Processing system

Abstract

To provide a highly convenient processing system.SOLUTION: A processing system 100 comprises a conveyance system 10 including a conveyance body 13 that has a conveyance surface 12, a movable element 11 that moves along the conveyance surface 12, and a conveyance control unit 14 that controls magnetism applied between the movable element 11 and the conveyance body 13. The movable element 11 moves along the conveyance surface 12 in a floating state away from the conveyance surface 12 on the basis of the magnetism. The conveyance control unit 14 controls the magnetism to variably adjust one or more of the moving track, rotation state, moving speed, moving time, and posture of the movable element 11.SELECTED DRAWING: Figure 30

Description

Technical Field

[0001] The present disclosure relates to a processing system including a mover that moves along a conveyance surface.

Background Art

[0002] Patent Document 1 discloses a magnetic levitation stage having a fixed stage and a moving stage that is driven in the X, Y, and Z directions by a magnetic action between the fixed stage and the moving stage.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conveyance system, a carrier is often moved along a predetermined route using a conveyor or a robot. In a packaging system, it is normal to perform predetermined mechanical processing steps in order.

[0005] However, when processing proceeds based on the same predetermined route and predetermined mechanical processing steps as in normal times even when some irregular event occurs, it is necessary to perform processing in an irregular response process (dropout process), and the processing efficiency decreases.

[0006] Also, linear technology can change the speed on a determined route. Even if such linear technology is fully utilized, within the range of the determined route, it is possible to move with a fixed order, but it is not possible to highly freely change the operating states (for example, rotation state, speed state, moving distance, operating time, moving height, and inclination state, etc.) of individual movers.

[0007] Therefore, for example, if a pouch (bag) filled with contents in its internal storage space is placed on a movable part and the movable part is changed from an operating state to a stationary state along with the movable part, the contents may spill out of the pouch due to inertia.

[0008] Furthermore, the drive and power source devices of units were conventionally fixed in predetermined locations. In order for devices transported by a movable element to cooperate with such drive and power source devices, the movable element had to be moved along a predetermined route. In particular, when drive and power source devices are installed in complex locations, replacing used equipment and maintaining the devices becomes time-consuming and laborious, and removing devices from each other requires cumbersome work.

[0009] This disclosure aims to provide a processing system with superior convenience. [Means for solving the problem]

[0010] One aspect of the present disclosure relates to a transport system comprising a transport body having a transport surface, a movable element that moves along the transport surface, and a transport control unit that controls a magnetic field acting between the movable element and the transport body, wherein the transport system includes a transport system in which the movable element moves along the transport surface in a floating state separated from the transport surface based on magnetic fields, and the transport control unit variably adjusts one or more of the movable element's movement trajectory, rotation state, movement speed, movement time, and posture by controlling the magnetic field.

[0011] The transport control unit may variably adjust at least the movement trajectory of the movable element by controlling magnetism.

[0012] The transport control unit may variably adjust at least the rotation state of the movable element by controlling magnetism.

[0013] The transport control unit may variably adjust at least the attitude of the movable element by controlling magnetism.

[0014] The processing system includes a processing device that performs processing using articles placed on movable elements positioned at corresponding processing locations on the transport surface, the articles including a bag holding device for holding bags, and the processing device may perform packaging-related processing on the bags held by the bag holding device.

[0015] The processing system includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing location on the conveying surface, the article including a bag holding device for holding a bag, and the processing device may perform processing related to attaching a spout to the bag held by the bag holding device.

[0016] The processing system includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing location on the transport surface, the article including a spout holding device for holding a spout, and the processing device may perform processing related to the spout held by the spout holding device.

[0017] The processing system includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing location on the conveying surface, the article including at least one of a drive source device and a power source device, and the processing device may perform packaging-related processing of bags.

[0018] The processing system includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing location on the conveying surface, the article including at least one of a drive source device and a power source device, and the processing device may perform processing related to attaching a spout to a bag.

[0019] The items placed on the movable part may include cans.

[0020] The items placed on the movable part may include containers.

[0021] The processing system may include a processing device for placing packaging material on at least one of the movable elements.

[0022] The processing system may include a processing device for placing a packaging on at least one of the movers.

Advantages of the Invention

[0023] According to the present disclosure, a processing system with excellent convenience can be provided.

Brief Description of the Drawings

[0024] [Figure 1] FIG. 1 is a plan view showing an example of a transport system. [Figure 2] FIG. 2 is a plan view showing another example of a transport system. [Figure 3] FIG. 3 is a plan view showing another example of a transport system. [Figure 4] FIG. 4 is a plan view showing an example of a processing system including another example of a transport system and a processing device. [Figure 5] FIG. 5 is a plan view showing another example of a processing system including another example of a transport system and a processing device. [Figure 6] FIG. 6 is a plan view showing another example of a transport system. [Figure 7] FIG. 7 is a plan view showing another example of a transport system. [Figure 8] FIG. 8 is a view of the transport system shown in FIG. 7 as seen in the direction of arrow VIII in FIG. 7. [Figure 9] FIG. 9 is a top view showing an example of a pair of movers and a corresponding pair of bag holding devices. [Figure 10] FIG. 10 is a front view showing an example of a pair of movers and a corresponding pair of bag holding devices. [Figure 11] FIG. 11 is a front view showing another example of the operation of a pair of movers and a corresponding pair of bag holding devices. [Figure 12] FIG. 12 is a front view showing another example of the operation of a pair of movers and a corresponding pair of bag holding devices. [Figure 13] FIG. 13 is a side view showing another example of a transport system. [Figure 14] Figure 14 is a side view showing another example of a transport system. [Figure 15] Figure 15 is a plan view showing an example of a drive mechanism for a movable element. [Figure 16] Figure 16 is a side view showing another example of the drive configuration of the movable element. [Figure 17] Figure 17 is a side view showing another example of the drive configuration of the movable element. [Figure 18] Figure 18 is a side view showing another example of the drive configuration of the movable element. [Figure 19] Figure 19 is a side view showing another example of the drive configuration of the movable element. [Figure 20] Figure 20 is a plan view showing another example of the processing system. [Figure 21] Figure 21 is a side view showing another example of the processing system. [Figure 22] Figure 22 is a side view showing another example of the processing system. [Figure 23] Figure 23 is a side view showing another example of the processing system. [Figure 24] Figure 24 is a side view showing another example of the drive configuration of the movable element. [Figure 25] Figure 25 is a side view showing another example of the drive configuration of the movable element. [Figure 26] Figure 26 is a side view showing another example of the processing system. [Figure 27] Figure 27 is a side view showing another example of the processing system. [Figure 28] Figure 28 is a plan view showing another example of the processing system. [Figure 29] Figure 29 is a plan view showing another example of the processing system. [Figure 30] Figure 30 is a plan view showing another example of the processing system. [Figure 31A] Figure 31A shows a movable element and spout holding device according to the first modified example. [Figure 31B]Figure 31B shows a movable element and spout holding device according to the first modified example. [Figure 32A] Figure 32A shows a movable element and spout holding device according to the first modified example. [Figure 32B] Figure 32B shows a movable element and spout holding device according to the first modified example. [Figure 33A] Figure 33A shows a movable element and spout holding device according to a second modified example. [Figure 33B] Figure 33B shows a movable element and spout holding device according to a second modified example. [Figure 34A] Figure 34A shows a movable element and spout holding device according to a second modified example. [Figure 34B] Figure 34B shows a movable element and spout holding device according to a second modified example. [Modes for carrying out the invention]

[0025] The following describes specific embodiments of this disclosure with reference to the drawings. The relative sizes and positions of the elements in each drawing do not necessarily correspond to the actual relationships.

[0026] First, we will describe some characteristic features of a transport system equipped with a movable element, and then we will describe some characteristic features of a processing system that incorporates such a transport system.

[0027] [Conveyor System] Figure 1 is a plan view showing an example of a transport system 10.

[0028] The transport system 10 comprises a transport body 13 having a transport surface 12 that extends horizontally, a plurality of movable elements 11 that move along the transport surface 12, and a transport control unit 14 that controls the magnetic field acting between each movable element 11 and the transport body 13.

