Conveying system and conveying method

Abstract

The present invention provides a conveying system and conveying method that are advantageous for properly aligning packaging materials on a moving conveying surface. [Solution] The conveying system 10 includes a conveying belt 30 having a conveying surface 31 that moves in the conveying direction Dc, a packaging material detection device 12 that detects packaging material P on the conveying surface 31 as it passes a detection position Rd, and a packaging material adjustment unit 13 that, based on the detection result by the packaging material detection device 12, lifts the packaging material P from the conveying surface 31 while following the moving conveying surface 31 and places the packaging material P on the conveying surface 31 while following the moving conveying surface 31. The packaging material adjustment unit 13 performs alignment processing on the packaging material P.

Description

Technical Field

[0001] This disclosure relates to a conveying system and a conveying method.

Background Art

[0002] A system for continuously conveying packaging materials such as bags and cardboard by a conveying conveyor is widely used (see, for example, Patent Document 1). [[ID=1)]]

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A plurality of packaging materials on the conveying conveyor do not necessarily have a desired position and orientation, and the position and orientation of the packaging materials may not be constant even between the packaging materials on the conveying conveyor.

[0005] In order to adjust the position and orientation of such packaging materials on the conveying conveyor, for example, it is conceivable to lift the packaging material from the conveying conveyor once and then place the packaging material on the conveying conveyor again after the position and orientation of the packaging material are properly adjusted. However, when lifting the packaging material from the moving conveying conveyor or placing the packaging material on the moving conveying conveyor, the packaging material may be dragged by the conveying conveyor, and the position and orientation of the packaging material on the conveying conveyor may change unintentionally.

[0006] This disclosure provides a technique advantageous for appropriately performing alignment processing of packaging materials on a moving conveying surface.

Means for Solving the Problems

[0007] One aspect of the present disclosure relates to a conveying system comprising: a conveying conveyor having a conveying surface that moves in the conveying direction; a packaging material detection device that detects packaging material on the conveying surface as it passes a detection position; and a packaging material adjustment unit that, based on the detection results by the packaging material detection device, lifts the packaging material from the conveying surface while following the moving conveying surface and places the packaging material on the conveying surface while following the moving conveying surface, wherein the packaging material adjustment unit performs alignment processing on the packaging material.

[0008] The alignment process may include at least one of the following: adjusting the orientation of the packaging material and adjusting the position of the packaging material on the conveying surface.

[0009] The packaging adjustment unit may move the packaging material at the same speed as the transport surface, lift the packaging material from the transport surface, and then move the packaging material at the same speed as the transport surface while placing it back onto the transport surface.

[0010] The conveying surface may have a size smaller than the packaging material in the width direction perpendicular to the conveying direction.

[0011] The packaging material adjustment unit includes at least a first adjustment unit and a second adjustment unit, and the first and second adjustment units may lift different packaging materials from the conveying surface and place them on the conveying surface.

[0012] Packaging materials may include bags.

[0013] The alignment process may include changing the orientation of the packaging material by 90° or 180° relative to the horizontal axis.

[0014] The packaging material detection device may acquire an image of the packaging material on the transport surface and detect the packaging material based on the results of the analysis of the image.

[0015] The alignment process may include placing the packaging materials on the conveying surface so that the spacing between adjacent packaging materials in the conveying direction is uniform.

[0016] Other aspects of the present disclosure include a step of detecting a packaging material on a conveyance surface passing through a detection position, and based on the result of the detection, a packaging material adjustment unit lifts the packaging material from the conveyance surface while following the moving conveyance surface, and places the packaging material on the conveyance surface while following the moving conveyance surface. The packaging material adjustment unit performs an alignment process on the packaging material, and relates to a conveyance method.

Effect of the Invention

[0017] According to the present disclosure, it is advantageous to appropriately perform the alignment process of the packaging material on the moving conveyance surface.

Brief Description of the Drawings

[0018] [Figure 1] FIG. 1 is a plan view showing an example of a conveyance system. [Figure 2] FIG. 2 is a side view of the conveyance system of FIG. 1 (see reference numeral "II" in FIG. 1). [Figure 3] FIG. 3 is a front view of the conveyance system of FIG. 1 (see reference numeral "III" in FIG. 1). [Figure 4] FIG. 4 is a functional block diagram showing an example of a control configuration of a conveyance system. [Figure 5] FIG. 5 shows an example of an inversion process of a packaging material when the packaging material adjustment unit has a single holding adjustment device (two holding adjustment devices forming a pair in the example shown in FIGS. 1 to 3). [Figure 6] FIG. 6 shows an example of an inversion process of a packaging material when the packaging material adjustment unit has two holding adjustment devices (that is, a first adjustment unit and a second adjustment unit).

Embodiments for Carrying Out the Invention

[0019] Hereinafter, a conveyance system for continuously conveying a plurality of packaging materials will be exemplarily described with reference to the drawings. In the following description, a product bag having a planar rectangular shape (a bag in which contents are enclosed) is used as the packaging material, but the following technique can be appropriately applied to any packaging material other than the product bag.

