a gray search. Furthermore, the detected image D1 of the transported object TG detected by the detection search is analyzed by image processing in the transport posture determination unit 107, and it is determined whether the transported object TG is in a normal transport posture or not. Once the transported object TG is detected by the detection search in a certain transport image 106Y, it is tracked by a tracking search in the subsequent transport image 106Y, and the position (range) of the tracking image T1 of the transported object TG is derived. The tracking search is performed, for example, by performing a detection search within a prediction area (not shown) set at a position forward a predetermined distance corresponding to the transport speed Vs from the previous detection position of the transported object TG. The forward movement amount and area range of the prediction area are set appropriately depending on the situation. This tracking search is repeated until a predetermined portion of the tracking image (e.g., the leading edge in the transport direction F) reaches the second detection position Py, in which case tracking images T2, T3, ... are identified. The detected image D1 and tracking images T1, T2, etc. of the transported object TG may be repeatedly used in the transporting attitude determination unit 107 to derive the transporting attitude, or the transporting attitude may be derived only for the first detected image D1.

[0056] In the conveying posture determination unit 107 (107A, 107B, 107C), four outer surfaces are provided at 90-degree intervals around the axis of the conveying direction F of the conveyed object TG, whose longitudinal direction is aligned along the conveying direction F by the conveying path portions 111a and 111b of the conveyed object alignment control range 111, so the conveyed object TG can take one of four different conveying postures on the conveying path portion 112a depending on the rotational posture around the axis. In Figure 11, one of the four outer surfaces of the conveyed object TG is marked with a circle, and the posture in which this one outer surface is positioned at the front of Figure 11 is shown as the normal conveying posture.

[0057] For a transported object TG that is determined by the transport posture determination unit 107 (107A, 107B, 107C) to not be in a normal transport posture, when a tracking search causes a predetermined portion (e.g., the center position in the transport direction F) of the tracking image T1, T2, ... of the transported object TG to pass a first detection position Px, an operation timing is set based on that time and position, and an airflow control unit 108 (108A, 108B, 108C) described later operates an airflow driving unit 109 (109A, 109B, 109C), thereby blowing airflow from airflow outlets 112Pa, 112Pb, 112Pc toward the transported object TG. On the other hand, for a transported object TG that is determined by the transport posture determination unit 107 to be in a normal transport posture, the airflow control unit 108 does not operate the airflow driving unit 109 even if the predetermined portion passes the first detection position Px, and no airflow is blown toward the transported object TG.

[0058] In this embodiment, three conveyance posture change locations 112A, 112B, and 112C are provided in the conveyance posture change range 112, allowing the conveyance posture to be rotated by 90 degrees at each location. This allows any conveyance object TG in any of the four conveyance postures (determined by which of the four outer surfaces faces the bottom region 112b) to ultimately be returned to the correct conveyance posture. Furthermore, in this embodiment, processing in channel CH4 of the conveyance image processing unit 106B is performed at conveyance posture detection location 112D, which is located downstream of all conveyance posture change locations 112A, 112B, and 112C in the conveyance posture change range 112. The same processing as that performed by the conveyance posture determination unit is performed at conveyance posture detection location 112D, where the conveyance posture is determined based on detected image D1 and tracking image T1 of the conveyance object TG and the number of determination results is counted, thereby confirming the conveyance posture and measuring its accuracy. Here, the number of conveyance objects TG, conveyance timing (conveyance density), and the number of improper conveyance postures can be further measured. Note that the symbols TG1-TG6 of the transported objects in Figures 12 and 13 each indicate a specific transported object TG, and are intended to allow one to understand how the transport posture of a specific transported object changes as the transport image changes, and how it is finally aligned to a single normal posture.