[0029] Each movable element 11 moves along the transport surface 12 in a floating state, separated from the transport surface 12, based on the magnetic field acting between each movable element 11 and the transport body 13. The transport control unit 14 controls the magnetic field acting between each movable element 11 and the transport body 13 to variably adjust one or more of the following: the movement trajectory, rotation state, movement speed, movement time, and posture (e.g., tilted posture) of each movable element 11. In the following description, the operation of each movable element 11 (including movement and posture changes) is basically performed by the transport control unit 14 appropriately controlling the magnetic field acting between each movable element 11 and the transport body 13.

[0030] The above-described transport system 10 (movable element 11, transport surface 12, and transport body 13) can be realized by appropriately combining any hardware and software, and its specific physical and control configurations are not limited. As an example, the transport system 10 of this embodiment can be realized based on the systems taught in the following publications: International Publication No. 2020 / 109287; International Publication No. 2020 / 260564; International Publication No. 2020 / 260566; International Publication No. 2021 / 185854; International Publication No. 2021 / 185904; International Publication No. 2021 / 198352; International Publication No. 2 International Publication No. 021 / 209558; International Publication No. 2021 / 239717; International Publication No. 2021 / 239757; International Publication No. 2021 / 250077; International Publication No. 2021 / 255001; International Publication No. 2022 / 106555; International Publication No. 2020 / 109168; International Publication No. 2020 / 109180; International Publication No. 2020 / 109274; International Publication No. 2020 / 109276.

[0031] By moving the movable element 11 along the first movement route Fm1 to the fourth movement route Fm4 shown in Figure 1, the movable element 11 can be moved efficiently. In Figure 1, the first movement route Fm1 and the second movement route Fm2 are the transport routes (outbound routes) for the movable element 11, and the third movement route Fm3 and the fourth movement route Fm4 are the return routes (return routes) for the movable element 11. The movable element 11 moving along the second movement route Fm2 can overtake the movable element 11 moving along the first movement route Fm1. Similarly, the movable element 11 moving along the fourth movement route Fm4 can overtake the movable element 11 moving along the third movement route Fm3.

[0032] By setting up overtaking routes (second movement route Fm2 and fourth movement route Fm4) in addition to the normal routes (first movement route Fm1 and third movement route Fm3), even if the leading movable element 11 is stationary at a certain position on the normal route, the trailing movable element 11 can overtake the leading movable element 11 via the overtaking route. In other words, the trailing movable element 11 can move from the normal route to the overtaking route and overtake the leading movable element 11 by passing through the overtaking route. After overtaking the leading movable element 11, the trailing movable element 11 can return from the overtaking route to the normal route. This allows the movable elements 11 to be moved space-efficiently within a limited area of ​​the transport surface 12, and prevents the transport surface 12 from becoming larger.

[0033] On the other hand, in conventional systems where no overtaking routes are set and all movable units move along the normal route, if a preceding movable unit comes to a stop at a certain position on the normal route, the following movable unit cannot move to the next destination until the preceding movable unit resumes movement. For example, if a following movable unit is transporting an item that does not require further processing (for example, an item with defects such as malfunction or damage), the following movable unit does not inherently need to pass through processing stations where further processing takes place, but in conventional systems it will inevitably follow the preceding movable unit and visit such processing stations. In such conventional systems, the movement efficiency of the movable units is not necessarily good.

[0034] On the other hand, according to the transport system 10 shown in Figure 1, if necessary, the trailing movable element 11 can overtake the leading movable element 11 by taking an overtaking route (second movement route Fm2 and fourth movement route Fm4). Therefore, the trailing movable element 11 does not necessarily have to follow the same route as the leading movable element 11, and can move to other processing stations without waiting for the completion of processing for the leading movable element 11, or skip unnecessary processing stations. This increases the efficiency of processing (e.g., production) for the entire system.

[0035] Figure 2 is a plan view showing another example of the transport system 10. In this example of the transport system 10, the transport routes include a first travel route Fm1 and a second travel route Fm2, similar to the transport system 10 shown in Figure 1, but only a third travel route Fm3 is set as the return route. Thus, in addition to the normal route, an overtaking route (second travel route Fm2) may be set for only one of the transport routes or return routes.

[0036] Figure 3 is a plan view showing another example of the transport system 10.

[0037] In the transport system 10 of this example, an outer route (first travel route Fm1) along the outer circumference of the transport surface 12 and an inner route (second travel route Fm2) inside the outer route (the central area inside the outer circumference of the transport surface 12) are set up. The first travel route Fm1 (outer route) can be set up as a normal route passing through various processing stations, for example. On the other hand, the second travel route Fm2 (inner route) can be set up as an overtaking route. If processing stations are set up in the central area of ​​the transport surface 12, the second travel route Fm2 (inner route) can also be used as a normal route (see Figure 4 below).

[0038] In this example, the second movement route Fm2 (inner route) is a route along the central region of the transport surface 12, which has a two-dimensional extent. Therefore, in this example, the second movement route Fm2 (inner route) can be set as a linear route, but it can also be set as a non-linear route, which can further improve the movement efficiency of each movable element 11 compared to the case where the overtaking route is set as a linear route (see Figures 1 and 2).

[0039] Figure 4 is a plan view showing an example of a processing system 100 comprising another example of a transport system 10 and a processing device 20.

[0040] In the transport system 10 of this example, the processing device 20 is provided not only on the outside of the transport surface 12 but also on the inside of the transport surface 12. The movement routes for each movable element 11 are set as an outer route (first movement route Fm1) along the outer circumference of the transport surface 12 and an inner route (second movement route Fm2) inside the outer route that surrounds the processing device 20 provided on the inside of the transport surface 12.

[0041] Each movable element 11 can receive processing from each processing device 20 located outside the transport surface 12 on the first movement route Fm1 (outer route), and can receive processing from each processing device 20 located inside the transport surface 12 on the second movement route Fm2 (inner route). Therefore, the first movement route Fm1 (outer route) is used as a normal route for processing from each processing device 20 located outside the transport surface 12, and can also be used as an overtaking route for processing from each processing device 20 located inside the transport surface 12. On the other hand, the second movement route Fm2 (inner route) is used as a normal route for processing from each processing device 20 located inside the transport surface 12, and can also be used as an overtaking route for processing from each processing device 20 located outside the transport surface 12.

[0042] The processing performed by each processing device 20 is not limited. For example, packaging-related processing of bags and processing of attaching spouts to bags may be performed by each processing device 20. The specific processing that may be included in the packaging-related processing referred to here is not limited in principle. For example, the processing of handing over bag B to bag holding device 30, printing processing on bag B, processing of inspecting the printing status of bag B, processing of opening the mouth of bag B, processing of putting contents into the storage space inside bag B, processing of closing the mouth of bag B, processing of sealing the mouth of bag B, and processing of releasing bag B (product bag) with contents inside and the mouth sealed in order to send it to the next stage may be included in the packaging-related processing.

[0043] Figure 5 is a plan view showing another example of a processing system 100 comprising a transport system 10 and a processing device 20.

[0044] In the transport system 10 of this example, a single travel route Fm is set as the travel route for each movable element 11, but this travel route Fm has a relatively complex route shape depending on the location (processing station) for processing of each processing device 20.

[0045] Thus, with the transport system 10 of this embodiment, the movement route of each movable element 11 can be freely set in two dimensions within the range of the transport surface 12, and the movement route of each movable element 11 can be flexibly optimized according to the arrangement of the processing device 20.

[0046] Figure 6 is a plan view showing another example of the transport system 10.

[0047] In the transport system 10 of this example, a bag holding device 30 (e.g., a gripper device) for holding bag B is fixedly mounted on each movable element 11 and moved along the transport surface 12 together with the corresponding movable element 11.

[0048] In the example shown in Figure 6, two bag-holding devices 30, each mounted on two movable elements 11, form a pair and move together with the bag B within the range of the transport surface 12 while holding both sides of the bag B.

[0049] Each movable element 11 can move freely in two dimensions along the transport surface 12. Therefore, the distance between two movable elements 11 forming a pair (holding interval H) can be variably changed according to the width between the two sides of the bag B to be held. Thus, according to the transport system 10 of this example, even if there are multiple types of bags B with different widths, they can be transported while being properly held by the pair of bag holding devices 30.

[0050] The movable element 11, together with the corresponding bag holding device 30 and bag B, moves as a whole along the direction of movement D0 indicated by the arrow in Figure 6. However, by moving the two movable elements 11 in a pair so as to change their relative positions to each other, the orientation of the corresponding bag B can be freely changed.