[0020] The packaging material is interpreted in a broad sense and includes what is called packaging materials and packing materials. For example, it can be configured as an industrial packaging body or a consumer packaging body (commercial packaging body) including containers (such as bags), trays, films, pouches, and boxes (such as cardboard boxes). The packaging material may be in a form that covers the contents such as goods and also includes the contents (packaging form or packing form), or it may be in a form that does not include the contents (empty form). When the packaging material without contents is conveyed by the conveying system, the packaging material may be conveyed in a state where it is ready to cover the contents (for example, an assembled state), or it may be conveyed in a state where such preparation is not made (for example, a folded state). The overall shape of the packaging material is not limited, and the packaging material can have a polyhedral shape such as a cuboid, a spherical shape, or any other arbitrary shape. The packaging material may be conveyed integrally (for example, in a bundle) by a plurality of members, or may be conveyed individually as a single item.

[0021] FIG. 1 is a plan view showing an example of the conveying system 10. FIG. 2 is a side view of the conveying system 10 of FIG. 1 (see the symbol "II" in FIG. 1). FIG. 3 is a front view of the conveying system 10 of FIG. 1 (see the symbol "III" in FIG. 1).

[0022] The conveying system 10 shown in FIG. 1 includes a conveying conveyor 11, a packaging material detection device 12, and a packaging material adjustment unit 13.

[0023] The conveying conveyor 11 has a conveying belt 30 that is continuously run by a conveying drive unit (see FIG. 4 described later). The conveying belt 30 has an endless shape and is supported so as to be able to run by guide rollers 33. A conveying surface 31 that moves in the conveying direction Dc is formed by the surface of the conveying belt 30 facing upward.

[0024] A plurality of packaging materials P to be conveyed are placed on the conveying surface 31 at intervals with respect to the conveying direction Dc. In the present embodiment, when the conveying surface 31 conveys a plurality of packaging materials P in the conveying direction Dc, basically, it is continuously moved in the conveying direction Dc without intermittently stopping.

[0025] In this example, the transport surface 31 is smaller than the packaging material P with respect to the width direction Dw, which is perpendicular to the transport direction Dc. In the example shown in Figure 1, the packaging material P (product bag) is placed on the transport surface 31 in a lying position (i.e., with one of the sides of the packaging material P (the back side) in contact with the transport surface 31). Of the sides of the packaging material P, the downward-facing side that faces the transport surface 31 is called the back side, and the upward-facing side that is oriented away from the transport surface 31 is called the front side.

[0026] The packaging material P shown in Figure 1 has a rectangular planar shape (front shape and back shape) with a long side and a short side, and is placed on the conveying surface 31 such that the long side extends approximately parallel to the width direction Dw and the short side extends approximately parallel to the conveying direction Dc. The long side of the packaging material P is larger than the width size of the conveying surface 31 (size in the width direction Dw), and the packaging material P is placed on the conveying surface 31 such that both ends of the packaging material P in the width direction Dw protrude from the conveying surface 31 (conveyor belt 30).

[0027] The packaging material detection device 12 detects the packaging material P on the transport surface 31 as it passes through the detection position Rd.

[0028] The detection position Rd can be set to any position upstream of the position where the packaging material adjustment unit 13 is installed (alignment processing zone) in the transport path, and the packaging material P before alignment processing is performed by the packaging material adjustment unit 13 is detected by the packaging material detection device 12. From the viewpoint of improving the accuracy of the alignment processing, it is preferable to set the detection position Rd to a position close to the alignment processing zone.

[0029] The packaging material detection device 12 may include only one type of sensor or may include multiple types of sensors. If multiple types of sensors are provided, two or more sensors may detect the packaging material P on the transport surface 31 at different detection positions Rd, or they may detect the packaging material P on the transport surface 31 at the same detection position Rd.

[0030] Figure 1 shows a packaging detection sensor 21 as a packaging detection device 12, which detects the timing of when the packaging material P passes through the detection position Rd (whether or not the packaging material P has passed through the detection position Rd). The packaging detection sensor 21 has a light-emitting / light-receiving unit 21a and a reflecting unit 21b that are installed facing each other in the vertical direction (height direction). The light-emitting / light-receiving unit 21a emits detection light and can receive the detection light (reflected light) reflected by the reflecting unit 21b. The detection light from the light-emitting / light-receiving unit 21a travels toward the detection position Rd, and if the packaging material P is present at the detection position Rd, it is blocked by the packaging material P and does not reach the reflecting unit 21b. However, if the packaging material P is not present at the detection position Rd, it reaches the reflecting unit 21b, is reflected, and is ultimately received by the light-emitting / light-receiving unit 21a. Therefore, according to the result of receiving the detection light (reflected light) by the light-emitting / light-receiving unit 21a, the packaging material P on the transport surface 31 passing through the detection position Rd can be detected.

[0031] The detection of such packaging material P (determining the timing of when packaging material P has passed the detection position Rd (whether or not packaging material P has passed at the detection position Rd)) may be performed by the packaging material detection sensor 21 (light emission / light receiving unit 21a), or by a control device (see Figure 4) described later that receives the light reception result from the packaging material detection sensor 21.