[0059] 12(a)-(c) and 13(a)-(c) are explanatory diagrams sequentially illustrating the process of aligning the conveyance posture of the conveyed object TG by changing the conveyance posture at the conveyance posture change locations 112A, 112B, and 112C. Of these six conveyance images 106Y, FIGS. 12(a)-(c) and 13(a) and (b) illustrate selected conveyance images 106Y captured at time intervals during which the conveyance object TG moves a distance slightly greater than the length L of the conveyance object TG in the conveyance direction F. Therefore, in practice, multiple conveyance images 106Y captured between each conveyance image 106Y are acquired by the conveyance image capturing unit 106A and sequentially sent to the conveyance image processing unit 106B for processing. The correspondence between specific conveyance objects TG whose conveyance postures have been changed between the illustrated figures is indicated by diagonal dashed double-dashed lines. 13(b) and 13(c), the time interval is slightly longer than in the above case, in which the transported object TG moves 1.5 times the length L. From the relationship between these figures, it can be understood that the changes in the transport attitude at the transport attitude change locations 112A, 112B, and 112C result in the transport attitude of the transported object TG being aligned downstream of these locations. Similar to the transport image 106Y shown in FIG. 11, FIGS. 12 and 13 show the image capture area 106X shown in FIGS. 1(a) and 3(a) viewed from above. Although the air flow outlet 112P is open on the near side, the air flow outlet 112P is not visible, and therefore the approximate position of the hidden air flow outlet 112P is indicated by a dotted line.

[0060] In this embodiment, if the conveying posture of the article TG is not appropriate at each of the conveying posture change locations 112A, 112B, and 112C, it is corrected to an appropriate one. In this case, the reason why the multiple conveying posture change locations 112A, 112B, and 112C can be set at extremely short distances as shown in the diagram is that, as described above, the cross-sectional structure of the conveying path portion 112a at each of the conveying posture change locations 112A, 112B, and 112C has the rotary guide surface 112c having a contour that extends in a concave curve shape along the width direction continuously with respect to the bottom region 112b, so that unintended changes in the conveying posture of the article TG are small, and the article TG whose conveying posture is changed by airflow is not easily affected by other articles TG, so that even if the distance between the multiple conveying posture change locations 112A, 112B, and 112C is shortened, adverse effects due to interference between the articles TG are unlikely to occur.

[0061] In this embodiment, since the distances between the multiple transport attitude change locations 112A, 112B, and 112C can be reduced as described above, the overall length of the transport device 100 can be shortened, thereby making the device more compact. Furthermore, since the multiple transport attitude change locations 112A, 112B, and 112C can be accommodated within the imaging range of a single imaging device (camera), i.e., the imaging area 106X described above, as in this embodiment, the cost of the detection system can be reduced. Furthermore, in this embodiment, since multiple regions can be detected and determined by processing the transport image 106Y within a single imaging area 106X, the detection and determination process can be simplified.

[0062] In this embodiment, when the intervals between the plurality of conveying posture change locations 112A, 112B, and 112C are shortened to a distance of several times the length L of the conveyed object TG (for example, between 3L and 5L), it is preferable that the cross-sectional structure of the conveying surface of the conveying path portion 112a is not changed along the conveying direction F, and the contour shapes of the bottom region 112b and the rotation guide surface 112c are configured to be similar and continuous. This is to prevent the occurrence of instability and variation in the conveyed posture due to interference between the front and rear conveyed objects TG in the conveying direction F. Furthermore, when the above-mentioned conveyed object control surface 112d is provided in the above-mentioned cross-sectional structure, it is preferable that this conveyed object control surface 112d is also provided continuously along the conveying direction F. This further stabilizes the conveying posture of the conveyed object TG and further prevents interference between the front and rear conveyed objects TG in the conveying direction F.

[0063] 14 is an explanatory diagram showing the transport path portion 112a in the transport position change range 112 of this embodiment, including the transport path regions before and after it. In this example, the in-range transport path 112af within the transport position change range 112, where multiple transport position change locations 112A, 112B, and 112C of the transport path portion 112a are provided, is formed horizontally along the transport direction F. On the other hand, the downstream transport path 112ad provided downstream of the in-range transport path 112af may be formed with a downward slope in the forward direction of the transport direction F. In this way, the transport speed of the transported object TG on the downstream transport path 112ad is increased, and therefore, the transported objects TG on the in-range transport path 112af of the transport path portion 112a are prevented from abutting against or interfering with each other in the transport direction F due to accumulation of the transported object TG on the downstream transport path. In contrast, within the conveying posture change range 112, as described above, the conveying path is horizontal, so fluctuations in conveying speed are less likely to occur, unintentional collisions or interference between the preceding and following conveyed items TG are prevented, and stable conveying posture corrections can be made.