[0051] For example, the orientation of bag B can be changed by 90° by moving (rotating) the two movable elements 11, which form a pair, in the rotation direction D1 indicated by the arrows in Figure 6. In this case, it is also possible to move bag B in the movement direction D0 so that its width direction coincides with the movement direction D0, then rotate bag B in the rotation direction D1 to change its orientation, and move bag B in the movement direction D0 with its width direction perpendicular to the movement direction D0. This allows, for example, a processing station to arrange multiple bags B so that they are aligned in the thickness direction of bag B (a direction perpendicular to the width direction), while each bag B can move between processing stations in any orientation (for example, an orientation that prevents the contents of bag B from scattering). For example, in a station that processes the contents of bag B (liquid filling station), it is also possible to arrange two bags B side by side in the thickness direction of bag B and simultaneously inject liquid contents into each bag B from two nozzles. In this case, it is possible to perform the liquid filling process while keeping the occupied area (area) of the two bags B in relation to the direction of movement D0 to a minimum.

[0052] Thus, the conveying system 10 in this example can flexibly accommodate multiple types of bags B having various sizes (widths). Furthermore, the orientation of each bag B can be adaptively changed during both conveying and processing, thereby improving processing efficiency.

[0053] Figure 7 is a plan view showing another example of the conveying system 10. Figure 8 is a view of the conveying system 10 shown in Figure 7, in the direction of arrow VIII in Figure 7. In Figure 7, the internal state of each bag holding device 30 is shown in perspective. In Figure 8, the opening and closing movable member 32 is not shown, and in reality, the holding parts 30a in the open state (the first and second holding parts 30a from the left in Figure 8) are shown in the closed state.

[0054] The transport system 10 in this example is provided with a fixed guide 31 and an open / close movable member 32 that function as an open / close unit for opening and closing the holding portion 30a (gripping portion) of each bag holding device 30. The open / close movable member 32 moves back and forth horizontally (pressing / releasing direction D3) by a drive device (not shown) driven under the control of the transport control unit 14 (see Figure 1, etc.), moving closer to the fixed guide 31 or away from the fixed guide 31.

[0055] Each of the fixed guide 31 and the opening / closing movable member 32 shown in Figure 7 has a guide shape for guiding each bag holding device 30 between the fixed guide 31 and the opening / closing movable member 32. That is, the upstream end of the fixed guide 31 with respect to the movement direction D0 of each movable element 11 and each bag holding device 30 is inclined to gradually approach the opening / closing movable member 32 in the direction of movement D0. Similarly, the upstream end of the opening / closing movable member 32 is inclined to gradually approach the fixed guide 31 in the direction of movement D0.

[0056] As shown in Figure 8, the fixing guide 31 has an upper fixing guide portion and a lower fixing guide portion that are spaced apart in the height direction. The bag holding device 30 (particularly the holding body portion 30d described later) that moves in the movement direction D0 passes through the space between the upper fixing guide portion and the lower fixing guide portion.

[0057] Each bag holding device 30 includes a holding body portion 30d that supports the holding portion 30a so as to be openable and closable, an opening / closing elastic device 30c (compression spring) provided inside the holding body portion 30d, and an opening / closing control member 30b that is slidably supported by the holding body portion 30d. The opening / closing elastic device 30c is compressed between the holding portion 30a and the opening / closing control member 30b, and applies an elastic force to the opening / closing control member 30b so as to cause the opening / closing control member 30b to protrude from the holding body portion 30d.

[0058] When no external force is applied, the opening / closing control member 30b is supported by the holding body 30d and partially protrudes from the holding body 30d. The opening / closing control member 30b is positioned between the fixed guide 31 and the opening / closing movable member 32, and as the opening / closing movable member 32 moves closer to the fixed guide 31, the opening / closing control member 30b is pushed into the inner space of the holding body 30d. This compresses the opening / closing elastic device 30c, and a large elastic force acts from the opening / closing elastic device 30c on the holding part 30a, resulting in the holding part 30a opening. On the other hand, as the opening / closing movable member 32 moves away from the fixed guide 31 and away from the opening / closing control member 30b, the opening / closing control member 30b returns to its original position due to the elastic force it receives from the opening / closing elastic device 30c, reducing the elastic force acting from the opening / closing elastic device 30c on the holding part 30a, resulting in the holding part 30a closing. Furthermore, as long as each bag holding device 30 is not positioned between the fixed guide 31 and the opening / closing movable member 32, and no external force is applied to the opening / closing control member 30b, the corresponding holding part 30a remains closed.

[0059] When the opening / closing control member 30b is pushed into the inner space of the holding body portion 30d by the opening / closing movable member 32, the enlarged portion of the holding body portion 30d (i.e., the portion with a locally larger outer diameter) is pressed against the fixing guide 31 (upper fixing guide portion and lower fixing guide portion), and the movement of the holding body portion 30d (and by extension the entire bag holding device 30) is restricted by the fixing guide 31.

[0060] In this way, the opening and closing unit, which includes the fixed guide 31 and the opening / closing movable member 32, performs the opening and closing operations of the holding portion 30a of the pair of bag holding devices 30, enabling the pair of bag holding devices 30 to hold and release bags. Such a fixed guide 31 and opening / closing movable member 32 (opening / closing unit) can be installed at any processing station. For example, the fixed guide 31 and opening / closing movable member 32 (opening / closing unit) can be installed at a station that supplies bags to the bag holding device 30, a station that releases bags (e.g., product bags or defective bags) from the bag holding device 30, and other stations that handle the transfer of bags (e.g., changing bags).

[0061] Although the above-described opening / closing elastic device 30c includes a compression spring, the opening / closing elastic device 30c may also include other means (for example, a device that applies an elastic force to the holding part 30a and the opening / closing control member 30b) instead of the compression spring.

[0062] Figure 9 is a top view showing an example of a pair of movable elements 11 and a corresponding pair of bag-holding devices 30. Figure 10 is a front view showing an example of a pair of movable elements 11 and a corresponding pair of bag-holding devices 30.

[0063] Each movable element 11 can take on various drive modes depending on the content of the processing.

[0064] For example, as shown in Figures 9 and 10, by moving each movable element 11 in such a way that the distance (spacing) between the two movable elements 11 that form a pair can be changed, thereby changing the distance between the two bag-holding devices 30 mounted on each movable element 11. As a result, the bag B held by the pair of bag-holding devices 30 can be bent or tensed, thereby opening and closing the mouth of the bag B.

[0065] Figure 11 is a front view showing another example of the operation of the pair of movable elements 11 and the pair of bag holding devices 30. Figure 12 is a front view showing another example of the operation of the pair of movable elements 11 and the pair of bag holding devices 30.

[0066] As shown in Figures 11 and 12, the opening of the bag B can also be opened and closed by controlling the posture (especially the tilted posture) of each movable element 11. For example, as shown in Figure 11, by raising the outer ends of the pair of movable elements 11 higher than the inner ends, the holding portions 30a located at the upper ends of the two bag holding devices 30 mounted on each movable element 11 move closer together. As a result, the opening of the bag B held by these holding portions 30a can be bent and opened. On the other hand, as shown in Figure 12, by raising the inner ends of the pair of movable elements 11 higher than the outer ends, the holding portions 30a of the two bag holding devices 30 mounted on each movable element 11 move further apart. As a result, the opening of the bag B held by these holding portions 30a can be tensed and closed.

[0067] As shown in Figures 9 to 12 above, the drive configuration of each movable element 11 allows for adaptive changes in the degree of deflection and tension of the bag B and the open / closed state (degree of opening) of the opening of the bag B. Therefore, by driving each movable element 11 according to the processing content, the degree of deflection and tension of the bag B and the open / closed state (degree of opening) of the opening of the bag B can be optimized for the processing content.

[0068] For example, in the bag supply process, after bag B is supplied to the bag holding device 30, the position of bag B (particularly its relative position to the pair of bag holding devices 30) can be fixed by driving the corresponding pair of movable elements 11 to slightly stretch the bag B held by the pair of bag holding devices 30. Also, in the opening process of the mouth of bag B, the reliability of the opening process can be improved by driving the corresponding pair of movable elements 11 to flex bag B in accordance with the operation of the opening device (e.g., suction cup or air blower).