[0032] In the example shown in Figure 1, the packaging detection device 12 may have other devices in addition to or instead of the packaging detection sensor 21. For example, an imaging device (not shown) that acquires an image of the packaging material P on the transport surface 31 may be provided as the packaging detection device 12. Such an imaging device may, for example, image the packaging material P as it passes through the detection position Rd, and various state information of the packaging material P (e.g., shape information, posture information, position information, orientation information, color / pattern information, character information, and spacing information between adjacent packaging materials P on the transport surface 31) may be acquired based on the results of the analysis of the image. Such analysis (image processing) of the image may be performed by the packaging detection device 12 (e.g., the imaging device) or by a control device (see Figure 4) described later.

[0033] The packaging material adjustment unit 13, based on the detection results from the packaging material detection device 12, follows the moving conveying surface 31, lifts the packaging material P from the conveying surface 31, and places the packaging material P onto the conveying surface 31 while following the moving conveying surface 31. The packaging material adjustment unit 13 also performs alignment processing on the packaging material P.

[0034] The packaging adjustment unit 13 shown in Figure 1 has two holding adjustment devices 40 that form a pair to hold one packaging material P, and the two holding adjustment devices 40 work in conjunction with each other. Each holding adjustment device 40 is mounted on a mounting frame 49 and has a holding part 43, a holding arm 42, an adjustment actuator 41, and a follow-up drive part 44.

[0035] The holding portion 43 is provided to hold and release the packaging material P (in this example, the portion of the packaging material P that protrudes in the width direction Dw from the conveying surface 31 (conveyor belt 30)). In this example, the holding portion 43 has the form of a gripper that grasps the end of the packaging material P, but it can have any other form, for example, it may have the form of a suction cup that adsorbs and releases the packaging material P (e.g., the front and / or back surfaces). The holding portion 43 is connected to the adjustment actuator 41 via the holding arm 42.

[0036] The adjustment actuator 41 is provided so that the holding arm 42 and the adjustment actuator 41 can be swung (rotated) around a horizontal axis extending in the width direction Dw. By swung the holding arm 42 and the holding part 43 by 180°, the adjustment actuator 41 can invert the packaging material P held by the holding arm 42, thereby reversing the orientation of the front and back surfaces of the packaging material P. The adjustment actuator 41 is equipped with any drive source (e.g., a servo motor, actuator, or air cylinder) that can swung (rotated) the holding arm 42 and the holding part 43.

[0037] The follow-up drive unit 44 supports the holding unit 43 so that it can reciprocate along the transport direction Dc via the adjustment actuator 41 and the holding arm 42. The follow-up drive unit 44 can move the adjustment actuator 41, the holding arm 42 and the holding unit 43 together to position them at a desired position in the transport direction Dc. The follow-up drive unit 44 is equipped with any drive source (e.g., a servo motor, a magnetic linear motor or an air cylinder) that can linearly reciprocate the adjustment actuator 41, the holding arm 42 and the holding unit 43 along the transport direction Dc.

[0038] In the packaging adjustment unit 13 having the above configuration, the holding unit 43 is driven to perform the operations of holding the packaging material P, lifting it from the transport surface 31, and re-placing it on the transport surface 31, while following the packaging material P being moved by the transport conveyor 11 (transport belt 30). That is, the packaging adjustment unit 13 in this example moves the packaging material P at the same speed as the transport surface 31, while holding the packaging material P and lifting it from the transport surface 31. The packaging adjustment unit 13 also moves the packaging material P at the same speed as the transport surface 31, while placing the packaging material P on the transport surface 31. It is not necessarily required to make the packaging material P held by the packaging adjustment unit 13 follow the transport surface 31 from the time the packaging material P is lifted by the packaging adjustment unit 13 until the packaging material P is placed on the transport surface 31 (i.e., while the packaging material P is completely separated from the transport surface 31).

[0039] In this embodiment, the moving speed of the conveying surface 31 is detected by a conveying speed detection sensor (e.g., an encoder) 22, but it may also be obtained from the set conveying speed, which is a set value of the conveying belt 30 (conveying surface 31). The conveying speed detection sensor 22 in this example measures the moving speed of the conveying belt 30, but the moving speed of the conveying surface 31 may also be detected by measuring elements other than the conveying belt 30 (for example, the rotational speed of the guide rollers 33 or the state variables of the conveying drive unit (see Figure 4) (for example, the motor rotation amount if the conveying drive unit is composed of a motor)).

[0040] In this manner, each holding adjustment device 40 (packaging material adjustment unit 13) is driven based on the detection results of the transport speed detection sensor 22 and the detection results of the packaging material detection device 12 when making the holding part 43 follow the transport surface 31 or the packaging material P on the transport surface 31.

[0041] The alignment process performed on the packaging material P by the packaging material adjustment unit 13 includes at least one of the following: adjustment of the orientation of the packaging material P and adjustment of the position of the packaging material P on the transport surface 31. However, the alignment process performed by the packaging material adjustment unit 13 may include all processes for adjusting the position and / or orientation of the packaging material P, and the specific content of the alignment process is not limited.

[0042] The "adjustment of the orientation of the packaging material P" through alignment processing is a process that changes the orientation of the packaging material P based on an arbitrary direction. For example, it may be a process that rotates the packaging material P around a horizontal axis, or a process that rotates the packaging material P around a vertical axis extending in the height direction.