[0064] 14, the upstream conveying path 112au provided on the upstream side of the conveying posture change range 112 may be provided with an upward slope in the forward direction of the conveying direction F. In this way, the conveying speed of the conveyed object TG on the upstream conveying path 112au decreases, making it less likely that the conveyed object TG will stagnate in the conveying path portion 112a on the downstream side, and preventing the conveyed objects TG on the front and rear sides in the conveying direction F from contacting or interfering with each other on the in-range conveying path 112af of the conveying path portion 112a. Note that the downwardly inclined downstream conveying path 112ad and the upwardly inclined upstream conveying path 112au may both be provided at the same time, or only one of them may be provided.

[0065] The transported object TG that has passed through the above-mentioned transport posture control range 112 passes through a transported object alignment control range 113 that is similar to the above-mentioned transported object alignment control range 111, where the alignment state is checked again, and then passes through a transported object delivery range 114 provided in the most downstream area of ​​the transport path 110 and is carried out from the downstream end 110b of the transport path 110. Here, in the transported object delivery range 114, a box-shaped transport path portion is formed that allows the transported object TG in a normal transport posture to be transported without changing its posture. For example, a culvert-shaped transport path is configured at the top of an L-groove-shaped transport path with a cover structure that covers the transported object TG from above.

[0066] The method and apparatus of the present invention are not limited to the illustrated examples, and various modifications may be made without departing from the spirit and scope of the present invention. For example, in the above-described embodiments, the rotary guide surface 112c is formed on the right side of the bottom region 112b of the conveying path portion 112a in the width direction as illustrated, and an airflow is blown onto the conveyed object TG from the left side in the width direction as illustrated. However, the left-right relationship in the width direction dW as illustrated may be reversed. Furthermore, as in the above-described embodiments, the bottom region 112b is preferably a concave curved surface having a concave curved contour similar to the rotary guide surface 112c. However, in the present invention, it is sufficient if the bottom region 112b has a conveying surface continuous with the rotary guide surface 112c, and may be, for example, a flat surface having a flat contour.

[0067] Furthermore, in the present invention, the transported object determination means is not limited to the means employed in the above embodiment that detects and determines the transport posture of the transported object by processing the transported image of the transported object, but various configurations can be used, such as a means that determines the transport posture by detecting the shape and other aspects of the transported object based on the presence or absence of a detection value (presence or absence of transmitted light) or the detection amount (amount of reflection) using various detectors such as an optical sensor or a proximity sensor. Furthermore, various configurations can be used for the airflow control means. [Explanation of symbols]

[0068] 100... Conveying device (circulating linear feeder), 101... supply vibration mechanism, 102... recovery side vibration mechanism, 103... vibration mechanism section, 104... supplying conveying body, 105... recovery conveying body, 106... conveyed object detection section, 106A... conveyed object imaging section, 106B... conveyed object image processing section, 106X... imaging area, 106Y... conveyed object image, 107... conveyed object posture determination section, 108... air flow control section, 109... air flow driving section, 110... conveying path, 110a... upstream end, 110b... downstream end, 111, 113... conveyed object alignment control range, 111A, 111B, 111C... conveyed object sorting location, 111a, 111b... conveying path section, 112... conveyed object posture control range, 112A, 112 B, 112C...conveyor position change location, 111Pa, 111Pb, 111Pc...air flow outlet, 112a...conveyor path portion (within conveyor position control range), 112b...bottom area, 112c...rotary guide surface, 112d...conveyed object regulation surface, 112Pa, 112Pb, 112Pc...air flow outlet, 113...conveyed object alignment control range, 112Q...air flow blowing path, 112R...air flow supply path, 112S...air extraction path, 114...conveyed object delivery range, 115...inclined guide section, 116...side conveyor path, 114...TG...conveyed object, L...length (in conveyor direction), W...width (dimension in width direction), H...height (dimension in vertical direction), F...conveyor direction, Rc...curvature radius (of rotary guide surface)