[0069] Furthermore, in the process of introducing contents (for example, contents containing solids) into the inside of bag B, the contents inside the space of bag B can be leveled by driving the corresponding pair of movable elements 11 so that bag B is repeatedly placed in a flexed state and a taut state. Also, in the process of introducing contents containing liquid into the inside of bag B, splashing of liquid from the inside to the outside of bag B can be reduced by driving the corresponding pair of movable elements 11 so that the opening of the mouth of bag B is opened to a necessary and sufficient extent. In addition, when transporting bag B containing liquid, the liquid can be prevented from spilling out of bag B from the inside to the outside during transport by driving the corresponding pair of movable elements 11 so that the opening of the mouth of bag B is sufficiently small (for example, so that the mouth is closed).

[0070] Furthermore, in the degassing process to discharge the gas inside bag B to the outside, the degassing process can be effectively performed by driving the corresponding pair of movable elements 11 to tense bag B. Also, in the process of introducing a gas such as steam into the inside of bag B, driving the corresponding pair of movable elements 11 to tense bag B can reduce the leakage of the introduced gas from the inside to the outside of bag B, and also reduce the inflow of outside air from the outside to the inside of bag B. In addition, in the sealing process to seal the opening of bag B, driving the corresponding pair of movable elements 11 to tense and tighten the opening can prevent wrinkles from forming at the opening during the sealing process.

[0071] Figure 13 is a side view showing another example of the transport system 10.

[0072] In the transport system 10 of this example, under the control of the transport control unit 14 (see Figure 1, etc.), the opening of the bag B held by the pair of bag holding devices 30 mounted on these movable elements 11 is sealed while the pair of movable elements 11 are positioned at a sealing height position higher than the reference height position during normal movement.

[0073] The movement of each movable element 11 from the reference height position to the sealing height position (see arrow D4 (upward direction) in Figure 13) is performed by controlling the magnitude of the magnetic field acting between each movable element 11 and the transport body 13, which is controlled by the transport control unit 14. The height position of bag B is detected by a sensor 34 while bag B is moving or stopped, and the result of this detection is sent from the sensor 34 to the transport control unit 14. Based on this feedback information regarding the height position of bag B, the transport control unit 14 controls the magnetic field acting between each movable element 11 and the transport body 13, thereby accurately adjusting the height position of each movable element 11.

[0074] Because it is necessary to actively change the height of bag B before sealing, the sealing plate 35 can be pressed against the desired height portion of the opening of bag B at the sealing station, and as a result, the sealing process can be performed with high positional accuracy.

[0075] Furthermore, if the sealing plate 35 is pressed against the bag B (sealing process) multiple times at one or more sealing stations, the height position of the bag B against which the sealing plate 35 is pressed may be shifted between sealing processes. For example, in the first sealing process, the area of ​​the bag B opening from the upper edge of the bag B down to 9 mm may be sealed by the sealing plate 35, and in the second sealing process, the area of ​​the bag B opening from the upper edge of the bag B down to 10 mm may be sealed by the sealing plate 35. Also, if a cooling plate (not shown) is pressed against the bag B opening thereafter, the area of ​​the bag B against which the cooling plate is pressed (for example, the area of ​​the bag B opening from the upper edge of the bag B down to 11 mm) may be shifted from the area of ​​the bag B against which the sealing plate 35 is pressed.

[0076] Figure 14 is a side view showing another example of the transport system 10.

[0077] In the transport system 10 of this example, under the control of the transport control unit 14, the opening of the mouth of the bag B, which is held by a pair of bag holding devices 30 mounted on these movable elements 11, is performed with the pair of movable elements 11 positioned at an opening processing height position higher than the reference height position during normal movement.

[0078] The movement of each movable element 11 from the reference height position to the opening processing height position (see arrow D4 (upward direction) in Figure 14) is performed by controlling the magnitude of the magnetic field acting between each movable element 11 and the transport body 13, which is controlled by the transport control unit 14. The height position of bag B is detected by sensor 34. Based on the feedback information regarding the height position of bag B from sensor 34, the transport control unit 14 can accurately adjust the height position of each movable element 11.

[0079] By actively changing the height of bag B before opening, the portion of bag B at a desired height can be supported by the opening suction cup 36 (including, in the example shown in Figure 14, an upper suction cup that supports the mouth of bag B and a lower suction cup that supports the bottom of bag B) at the opening station, thereby improving the reliability of the opening process.

[0080] As shown in Figures 13 and 14 above, the height position of bag B for processing (such as sealing or opening) (and consequently the height position of the corresponding pair of bag holding devices 30 and the corresponding pair of movable elements 11) may be different from the height position of bag B (and consequently the height position of the corresponding pair of bag holding devices 30 and the corresponding pair of movable elements 11) when such processing is not being performed (for example, while bag B is being transported). This allows any variation in the relative height position between the bag holding device 30 and bag B to be absorbed by the height position adjustment process of each movable element 11 performed prior to the desired processing. As a result, various processing (such as sealing or opening) can be performed on bag B while it is accurately positioned at the desired height.

[0081] Figure 15 is a plan view showing an example of the drive configuration of the movable element 11. In this example, the movable element 11 rotates in a rotational direction D5 around the rotational axis Ax and in the opposite direction to the rotational direction D5 under the control of the transport control unit 14 (see Figure 1, etc.), thereby stirring the contents (not shown) contained in the container C (e.g., a can) placed on the movable element 11. The rotational axis Ax may or may not coincide with the central axis of the movable element 11 and the container C.

[0082] Figures 16 and 17 are side views showing other examples of the drive configuration of the movable element 11. However, in Figures 16 and 17, the state of the contents F inside the container C is shown in perspective. In this example, the movable element 11 rotates in the rotational direction D5 under the control of the transport control unit 14 (see Figure 1, etc.), thereby changing the state of the contents F inside the container C placed on the movable element 11.

[0083] Generally, when a poorly flowing substance F is introduced into a container C, the substance F often ends up locally bulging in the center of the container C. Therefore, by rotating the movable element 11 as in this example, the substance F inside the container C, which rotates with the movable element 11, is subjected to centrifugal force, and as a result, the substance F is reshaped into a locally concave state in the center of the container C (in other words, a locally bulging state near the inner wall surface of the container C). This allows for effective use of the space inside the container C and, consequently, prevents the substance F from overflowing from the container C due to the localized bulging of the substance F.

[0084] Figures 18 and 19 are side views showing other examples of the drive configuration of the movable element 11. However, Figures 18 and 19 show the state of the contents F inside the container C in a perspective view. In this example, the movable element 11 vibrates in the longitudinal vibration direction D6 and / or the lateral vibration direction D7 under the control of the transport control unit 14 (see Figure 1, etc.), thereby leveling the contents F inside the container C placed on the movable element 11. The longitudinal vibration direction D6 coincides with the height direction, and the lateral vibration direction D7 coincides with the horizontal direction. When the movable element 11 is vibrated in the longitudinal vibration direction D6, the movable element 11 may momentarily assume inclined positions of various inclination angles. This makes effective use of the space inside the container C and, consequently, prevents the contents F from overflowing from the container C due to localized bulging of the contents F.

[0085] Figure 20 is a plan view showing another example of the processing system 100.

[0086] In the processing system 100 of this example, a power source device 22 is mounted on the movable element 11. The power source device 22 moves two-dimensionally along the transport surface 12 together with the movable element 11 (see the movement trajectory T shown in Figure 20), and can connect to the processing device battery 21 of the processing device 20 provided around the transport surface 12, thereby charging the processing device battery 21.

[0087] The power source device 22 can take any battery form (for example, a solar cell form) that can supply power to the processing unit battery 21.

[0088] In this example, the power source device 22 takes the form of a battery, but it can take any other form of power source (for example, electric power, magnetic force, elastic force, thermal energy, and light source). For example, a wireless switch (for instance, a wireless switch that does not require a power source because it generates electromotive force through button operation) or a magnet may be mounted on the power source device 22.

[0089] Although Figure 20 shows only one movable element 11 on which a power source device 22 is mounted, multiple power source devices 22 may be mounted on each of multiple movable elements 11 and arranged to move independently of each other along the transport surface 12.