[0043] Therefore, the alignment process may include a process of changing the orientation of the packaging material P by, for example, 1° to 180° (90° or 180° as an example) with respect to the horizontal axis (for example, the horizontal axis extending in the width direction Dw). By rotating the packaging material P, which is lying on the transport surface 31, by 90° around the horizontal axis, the packaging material P can be made to stand upright. Also, by rotating the packaging material P by 180° around the horizontal axis, the front and back surfaces of the packaging material P are reversed, and the upper and lower surfaces of the packaging material P are swapped before and after the rotation. The orientation of the packaging material P on the transport surface 31 can be obtained, for example, by analyzing the image of the packaging material P acquired by the imaging device of the packaging material detection device 12.

[0044] The alignment process may also include adjusting the position of the packaging materials P on the conveying surface 31 so that the spacing between adjacent packaging materials P in the conveying direction Dc on the conveying surface 31 is uniform.

[0045] In the alignment process, both "adjustment of the orientation of the packaging material P" and "adjustment of the position of the packaging material P on the transport surface 31" may be performed, or only one of them may be performed. Furthermore, the control device (see Figure 4 described later) may decide whether or not to perform the alignment process, or whether to perform both "adjustment of the orientation of the packaging material P" and "adjustment of the position of the packaging material P on the transport surface 31" or only one of them, based on the state of each individual packaging material P on the transport surface 31 derived from the detection results of various sensors.

[0046] For example, for packaging materials P that are determined to be placed on the transport surface 31 in an appropriate orientation and position (i.e., an acceptable state), the alignment process may be skipped. On the other hand, in the alignment process for packaging materials P on the transport surface 31 that are determined to be in an inappropriate position but in an appropriate orientation, the position of the packaging material P may be adjusted, but the orientation may not be adjusted. Also, in the alignment process for packaging materials P on the transport surface 31 that are determined to be in an appropriate position but in an inappropriate orientation, the orientation of the packaging material P may be adjusted, but the position may not be adjusted. For example, if the alignment process includes adjusting the orientation of the front and back surfaces of the packaging material P, the orientation adjustment (inversion process) may be performed only for packaging materials P whose front and back surfaces are inappropriate based on the detection results of the packaging material detection device 12 (e.g., the analysis results of the captured image of the packaging material P), and the orientation adjustment may not be performed for packaging materials P whose front and back surfaces are already in an appropriate orientation.

[0047] Alternatively, if the alignment process is set to perform orientation adjustment but not position adjustment, the packaging adjustment unit 13 can place the aligned packaging P at any location on the transport surface 31 that does not overlap with other packaging P. It can be placed at the same location as before the alignment process, or at a different location.

[0048] The alignment process can be performed at any one or more timings during the period from when the packaging adjustment unit 13 (holding unit 43) holds the target packaging material P until it is released (for example, from when the packaging adjustment unit 13 lifts the packaging material P from the transport surface 31 until it is placed back on the transport surface 31). Therefore, the alignment process may be performed when the target packaging material P is completely separated from the transport surface 31, or when at least a part of the target packaging material P is in contact with the transport surface 31. The alignment process may also be performed in segments at multiple timings (for example, both when lifting the packaging material P from the transport surface 31 and when returning the packaging material P to the transport surface 31).

[0049] In the example shown in Figures 1 to 3, the packaging material adjustment unit 13 includes a single holding adjustment device (i.e., two holding adjustment devices 40 forming a pair), but it may also include multiple holding adjustment devices (for example, a first adjustment unit 40A and a second adjustment unit 40B as shown in Figure 6). In other words, the packaging material adjustment unit 13 may be provided with multiple holding adjustment devices that can lift different holding objects (in this example, individual packaging materials P) from the conveying surface 31 and place them on the conveying surface 31.

[0050] For example, if two holding and adjusting devices are provided, the two holding and adjusting devices can alternately lift the packaging materials P arranged on the conveying surface 31 in the conveying direction Dc to perform alignment processing. In this case, it is possible to perform alignment processing on multiple (two) packaging materials P simultaneously, and the processing performance (especially the alignment processing efficiency) of the packaging material adjustment unit 13 can be greatly improved.

[0051] Furthermore, in the example shown in Figures 1 to 3, the packaging adjustment unit 13 holds one packaging material P using two holding parts 43 (two holding adjustment devices 40). However, one packaging material P may be held using one holding part 43, or one packaging material P may be held using three or more holding parts 43. For example, if the packaging material P is highly rigid and difficult to bend, it is possible to hold the packaging material P in an appropriate position with one holding part 43. However, if it is necessary to hold a packaging material P that is low in rigidity and easily bendable in an appropriate position, it may be necessary to hold one packaging material P with two or more holding parts 43.

[0052] Figure 4 is a functional block diagram showing an example of the control configuration of the transport system 10.

[0053] In the example shown in Figure 4, the control device 50 is connected to the transport speed detection sensor 22 and the packaging material detection device 12, as well as to the transport drive unit 32 of the transport conveyor 11 and the packaging material adjustment drive unit 48 of the packaging material adjustment unit 13.