Claims

1. a groove-shaped conveying path that conveys the object in a conveying direction by vibrations generated by a conveying mechanism; an airflow outlet for blowing an airflow that rotates the object passing through a position change position on the conveying path about an axis along the conveying direction; Equipped with The conveying path has a lowest bottom region that is located below the conveyed object at a position where the conveyed object can be rotated around the axis by the air flow blown from the air flow outlet at the conveying posture change location, and the posture change location has a rotary guide surface that is connected to the bottom region so as to be continuous with the bottom region and has a contour that extends in a concave curve that can contact the surface of the conveyed object in a point-like or linear manner along the width direction in which the conveyed object moves while rotating around the axis by the air flow. A mechanism for changing the transport position of transported items.

2. The bottom region has a contour extending in a concave curved line that can contact the surface of the object in a point-like or linear manner along the width direction. The mechanism for changing the conveying position of a conveyed object according to claim 1 .

3. the contour of the cross-sectional shape of the rotary guide surface along the width direction is formed by a continuous concave curve having a curvature radius in the range of not less than the curvature radius of a circumscribing circle of the cross-sectional shape of the object along the width direction and not more than twice the curvature radius, 3. The mechanism for changing the conveying position of a conveyed object according to claim 1 or 2.

4. The airflow is blown toward an upper portion of the object placed on the bottom area from the side opposite to the extending side of the rotation guide surface with respect to the bottom area.

3. The mechanism for changing the conveying position of a conveyed object according to claim 1 or 2.

5. The airflow is configured to be ejected obliquely upward from the airflow ejection port. The mechanism for changing the conveying position of a conveyed object according to claim 4.

6. The airflow is blown toward a lower portion of the object placed on the bottom area from the side opposite to the extending side of the rotation guide surface with respect to the bottom area.

3. The mechanism for changing the conveying position of a conveyed object according to claim 1 or 2.

7. The air flow is configured to be ejected from the air flow outlet toward the extension side of the rotation guide surface. The mechanism for changing the conveying position of a conveyed object according to claim 6.

8. The airflow is configured to be blown from within the bottom area toward a side portion of the object placed on the bottom area on the extending side of the rotary guide surface, and is also configured to be jetted out obliquely upward on the extending side of the rotary guide surface.

3. The mechanism for changing the conveying position of a conveyed object according to claim 1 or 2.

9. a plurality of the position change locations are provided in the conveying path along the conveying direction, and the rotation guide surface is formed continuously in the conveying direction between the plurality of position change locations; 3. The mechanism for changing the conveying position of a conveyed object according to claim 1 or 2.

10. the position change location of the conveying path further includes a conveyed object regulating surface that regulates the position and arrangement of the conveyed object relative to the air flow outlet from a direction different from that of the bottom region and the rotation guide surface; The mechanism for changing the conveying position of a conveyed object according to claim 1 .

11. The object regulating surface is disposed on the opposite side of the bottom region from the extending side of the rotation guide surface, and is provided so as to face the side on which the object moves while rotating. The mechanism for changing the conveying position of a conveyed object according to claim 10.

12. a plurality of the position change locations are provided in the conveying path along the conveying direction, and the conveyed object regulating surface is formed continuously in the conveying direction between the plurality of position change locations; The mechanism for changing the conveying position of an object according to claim 10 or 11.

13. a conveyance posture determining means for determining whether or not to blow an airflow from the airflow nozzle onto the conveyance object based on the conveyance posture of the conveyance object heading toward the posture change location; an airflow control means for blowing airflow onto the transported object at the transport position change location in accordance with a determination result of the transport position determination means; The mechanism for changing the conveying position of a conveyed object according to claim 1 , further comprising:

14. a transport position changing mechanism for a transported object according to claim 1; the transport mechanism that generates the vibration; A conveying device comprising:

15. a downstream conveyance path portion configured to slope downward toward the front in the conveyance direction is provided on the downstream side of the position change location in the conveyance path; 15. The transport device of claim 14.

16. an upstream conveyance path portion configured to be inclined upward toward the front in the conveyance direction is provided on the upstream side of the position change location in the conveyance path; 16. A conveying device according to claim 14 or 15.

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