[0090] In the example shown in Figure 20, the power source device 22 is mounted on the movable element 11 and made movable, but the processing unit 20, which includes the processing unit battery 21, may also be mounted on the movable element 11 and made movable. For example, the movable element 11 on which the processing unit 20 is mounted may move along the transport surface 12 as needed, and the processing unit battery 21 of the processing unit 20 may be charged by connecting the processing unit battery 21 of the processing unit 20 to the power source device 22 which is fixedly installed around the transport surface 12.

[0091] Figure 21 is a side view showing another example of the processing system 100.

[0092] In the processing system 100 of this example, the power source device 22 is mounted on a movable element 11, and the drive source device 23 is mounted on another movable element 11. The power source device 22 and the drive source device 23 move two-dimensionally along the transport surface 12 together with the corresponding movable elements 11. The drive source device 23 can perform processing at any position within the range of the transport surface 12. The power source device 22 can be charged by connecting to a processing device (not shown) or the drive source device 23 as needed at any position within the range of the transport surface 12.

[0093] Figure 22 is a side view showing another example of the processing system 100.

[0094] In the processing system 100 of this example, the item P to be processed in the processing device 20 is placed on a movable element 11, and the drive source device 23 is placed on another movable element 11.

[0095] The drive source device 23 in this example includes a communication device 40, a sensor 41, a solenoid valve 42, and a cylinder 43. The communication device 40 communicates wirelessly or via wired connection with the transport control unit 14 (see Figure 1, etc.) and other arbitrary devices to send and receive data. The data sent and received by the communication device 40 is not limited. The communication device 40 may, for example, transmit the detection results of the sensor 41 or receive drive signals for the solenoid valve 42 and the cylinder 43. The sensor 41 may detect any state quantity, for example, a state quantity related to an item P (for example, the distance to item P). The solenoid valve 42 may be driven in response to a drive signal received via the communication device 40. The cylinder 43 comprises a rod with a variable horizontal protrusion amount and may be driven to change the protrusion amount of the rod in response to a drive signal received via the communication device 40. The specific configuration and drive mode of the cylinder 43 are not limited; for example, the cylinder 43 can be configured as an air cylinder or an electric cylinder.

[0096] With the movable element 11 on which the drive source device 23 is mounted and the movable element 11 on which the article P is mounted positioned close to each other, the amount of protrusion of the rod of the cylinder 43 is increased, causing the article P to be pushed from the movable element 11 to the processing device 20 by the rod.

[0097] Figure 23 is a side view showing another example of the processing system 100.

[0098] In the processing system 100 of this example, the item P to be processed by the processing device is placed on the movable element 11, and the drive source device 23 is placed on another movable element 11. However, the drive source device 23 includes a servo mechanism 44 and an imaging device 45. The servo mechanism 44 moves the imaging device 45 in the height direction to position it at an arbitrary height. The imaging device 45 performs imaging at the arbitrary height position positioned by the servo mechanism 44.

[0099] For example, the imaging device 45 may be moved in the height direction by a servo mechanism 44, and images (still images and / or videos) of the object P may be acquired by the imaging device 45. By analyzing the images of the object P acquired in this way, it is also possible to inspect the condition of the object P (for example, whether there are any abnormalities such as scratches on the object P (workpiece, etc.)).

[0100] The drive source device 23 in this example may include the communication device 40, sensor 41, solenoid valve 42, cylinder 43, and / or any other device shown in Figure 22 above.

[0101] Figure 24 is a side view showing another example of the drive configuration of the movable element 11.

[0102] In this example, the article P is transferred between the movable elements 11 by vibrating the movable elements 11 in the longitudinal vibration direction D6 (particularly by vibrating the movable elements 11 while changing the instantaneous tilting position of the movable elements 11). Alternatively, the article P may be transferred between the movable elements 11 by pushing the article P on one movable element 11 onto another movable element 11 using an extrusion member (not shown), such as the rod of the cylinder 43 shown in Figure 22. It is preferable that the position and orientation of each movable element 11 be adjusted so that the transfer of the article P between the movable elements 11 is smooth. For example, the article P may be moved from the moving element 11A in the article movement direction D8 with the height position of the source movable element 11A (particularly the height position of the article placement surface (upper surface) at the end of the source movable element 11A on the side of the destination movable element 11B) higher than the height position of the destination movable element 11B (particularly the height position of the article placement surface (upper surface) at the end of the destination movable element 11B on the side of the source movable element 11A). Alternatively, the movable element 11 (the source movable element 11A and / or the destination movable element 11B) may be tilted and vibrated in the vertical vibration direction D6 so that the article-placing surface of the movable element 11 gradually descends toward the article movement direction D8, thereby moving the article P from the source movable element 11A to the article movement direction D8 and placing it on the destination movable element 11B.

[0103] Figure 25 is a side view showing another example of the drive configuration of the movable element 11.

[0104] In this example, the article P is transferred from the movable element 11 to the processing device 20 (e.g., a weighing device) by vibrating the movable element 11 in the longitudinal vibration direction D6 (particularly by vibrating the movable element 11 while changing its instantaneous tilting position). Alternatively, the article P may be transferred from the movable element 11 to the processing device 20 by pushing it onto the processing device 20 using an extrusion member (not shown), such as the rod of the cylinder 43 shown in Figure 22. It is preferable that the position and orientation of each movable element 11 be adjusted so that the transfer of the article P is smooth. For example, the article P may be moved from the movable element 11 in the article movement direction D8 and placed on the processing device 20 with the height of the article placement surface (top surface) of the movable element 11 (particularly the height of the article placement surface at the end of the movable element 11 on the processing device 20 side) higher than the height of the article placement surface (top surface) of the processing device 20 (particularly the height of the article placement surface at the end of the processing device 20 on the movable element 11 side). Alternatively, the movable element 11 may be tilted and vibrated in the vertical vibration direction D6 so that the article-placing surface of the movable element 11 gradually moves downward toward the article movement direction D8, thereby moving the article P from the movable element 11 toward the article movement direction D8 and placing it on the processing device 20.

[0105] The transfer of the article P from the movable element 11 to the processing unit 20 may be performed using only the vibration of the movable element 11, or it may be performed using the vibration of both the movable element 11 and the processing unit 20. For example, initially, the article P may be moved from the movable element 11 to the processing unit 20 by vibrating only the movable element 11, and then, with a portion of the article P on the processing unit 20, the processing unit 20 may be vibrated in the height direction (processing unit vibration direction D9) (particularly by vibrating the processing unit 20 while changing the instantaneous tilting position of the processing unit 20) to move the article P so that the entire article P is on the processing unit 20. In this case, after a portion of the article P is on the processing unit 20, but before the entire article P is on the processing unit 20, the movable element 11 may move in the retraction direction D10 and move away from the article P. This allows the movable element 11 to move for the next processing before the transfer of the article P to the processing unit 20 is completed, thereby improving the utilization efficiency of the movable element 11. According to the retraction direction D10 shown in Figure 25, the movable element 11 moves downward and then horizontally to separate itself from the item P, but the specific direction of the retraction direction D10 (i.e., the specific retraction behavior of the movable element 11) is not limited.

[0106] Furthermore, when moving the article P from the movable element 11 by an extrusion member (not shown) such as the rod of the cylinder 43 shown in Figure 22 above, the article P may be moved from the movable element 11 while the movable element 11 is being held by a holding mechanism (not shown). In this case, even if the movable element 11 receives force from the article P due to friction or the like, unintended movement of the movable element 11 can be prevented, and the article P can be moved appropriately from the movable element 11.

[0107] Figure 26 is a side view showing another example of the processing system 100.

[0108] In the processing system 100 of this example, the movable element 11 is transported by the transfer device 48 and moved to a processing device (not shown) or the like. As shown in Figure 26, the movable element 11 does not need to have anything on it, or it may have any item (not shown) on it.

[0109] In this example, the transfer device 48 is moved in the device movement direction D12 under the control of a control device (not shown), and a portion of the transfer device 48 is inserted into the space between the movable element 11 and the transport surface 12. In this state, the transport control unit 14 controls the magnetic field acting between the movable element 11 and the transport body 13, causing the movable element 11 to descend (see the upward / downward direction D11 in Figure 26) and be placed on the transfer device 48. Subsequently, the transfer device 48 with the movable element 11 on it is moved in the device movement direction D12, and the movable element 11 is transferred from the transfer device 48 to the processing device (not shown).