[0054] The transport drive unit 32 is the drive source for the transport conveyor 11 that transports the packaging material P, and in this embodiment, it is composed of a motor that rotates the guide roller 33 (see Figure 2). The packaging material adjustment drive unit 48 represents the drive source of the packaging material adjustment unit 13 in general, and in this example, it includes an adjustment actuator 41, a follow drive unit 44, and a drive source that opens and closes the holding unit 43 (i.e., a drive source that holds and releases the packaging material P in the holding unit 43).

[0055] The conveying speed detection sensor 22 transmits the detection results regarding the moving speed of the conveying belt 30 (conveying surface 31) to the control device 50. The packaging material detection device 12 transmits the detection results regarding the packaging material P on the conveying belt 30 (conveying surface 31) to the control device 50.

[0056] The control device 50 includes a device control unit 51 and a packaging material condition evaluation unit 52.

[0057] The packaging material condition evaluation unit 52 evaluates the state of the packaging material P on the conveyor belt 30 (conveyor surface 31) based on information sent from various devices (for example, detection results sent from the packaging material detection device 12 and the conveyor speed detection sensor 22). The "state of the packaging material P" here includes, for example, the position and / or orientation of the packaging material P on the conveyor surface 31 (including the orientation of the front and back surfaces of the packaging material P).

[0058] The device control unit 51 controls various devices of the transport system 10 (including the transport drive unit 32 of the transport conveyor 11 and the packaging adjustment drive unit 48 of the packaging adjustment unit 13) to ensure that the transport and alignment of the packaging material P are performed appropriately. In particular, the device control unit 51 in this embodiment controls the packaging adjustment drive unit 48 based on the evaluation results of the packaging material condition evaluation unit 52 regarding the "condition of the packaging material P on the transport belt 30 (transport surface 31)".

[0059] Next, an example of a transport method performed by the transport system 10 described above will be explained.

[0060] The transport method in this example includes the steps of: transporting multiple packaging materials P in the transport direction Dc by a transport conveyor 11 (particularly a transport belt 30); detecting the packaging materials P on the transport surface 31 as it passes through a detection position Rd; based on the results of the detection, using a packaging material adjustment unit 13 to lift the packaging materials P from the transport surface 31 while following the moving transport surface 31, and to place the packaging materials P on the transport surface 31 while following the moving transport surface 31; and performing alignment processing on the packaging materials P using the packaging material adjustment unit 13.

[0061] When adjusting the orientation of the packaging material P during the alignment process, for example, the orientation (detection angle) of the packaging material P on the transport surface 31 is acquired by the packaging material condition evaluation unit 52 (see Figure 4), and the adjustment angle, which is the difference between the detected angle of the packaging material P and the desired angle, is calculated by the device control unit 51 (see Figure 4). The packaging material adjustment unit 13 is then controlled by the device control unit 51 so that the orientation of the packaging material P is adjusted by the calculated adjustment angle.

[0062] Furthermore, when adjusting the position of the packaging material P during the alignment process, for example, the distance (detection interval) between the packaging material P to be adjusted and the preceding packaging material P (i.e., the adjacent downstream packaging material P) on the transport surface 31 is acquired by the packaging material state evaluation unit 52, and the adjustment distance, which is the difference between the detection interval and the desired interval, is calculated by the device control unit 51. The packaging material adjustment unit 13 is then controlled by the device control unit 51 so that the packaging material P to be adjusted is placed on the transport surface 31 at a distance from the preceding packaging material P by the calculated adjustment distance.

[0063] In the packaging adjustment unit 13 shown in Figures 1 to 3, the packaging material P held by the holding part 43 can be moved in the transport direction Dc by the follow-up drive unit 44, and can also be moved in the transport direction Dc by the adjustment actuator 41. Therefore, when the holding part 43 is moved in the transport direction Dc by the rotational drive of the adjustment actuator 41, the follow-up drive unit 44 takes into account the amount of movement of the holding part 43 in the transport direction Dc by the adjustment actuator 41, and appropriately moves the adjustment actuator 41, the holding arm 42, and the holding part 43 along the transport direction Dc so that the rotational movement of the holding arm 42 and the holding part 43 by the adjustment actuator 41 is smooth. For this reason, the follow-up drive unit 44 can move the adjustment actuator 41, the holding arm 42, and the holding part 43 not only in the forward direction of the transport direction Dc (downward direction in Figure 1) but also in the reverse direction of the transport direction Dc (upward direction in Figure 1) while the holding part 43 is lifting the packaging material P from the transport surface 31 and placing it back on the transport surface 31.

[0064] Next, an example of the operation in which the packaging material adjustment unit 13 (holding adjustment device 40) performs alignment processing to reverse the front and back surfaces of the packaging material P will be described. The alignment processing described below is carried out by appropriately driving various devices of the transport system 10 under the control of the control device 50.

[0065] Figure 5 shows an example of the inversion process of the packaging material P when the packaging material adjustment unit 13 has a single holding adjustment device (two holding adjustment devices 40 forming a pair in the example shown in Figures 1 to 3). Figure 6 shows an example of the inversion process of the packaging material P when the packaging material adjustment unit 13 has two holding adjustment devices (i.e., a first adjustment unit 40A and a second adjustment unit 40B).

[0066] Figures 5 and 6 respectively show the schematic state (particularly the state viewed from the horizontal) of multiple packaging materials P on the transport surface 31 over time along a timeline T extending vertically, indicating that time gradually progresses from top to bottom along the timeline T. The numbers to the left of the timeline T are convenient indicators of elapsed time, but do not necessarily correspond to specific units such as "seconds".

[0067] The reference line Q shown in Figures 5 and 6 conveniently indicates the reference position for the inversion process.

[0068] In the example shown in Figure 5, first, as shown from "-20" to "20" on the timeline T, the holding unit 43 (holding adjustment device 40) moves in the transport direction Dc to follow the target packaging material P at the same speed as the target packaging material P (i.e., at the same speed as the transport surface 31) without holding the target packaging material P in the gripper open state (pre-holding follow-up step).

[0069] Subsequently, as shown at "40" on timeline T, the holding unit 43 follows the target packaging material P at the same speed as the target packaging material P (i.e., at the same speed as the transport surface 31) and transitions from the gripper open state to the gripper closed state to hold the target packaging material P (holding step).

[0070] Subsequently, as shown in the timeline T from "60" to "140", the holding unit 43 rotates while holding the target packaging material P to invert the front and back sides of the target packaging material P (lifting and inverting process). In this lifting and inverting process, the holding unit 43 moves in the transport direction Dc at the same speed as the transport surface 31 as long as "at least a part of the target packaging material P is in contact with the transport surface 31". On the other hand, while the packaging material P is not in contact with the transport surface 31 during the lifting and inverting process, the holding unit 43 may or may not move in the transport direction Dc at the same speed as the transport surface 31.

[0071] Therefore, while the target packaging material P is being lifted from the conveying surface 31 (lifting process) and while the target packaging material P is being placed on the conveying surface 31 (placing process), the relative speed between the holding unit 43 and the conveying surface 31 with respect to the conveying direction Dc is basically adjusted to 0 (zero). As a result, the target packaging material P can be lifted from the conveying surface 31 and placed on the conveying surface 31 without being affected by the dragging of the packaging material P by the conveying surface 31 or the inertia acting on the packaging material P.

[0072] Subsequently, as shown at "160" on timeline T, the holding unit 43 follows the target packaging material P on the transport surface 31 at the same speed as the target packaging material P, and transitions from the gripper closed state to the gripper open state to release the target packaging material P (release process).

[0073] Subsequently, as shown in timeline T from "180" to "220", the holding unit 43 rotates and moves upstream (i.e., in the opposite direction to the transport direction Dc), returning to the position for holding the next target packaging material P (return process).

[0074] Subsequently, as shown in "240" to "260" of timeline T, the holding unit 43 performs the above-described "pre-holding follow-up process (see "-20" to "20" of timeline T)" for the next target packaging material P. The holding unit 43 shown in "240" and "260" of timeline T behaves similarly to the holding unit 43 shown in "-10" and "0" of timeline T. Thereafter, the above-described "holding process," "lifting and inversion process (including lifting and placing process)," "release process," and "return process" are performed sequentially for the next target packaging material P.

[0075] As the above-described series of steps are repeated, all the packaging materials P arranged on the conveying surface 31 in the conveying direction Dc are inverted by a pair of holding parts 43 (i.e., a single holding adjustment device 40).

[0076] In the example shown in Figure 6, two holding and adjusting devices (i.e., the first adjustment unit 40A and the second adjustment unit 40B) are used, but basically the same series of steps as in the example shown in Figure 5 are repeated so that all the packaging materials P arranged in the conveying direction Dc on the conveying surface 31 are inverted.

[0077] Specifically, as shown in the timeline T from "-40" to "60", the first adjustment holding unit 43A and the second adjustment holding unit 43B (first adjustment unit 40A and second adjustment unit 40B) move in the transport direction Dc at the same speed as the two target packaging materials P (i.e., at the same speed as the transport surface 31) without holding the two target packaging materials P in the gripper open state (pre-holding follow-up step).

[0078] Each of the first adjustment and holding section 43A and the second adjustment and holding section 43B is configured in the same manner as the holding section 43 described above, with the two first adjustment and holding sections 43A forming one pair for holding one packaging material P, and the two second adjustment and holding sections 43B forming one pair for holding one packaging material P. In the example shown in Figure 6, of the two packaging materials P adjacent in the transport direction Dc, the upstream packaging material P (left side in Figure 6) is the target of the first adjustment and holding section 43A, and the downstream packaging material P (right side in Figure 6) is the target of the second adjustment and holding section 43B.

[0079] Subsequently, as shown at "80" on timeline T, the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each follow the target packaging material P at the same speed as the target packaging material P (i.e., at the same speed as the transport surface 31) and transition from the gripper open state to the gripper closed state to hold the target packaging material P (holding process).

[0080] Subsequently, as shown in the timeline T from "100" to "280", the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each rotate while holding the target packaging material P to invert the front and back sides of the target packaging material P (lifting and inverting process). In this lifting and inverting process, the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each move in the transport direction Dc at the same speed as the transport surface 31 as long as at least a part of the target packaging material P is in contact with the transport surface 31, but when the packaging material P is not in contact with the transport surface 31, they may or may not move in the transport direction Dc at the same speed as the transport surface 31.