[0110] When returning the movable element 11 from the processing device to the upper surface 12, the above-described series of processing steps are performed in the reverse order.

[0111] The control device that controls the movement of the transport device 48 may be the transport control unit 14, or it may be a different device from the transport control unit 14. If the control device and the transport control unit 14 are different devices, signals may be transmitted and received between the control device and the transport control unit 14 to share information, and the control device and the transport control unit 14 may be configured so that their respective controlled objects (i.e., the transport device 48 and each movable element 11) cooperate with each other.

[0112] Figure 27 is a side view showing another example of the processing system 100.

[0113] In the processing system 100 of this example, the movable element 11 is transported by the transfer device 48 and moved to a processing device (not shown) or the like. The movable element 11 does not need to have anything on it, or it may have any item (not shown) on it.

[0114] In this example, the transfer device 48 is moved in the device movement direction D12 under the control of a control device (not shown), and at least a portion of the transfer device 48 is positioned above the transport surface 12. In this state, the movable element 11 is moved in the horizontal movement direction D13 under the control of the transport control unit 14, and the movable element 11 is positioned on the opposite side of the transport surface 12 via a portion of the transfer device 48. That is, a portion of the transfer device 48 is positioned between the movable element 11 and the transport surface 12. Subsequently, by controlling the magnetic field acting on the movable element 11 under the control of the transport control unit 14, the movable element 11 is lowered (see the upward / downward direction D11 in Figure 27) and placed on the transfer device 48. Then, the transfer device 48 with the movable element 11 on it is moved in the device movement direction D12, and the movable element 11 is transferred from the transfer device 48 to the processing unit (not shown).

[0115] When returning the movable element 11 from the processing device to the upper surface 12, the above-described series of processing steps are performed in the reverse order.

[0116] In the examples shown in Figures 26 and 27 above, the position (e.g., height) and orientation (e.g., tilted orientation) of the movable element 11 may be adjusted as appropriate so that the movable element 11 can be smoothly placed on the transfer device 48. Furthermore, a mechanism for holding the movable element 11 may be provided, such as a device that grips the movable element 11 or a device that utilizes suction and / or magnetic force.

[0117] [Processing System]

[0118] Figure 28 is a plan view showing another example of the processing system 100.

[0119] In this example, the conveying surface 12 has a rectangular shape, divided by two long sides and two short sides. Along one long side of the conveying surface 12, a plurality of processing devices for performing bag packaging-related processing are installed. Specifically, a bag supply device 111, a printing device 112, a printing inspection device 113, an opening device 114, a solid material input device 115, a liquid filling device 116, a degassing device 117, a first seal heating device 118, a second seal heating device 119, a seal cooling device 120, and a good product discharge device 121 are installed as these plurality of processing devices. Along the other long side of the conveying surface 12, a plurality (3) of defective bag discharge devices 122 for discharging defective bags B0 are installed as processing devices. In the example shown in Figure 28, these three defective bag discharge devices 122 are positioned on the opposite side of the conveying surface 12 (conveying body 13) from the printing inspection device 113, the opening device 114, and the second seal heating device 119, respectively.

[0120] Each movable element 11 has a bag holding device 30 (see Figures 6 to 14) fixedly mounted on it. Bag B is held by a pair of bag holding devices 30 mounted on two movable elements 11 that form a pair, and moves along the conveying surface 12 together with the corresponding pair of movable elements 11. In the example shown in Figure 28, the pair of movable elements 11 that move with bag B move along a rectangular normal movement route Fr along the outer circumference of the conveying surface 12 while normal processing is being performed. On the other hand, if an abnormality is detected in bag B during a series of processes, the pair of movable elements 11 that move with bag B move along a defective bag discharge route Fq that deviates from the normal movement route Fr, and moves to a defective bag discharge station where a defective bag discharge device 122 is provided.

[0121] Each pair of movable elements 11 may rotate 180 degrees along the horizontal plane when moving from one of the normal movement routes Fr along one long side of the conveying surface 12 to the other. In this case, the orientation of the pair of bag holding devices 30 mounted on the pair of movable elements 11 is adjusted to change by 180 degrees along the horizontal plane, so that the pair of bag holding devices 30 and the bags B are positioned at each processing station in a location suitable for processing by the processing device (close to the processing device).

[0122] Each pair of movable elements 11 intermittently stops at a plurality of processing stations located on the normal travel route Fr. Specifically, each pair of movable elements 11 intermittently stops at the bag supply station, printing station, printing inspection station, opening station, solid material input station, liquid filling station, degassing station, first seal heating station, second seal heating station, seal cooling station, and good product discharge station.

[0123] At each processing station, various processes are performed by the corresponding processing unit while each pair of movable elements 11 is intermittently stopped. At the bag supply station, the bag supply device 111 provides bags B (empty flat bags in the example shown in Figure 28) to pairs of bag holding devices 30 mounted on pairs of movable elements 11 located at the bag supply station. At the printing station, the printing device 112 performs printing on bags B, adding printed information to the bags B.

[0124] At the print inspection station, the print inspection device 113 inspects the print condition of bag B, and the results of the inspection are transmitted from the print inspection device 113 to the transport control unit 14. If the inspection reveals no abnormalities in the print condition of bag B, the pair of movable elements 11, the pair of bag holding devices 30, and bag B are moved to the next processing station (opening station) along the normal transport route Fr under the control of the transport control unit 14. On the other hand, if the inspection reveals an abnormality in the print condition of bag B, the bag B, along with the corresponding pair of movable elements 11 and bag holding devices 30, are moved to the corresponding defective bag discharge station along the defective bag discharge route Fq under the control of the transport control unit 14.

[0125] At the opening station, the opening device 114 opens the mouth of bag B. The opening station is equipped with an opening detection device that detects the open state of the mouth of bag B, and the result of this detection is transmitted from the opening detection device to the transport control unit 14. The opening detection device may be composed of a dedicated sensor or other device (not shown), or the opening device 114 may also serve as the opening detection device. If the detection result of the opening detection device indicates that the mouth of bag B is properly opened, the pair of movable elements 11, the pair of bag holding devices 30, and bag B move along the normal transport route Fr to the subsequent processing station (solid material input station) under the control of the transport control unit 14. On the other hand, if the detection result of the opening detection device indicates that the mouth of bag B is not properly opened, the bag B, along with the corresponding pair of movable elements 11 and the pair of bag holding devices 30, move along the defective bag discharge route Fq to the corresponding defective bag discharge station under the control of the transport control unit 14.

[0126] At the solid material input station, the solid material input device 115 inputs solid material (contents) into bag B through its open opening. At the liquid filling station, the liquid filling device 116 injects liquid (contents) into bag B through its open opening. At the degassing station, the degassing device 117 discharges gas (e.g., oxygen-containing gas such as air) from bag B to the outside of bag B through its open opening. The degassing device 117 may also expel air from bag B by introducing steam (water vapor), for example, into bag B.

[0127] At the first seal heating station and the second seal heating station, the first seal heating device 118 and the second seal heating device 119 heat-seal the opening of bag B, respectively.

[0128] The second seal heating station is equipped with a seal state detection device that detects the seal state of bag B, and the result of this detection is transmitted from the seal state detection device to the transport control unit 14. The seal state detection device may consist of a dedicated sensor or other device (not shown), or the second seal heating device 119 may also serve as the seal state detection device. If the detection result of the seal state detection device indicates that the opening of bag B is properly sealed, the pair of movable elements 11, the pair of bag holding devices 30, and bag B move along the normal transport route Fr to the subsequent processing station (seal cooling station) under the control of the transport control unit 14. On the other hand, if the detection result of the seal state detection device indicates that the opening of bag B is not properly sealed, the bag B, along with the corresponding pair of movable elements 11 and the pair of bag holding devices 30, move along the defective bag discharge route Fq to the corresponding defective bag discharge station under the control of the transport control unit 14.

[0129] At the seal cooling station, the seal cooling device 120 cools the opening of bag B (especially the heat-sealed part). At the good product discharge station, the good product discharge device 121 receives product bag B1 (i.e., bag B containing contents and having a sealed opening) from the pair of movable elements 11 and sends it to the next stage.

[0130] After releasing bag B (product bag B1) at the good product discharge station, the pair of movable elements 11 move along a normal movement route Fr along one short side of the conveying surface 12, and then move along a normal movement route Fr along the other long side of the conveying surface 12.

[0131] The three defective bag discharge stations described above are located on the normal travel route Fr along the other long side of the conveying surface 12. At each defective bag discharge station, the corresponding defective bag discharge device 122 retrieves the defective bag B0 (i.e., the bag B in which an abnormality was detected) from the pair of bag holding devices 30. Immediately after releasing bag B (defective bag B0) at the defective bag discharge station, the pair of movable elements 11 and the corresponding pair of bag holding devices 30 move along the normal travel route Fr along the other long side of the conveying surface 12.

[0132] Each pair of movable elements 11 moves from the endpoint of a normal movement route Fr along the other long side of the conveying surface 12, along a normal movement route Fr along the other short side of the conveying surface 12, and then again along a normal movement route Fr along one of the long sides of the conveying surface 12.

[0133] Figure 29 is a plan view showing another example of the processing system 100.

[0134] The processing system 100 in this example is equipped with a processing device that performs the same packaging-related processing as the processing system 100 shown in Figure 28 above, but the bag supply device 111 to the good product discharge device 121 are installed along the outer circumference of the conveying surface 12, and the defective bag discharge device 122 is installed inside the conveying surface 12.

[0135] The conveying surface 12 shown in Figure 29 has a square ring shape with a square outer circumference and a square inner circumference. The bag supply device 111 to the good product discharge device 121 are located in the area outside the conveying surface 12, and the defective bag discharge device 122 is located in the inner area surrounded by the conveying surface 12.

[0136] Therefore, the bag supply station, printing station, printing inspection station, opening station, solid material input station, liquid filling station, degassing station, first seal heating station, second seal heating station, seal cooling station, and good product discharge station are sequentially provided in the outer peripheral area of ​​the conveying surface 12 (particularly the area near the corresponding processing equipment (bag supply device 111 to good product discharge device 121)). Thus, the normal movement route Fr that each movable element 11 travels while normal processing is being carried out (i.e., the normal movement route Fr passing through the bag supply station to the good product discharge station) is a rectangular (particularly square) circulating route along the outer perimeter of the conveying surface 12.

[0137] On the other hand, the defective bag discharge stations are located in the inner circumferential region of the conveying surface 12 (particularly in the region near the defective bag discharge device 122). In the example shown in Figure 29, three defective bag discharge stations are located near each of the three sides of the four sides that form the inner circumference of the conveying surface 12. Pairs of bag holding devices 30 and pairs of movable elements 11 reach these three defective bag discharge stations via the defective bag discharge route Fq from the printing inspection station where the printing inspection device 113 is installed, the opening station where the opening device 114 is installed, and the second sealing heating station where the second sealing heating device 119 is installed.

[0138] Thus, the three defective bag discharge stations in this example are not located on the normal movement route Fr. Therefore, after the pair of movable elements 11 discharges bag B (defective bag B0) at the defective bag discharge station, they return to the normal movement route Fr via the return route Fp. The return route Fp shown in Figure 29 includes a route along the inner circumference of the conveying surface 12 and terminates at an empty station between the good product discharge station where the good product discharge device 121 is provided and the bag supply station where the bag supply device 111 is provided. After the pair of movable elements 11 and the pair of bag holding devices 30 discharge bag B (defective bag B0) at the defective bag discharge station move to the empty station via the return route Fp, they then move from the empty station to the bag supply station along the normal movement route Fr.

[0139] Each pair of movable elements 11 rotates appropriately so that the pair of bag holding devices 30 and the bags B are positioned at each processing station in a location suitable for processing by the processing device (close to the processing device). For example, in the parts of the normal movement route Fr and the return route Fp where the route direction changes by 90 degrees (the four corners of the normal movement route Fr; the three corners of the return route Fp along the inner circumference of the conveying surface 12; see the symbol "R90" in Figure 29), each pair of movable elements 11 rotates 90 degrees along the horizontal plane. Also, in the part of the return route Fp where the route direction changes towards an empty station (see the symbol "R180" in Figure 29) and in the defective discharge route Fq, each pair of movable elements 11 rotates 180 degrees along the horizontal plane.

[0140] Figure 30 is a plan view showing another example of the processing system 100.

[0141] The processing system 100 shown in Figures 28 and 29 above is provided as a system for performing packaging-related processing, while the processing system 100 shown in Figure 30 is provided as a system for performing processing related to attaching a spout to bag B.

[0142] In this example, the conveying surface 12 has a rectangular shape, divided by two long sides and two short sides. Along one long side of the conveying surface 12, a bag supply device 131, an opening device 132, a spout supply temporary fixing device 133, a first spout seal heating device 134, a second spout seal heating device 135, a spout seal cooling device 136, a spout seal inspection device 137, and a good product discharge device 138 are installed as processing devices. Along the other long side of the conveying surface 12, a plurality (two) defective bag discharge devices 122 for discharging defective bags B0 are installed as processing devices. In the example shown in Figure 30, the opening device 132 and the spout seal inspection device 137 are located on opposite sides of the conveying surface 12 (conveying main body 13), respectively.

[0143] A bag holding device 30 is fixedly mounted on each movable element 11. Bag B is held by a pair of bag holding devices 30 mounted on two movable elements 11 that form a pair, and moves along the conveying surface 12 together with the corresponding pair of movable elements 11. In the example shown in Figure 30, each pair of movable elements 11 moves along a rectangular normal movement route Fr along the outer circumference of the conveying surface 12 while normal processing is being carried out. On the other hand, if an abnormality is detected in bag B during a series of processes, the pair of movable elements 11 and the pair of bag holding devices 30 that are moving with bag B move along a defective bag discharge route Fq that deviates from the normal movement route Fr, and moves to a defective bag discharge station where a defective bag discharge device 122 is provided.

[0144] Each pair of movable elements 11 rotates 180 degrees along the horizontal plane when moving from one of the normal movement routes Fr along one long side of the conveying surface 12 to the other. This ensures that at each processing station, the pair of bag holding devices 30 and the bags B are positioned in a location suitable for processing by the processing device (close to the processing device).

[0145] Each pair of movable elements 11 intermittently stops at a plurality of processing stations located on the normal travel route Fr. Specifically, each pair of movable elements 11 intermittently stops at the bag supply station, opening station, spout supply temporary fixing station, first spout seal heating station, second spout seal heating station, spout seal cooling station, spout seal inspection station, and good product discharge station.

[0146] At each processing station, various processes are carried out by the corresponding processing unit while each pair of movable elements 11 is intermittently stopped. At the bag supply station, the bag supply device 111 provides bags B (empty flat bags in the example shown in Figure 30) to pairs of bag holding devices 30 mounted on pairs of movable elements 11 located at the bag supply station.

[0147] At the opening station, the opening device 132 opens the mouth of bag B. The opening station is equipped with an opening detection device that detects the open state of the mouth of bag B, and the result of this detection is transmitted from the opening detection device to the transport control unit 14. If the detection result of the opening detection device indicates that the mouth of bag B is properly opened, the pair of movable elements 11, the pair of bag holding devices 30, and bag B move along the normal transport route Fr to the subsequent processing station (spout supply temporary fixing station) under the control of the transport control unit 14. On the other hand, if the detection result of the opening detection device indicates that the mouth of bag B is not properly opened, the bag B, along with the corresponding pair of movable elements 11 and the pair of bag holding devices 30, moves along the defective bag discharge route Fq to the corresponding defective bag discharge station under the control of the transport control unit 14.

[0148] At the spout supply temporary fastening station, the spout supply temporary fastening device 133 prepares the spout and temporarily fastens the spout to the open opening of bag B to create a spouted bag B2. At the first spout seal heating station and the second spout seal heating station, the first spout seal heating device 134 and the second spout seal heating device 135 heat-seal the spouted bag B2 (especially between the spout and the opening of the bag). At the spout seal cooling station, the spout seal cooling device 136 cools the spouted bag B2 (especially the spout and the heat-sealed portion of the opening of bag B).