[0081] Subsequently, as shown at "300" on timeline T, the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each follow the target packaging material P on the transport surface 31 at the same speed as the target packaging material P, transitioning from a gripper closed state to a gripper open state and releasing the target packaging material P (release process).

[0082] Subsequently, as shown in "320" to "440" of timeline T, the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each move upstream (i.e., in the opposite direction to the transport direction Dc) while rotating, and return to the position for holding the next target packaging material P (return process).

[0083] Subsequently, as shown in "460" to "480" of timeline T, the first adjustment and holding unit 43A and the second adjustment and holding unit 43B each perform the "pre-holding follow-up process" described above for the next target packaging material P. After that, the "holding process," "lifting and inversion process (including the lifting process and the placing process)," "release process," and "return process" described above are sequentially performed for the next target packaging material P.

[0084] As the above-described series of steps are repeated, all the packaging materials P arranged on the conveying surface 31 in the conveying direction Dc are inverted by the two holding and adjusting devices (first adjustment unit 40A and second adjustment unit 40B).

[0085] As described above, the transport system 10 includes a transport conveyor 11 having a transport surface 31 that moves in the transport direction Dc, a transport detection device 12 that detects the transport surface 31 as it passes through a detection position Rd, and a transport adjustment unit 13 that, based on the detection results by the transport detection device 12, lifts the transport surface 31 while following the moving transport surface 31 and places the transport surface 31 on the transport surface 31 while following the moving transport surface 31. The transport adjustment unit 13 performs alignment processing on the transport surface P.

[0086] According to the conveying system 10, the packaging material P is lifted from the conveying surface 31 by the packaging material adjustment unit 13 which follows the moving conveying surface 31, and the packaging material P is placed on the conveying surface 31 (released), thereby suppressing unintended disturbances in the position and orientation of the packaging material P on the conveying surface 31. As a result, the alignment of the packaging material P on the moving conveying surface 31 can be performed appropriately.

[0087] Furthermore, the alignment process includes at least one of the following: adjusting the orientation of the packaging material P and adjusting the position of the packaging material P on the conveying surface 31. Therefore, even if the position and orientation of the packaging material P are random immediately after being supplied onto the conveying surface 31 (conveyor belt 30), the position and / or orientation of the packaging material P on the conveying surface 31 can be adjusted to a desired state.

[0088] Furthermore, the packaging adjustment unit 13 moves the packaging material P at the same speed as the transport surface 31, lifts the packaging material P from the transport surface 31, and places the packaging material P back onto the transport surface 31 while moving the packaging material P at the same speed as the transport surface 31.

[0089] Furthermore, the conveying surface 31 has a size smaller than the packaging material P with respect to the width direction Dw which is perpendicular to the conveying direction Dc.

[0090] The packaging material adjustment unit 13 also includes at least a first adjustment unit 40A and a second adjustment unit 40B, and the first adjustment unit 40A and the second adjustment unit 40B lift different packaging materials P from the conveying surface 31 and place them on the conveying surface 31.

[0091] Furthermore, packaging material P includes bags.

[0092] The alignment process may also include changing the orientation of the packaging material P by 90° or 180° relative to the horizontal axis.

[0093] Furthermore, the packaging material detection device 12 can acquire an image of the packaging material P on the transport surface 31 and detect the packaging material P based on the results of the analysis of the image.

[0094] Furthermore, the alignment process may include placing the packaging materials P on the conveying surface 31 so that the spacing between adjacent packaging materials P in the conveying direction Dc is uniform. Therefore, even if the spacing between packaging materials P (supply pitch) is uneven immediately after supplying them onto the conveying surface 31 (conveyor belt 30), the spacing between packaging materials P on the conveying surface 31 can be adjusted to the desired spacing.

[0095] The transport method also includes the steps of detecting the packaging material P on the transport surface 31 as it passes through the detection position Rd, and, based on the detection result, the packaging material adjustment unit 13 lifts the packaging material P from the transport surface 31 while following the moving transport surface 31, and places the packaging material P on the transport surface 31 while following the moving transport surface 31, the packaging material adjustment unit 13 performing alignment processing on the packaging material P.

[0096] It should be noted that the embodiments and modifications disclosed herein are illustrative in all respects and should not be construed restrictively. The embodiments and modifications described above may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the embodiments and modifications described above may be combined in whole or in part, and other embodiments may be combined with the embodiments or modifications described above. Furthermore, the effects described herein are illustrative, and other effects may result.

[0097] The technical categories that embody the above-described technical concept are not limited. For example, the above-described technical concept may be embodied by a computer program that causes a computer to execute one or more steps included in a method for manufacturing or using the above-described device. Alternatively, the above-described technical concept may be embodied by a computer-readable, non-transitory recording medium on which such a computer program is recorded.

[0098] [Note] The following configurations are also included in the scope of the disclosed technology.

[0099] [Aspect 1] A conveying conveyor having a conveying surface that moves in the conveying direction, A packaging material detection device that detects packaging material on the conveying surface as it passes through the detection position, The system includes a packaging adjustment unit that, based on the detection results by the packaging detection device, lifts the packaging from the conveying surface while following the moving conveying surface, and places the packaging onto the conveying surface while following the moving conveying surface. The packaging material adjustment unit performs alignment processing on the packaging material. Conveyor system.

[0100] [Aspect 2] The conveying system according to embodiment 1, wherein the alignment process includes at least one of adjusting the orientation of the packaging material and adjusting the position of the packaging material on the conveying surface.

[0101] [Aspect 3] The aforementioned packaging material adjustment unit is While moving the packaging material at the same speed as the moving speed of the conveying surface, the packaging material is lifted off the conveying surface. A transport system according to embodiment 1 or 2, wherein the transport material is placed on the transport surface while being moved at the same speed as the transport surface.

[0102] [Aspect 4] The conveying system according to any one of embodiments 1 to 3, wherein the conveying surface has a size smaller than the packaging material with respect to the width direction perpendicular to the conveying direction.

[0103] [Aspect 5] The packaging material adjustment unit includes at least a first adjustment unit and a second adjustment unit, The first adjustment unit and the second adjustment unit lift different packaging materials from the conveying surface and place them on the conveying surface. A transport system according to any one of embodiments 1 to 4.

[0104] [Aspect 6] The conveying system according to any one of embodiments 1 to 5, wherein the packaging material includes a bag.

[0105] [Aspect 7] The conveying system according to any one of embodiments 1 to 6, wherein the alignment process includes a process of changing the orientation of the packaging material by 90° or 180° with respect to the horizontal axis.

[0106] [Aspect 8] The conveying system according to any one of embodiments 1 to 7, wherein the packaging material detection device acquires an image of the packaging material on the conveying surface and detects the packaging material based on the results of the analysis of the image.

[0107] [Aspect 9] The conveying system according to any one of embodiments 1 to 8, wherein the alignment process includes a process in which the packaging materials are placed on the conveying surface such that the spacing between adjacent packaging materials in the conveying direction on the conveying surface is uniform.

[0108] [Aspect 10] A process of detecting packaging material on a conveying surface as it passes through a detection position, Based on the detection results, the packaging adjustment unit lifts the packaging material from the conveying surface while following the moving conveying surface, and places the packaging material on the conveying surface while following the moving conveying surface, The packaging material adjustment unit performs alignment processing on the packaging material. Transportation method. [Explanation of symbols]

[0109] 10 Conveying system, 11 Conveying conveyor, 12 Packaging material detection device, 13 Packaging material adjustment unit, 21 Packaging material detection sensor, 21a Light-emitting / receiving unit, 21b Reflecting unit, 22 Conveying speed detection sensor, 30 Conveying belt, 31 Conveying surface, 32 Conveying drive unit, 33 Guide roller, 40 Holding adjustment device, 40A First adjustment unit, 40B Second adjustment unit, 41 Adjustment actuator, 42 Holding arm, 43 Holding unit, 43A First adjustment holding unit, 43B Second adjustment holding unit, 44 Follow-up drive unit, 48 Packaging material adjustment drive unit, 49 Mounting frame, 50 Control device, 51 Device control unit, 52 Packaging material condition evaluation unit, Dc Conveying direction, Dw Width direction, P Packaging material, Q Reference line, Rd Detection position, T Timeline

Claims

1. A conveying conveyor having a conveying surface that moves in the conveying direction, A packaging material detection device that detects packaging material on the conveying surface as it passes through the detection position, The system includes a packaging adjustment unit that, based on the detection results by the packaging detection device, lifts the packaging from the conveying surface while following the moving conveying surface, and places the packaging onto the conveying surface while following the moving conveying surface. The packaging material adjustment unit performs alignment processing on the packaging material. Conveyor system.

2. The conveying system according to claim 1, wherein the alignment process includes at least one of adjusting the orientation of the packaging material and adjusting the position of the packaging material on the conveying surface.

3. The aforementioned packaging material adjustment unit is While moving the packaging material at the same speed as the moving speed of the conveying surface, the packaging material is lifted off the conveying surface. The transport system according to claim 1, wherein the transport material is placed on the transport surface while being moved at the same speed as the transport surface.

4. The conveying system according to claim 1, wherein the conveying surface has a size smaller than the packaging material with respect to the width direction perpendicular to the conveying direction.

5. The packaging material adjustment unit includes at least a first adjustment unit and a second adjustment unit. The first adjustment unit and the second adjustment unit lift different packaging materials from the conveying surface and place them on the conveying surface. The transport system according to claim 1.

6. The conveying system according to claim 1, wherein the packaging material includes a bag.

7. The conveying system according to claim 1, wherein the alignment process includes a process of changing the orientation of the packaging material by 90° or 180° with respect to the horizontal axis.

8. The conveying system according to claim 1, wherein the packaging material detection device acquires an image of the packaging material on the conveying surface and detects the packaging material based on the results of the analysis of the image.

9. The conveying system according to claim 1, wherein the alignment process includes a process in which the packaging materials are placed on the conveying surface such that the spacing between adjacent packaging materials in the conveying direction on the conveying surface is uniform.

10. A process of detecting packaging material on a conveying surface as it passes through a detection position, Based on the detection results, the packaging adjustment unit lifts the packaging material from the conveying surface while following the moving conveying surface, and places the packaging material on the conveying surface while following the moving conveying surface, The packaging material adjustment unit performs alignment processing on the packaging material. Transportation method.

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