[0149] At the spout seal inspection station, the spout seal inspection device 137 inspects the seal condition of the spout bag B2, and the results of the inspection are transmitted from the spout seal inspection device 137 to the transport control unit 14 (see Figure 1, etc.). If the inspection reveals no abnormalities in the seal condition of the spout bag B2, the pair of movable elements 11, the pair of bag holding devices 30, and bag B are moved to the next processing station (good product discharge station) along the normal transport route Fr under the control of the transport control unit 14. On the other hand, if the inspection reveals an abnormality in the seal condition of the spout bag B2, the bag B, along with the corresponding pair of movable elements 11 and bag holding devices 30, are moved to the corresponding defective bag discharge station along the defective bag discharge route Fq under the control of the transport control unit 14.

[0150] At the good product discharge station, the good product discharge device 138 receives the spout-equipped bag B2 from the pair of movable elements 11 and sends it to the next stage.

[0151] After releasing the spouted bag B2 at the good product discharge station, the pair of movable elements 11 move along a normal movement route Fr along one short side of the conveying surface 12, and then move along a normal movement route Fr along the other long side of the conveying surface 12.

[0152] The two defective bag discharge stations described above are located on the normal travel route Fr along the other long side of the conveying surface 12. At each defective bag discharge station, the corresponding defective bag discharge device 122 retrieves the defective bag B0 (i.e., the bag B in which an abnormality was detected and the spouted bag B2) from the corresponding pair of bag holding devices 30. Immediately after releasing bag B (defective bag B0) at the defective bag discharge station, the pair of movable elements 11 and the corresponding pair of bag holding devices 30 move along the normal travel route Fr along the other long side of the conveying surface 12.

[0153] Each pair of movable elements 11 moves from the endpoint of a normal movement route Fr along the other long side of the conveying surface 12, along a normal movement route Fr along the other short side of the conveying surface 12, and then again along a normal movement route Fr along one of the long sides of the conveying surface 12.

[0154] [First variation] Figures 31A to 32B show the movable element 11 and spout holding device 141 according to the first modified example.

[0155] In this modified example, the processing device that performs processing using an article placed on a movable element 11 positioned at a corresponding processing location on the transport surface 12 performs processing related to the spout S held by the spout holding device 141 included in the article, and in particular performs processing to attach the spout S to the bag B.

[0156] In the example shown in Figures 31A (plan view) and 31B (side view), the spout holding device 141 is mounted on the movable element 11 as the aforementioned item, and the spout holding device 141 moves along the transport surface 12 together with the movable element 11.

[0157] The spout holding device 141 is provided to hold and release the spout S. In the example shown in Figures 31A and 31B, the small-diameter portion (part of the hollow straw portion S4) of the spout S, which is located between the upper flange portion S1 and the lower flange portion S2, and which has a smaller outer diameter than the upper flange portion S1 and the lower flange portion S2, is held by the spout holding portion 142 of the spout holding device 141. The spout holding portion 142 has a notched groove, and the spout S is held by the spout holding portion 142 when the small-diameter portion of the spout S enters the notched groove, and the spout S is released (discharged) from the spout holding portion 142 when the small-diameter portion of the spout S retracts from the notched groove. The width of the notched groove of the spout holding portion 142 is larger than the outer diameter of the small-diameter portion of the spout S, and smaller than the diameter of the annular upper flange portion S1.

[0158] The spout S shown in Figures 31A and 31B has a mounting seal portion S3 and a straw portion S4. A part of the straw portion S4 and the mounting seal portion S3 are provided on the opposite side from the upper flange portion S1 via the lower flange portion S2. The mounting seal portion S3 has a boat-shaped plan view and is the part that is attached to the bag B. The straw portion S4 extends so as to penetrate the upper flange portion S1, the lower flange portion S2 and the mounting seal portion S3, and constitutes the small diameter portion described above.

[0159] The movable element 11 and spout holding device 141 of this modified example can be applied to a conveying system (spout sealing machine) for attaching a spout S to a bag B. Such a spout sealing machine can sequentially move through the following processing stations provided on the conveying surface 12, for example, and perform the following processes at each processing station.

[0160] In the first processing station, a spout S is supplied by a spout supply device to a spout holding device 141 placed on a movable element 11, and the spout S is held by a spout holding section 142 (first step; see Figures 31A and 31B).

[0161] In the subsequent second processing station, a bag supply device prepares bag B, the opening of bag B is opened by an opening device, and the portion of the spout S below the lower flange portion S2 (the portion to be attached and sealed S3 and the straw portion S4) is placed inside bag B by a bag placement device. Then, the spout S (especially the portion to be attached and sealed S3) is heat-welded (temporarily sealed) to bag B (especially the opening) by a temporary sealing device (second step; see Figure 32A (plan view) and Figure 32B (side view)).

[0162] In the subsequent third processing station, the spout S (especially the part S3 intended for attachment and sealing) is heat-welded to the bag B (especially the opening) by the first sealing device (first seal) (third step). In the subsequent fourth processing station, the spout S (especially the part S3 intended for attachment and sealing) is heat-welded to the bag B (especially the opening) by the second sealing device (second seal) (fourth step).

[0163] In the subsequent fifth processing station, the attachment portion (seal portion) of bag B with the spout S attached (i.e., spouted bag B2) is cooled by a seal portion cooling device (fifth step). In the subsequent sixth processing station, the attachment portion (seal portion) of spouted bag B2 is inspected by a seal portion inspection device (sixth step). In the subsequent seventh processing station, spouted bag B2 is discharged from the spout sealing machine by a discharge device (seventh step).

[0164] [Second variation] Figures 33A to 34B show the movable element 11 and spout holding device 141 according to the second modified example.

[0165] In this modified example, the processing device that processes an article placed on a movable element 11 positioned at a corresponding processing location on the transport surface 12 performs processing related to the spout S held by the spout holding device 141 included in the article, and in particular performs processing to introduce contents into the spout bag B2 having the spout S held by the spout holding device 141, and to attach a cap V to the spout S.

[0166] In the examples shown in Figures 33A to 34B, elements that are the same as or correspond to those in the examples shown in Figures 31A to 32B above are denoted by the same reference numerals, and their detailed explanations are omitted.

[0167] In this modified example, the spout holding device 141 mounted on the movable element 11 is provided to hold and release the spout S provided by the spout bag B2.

[0168] The movable element 11 and spout holding device 141 of this modified example can be applied to a conveying system (spout bag filling and packaging machine) that introduces contents into the inside of a spout bag B2. Such a spout bag filling and packaging machine can sequentially move through the following processing stations provided on the conveying surface 12, for example, and perform the following processes at each processing station.

[0169] In the first processing station, a spouted bag B2 is supplied by a spouted bag supply device to a spout holding device 141 placed on a movable element 11, and the spouted bag B2 (especially the spout S) is held by a spout holding section 142 (first step; see Figures 33A and 33B).

[0170] In the subsequent second processing station, a printing device prints on the spout-equipped bag B2 (second process).

[0171] In the subsequent third processing station, a printing inspection device inspects the printing status on spout-equipped bag B2 (third process).

[0172] In the subsequent fourth processing station, a contents filling device fills the inside of the spouted bag B2 with contents (e.g., liquid) (fourth step).

[0173] In the subsequent fifth processing station, a cap V is attached to the spout S of the spouted bag B2 (particularly the tip of the straw portion S4 that is exposed to the outside of bag B) by a capping device, and a product bag is created (fifth step; see Figure 34A (plan view) and Figure 34B (side view)).

[0174] In the subsequent sixth processing station, the condition of the cap V attached to the spout bag B2 is inspected by a capping inspection device (sixth step).

[0175] In the subsequent seventh processing station, the product bags (i.e., spouted bags B2 with caps V attached) are discharged from the spout sealing machine by a discharge device (seventh step).

[0176] [Other variations] The items that can be placed on the movable element 11 are not limited. For example, a processing device installed around the transport surface 12 (transport body 13) may place at least one packaging material (such as a bag) or at least one packaged item (including packaging material and contents) directly or indirectly on one or more movable elements 11.

[0177] The method of attaching the article to the movable element 11 is not limited; the article may be attached directly to the movable element 11, or it may be attached to the movable element 11 via a fixture or cover. The movable element 11 shown in Figure 1 above generally has a rectangular planar shape, but it is conceivable that the shape and size of the article to be placed on the movable element 11 may not correspond to the planar shape and size of the movable element 11 (for example, the article may have a round planar shape). Even in such cases, it is possible to attach the article to the movable element 11 in an appropriate manner using a fixture or cover.

[0178] 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.

[0179] 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.

[0180] As described above, the transport system 10 and processing system 100 allow for a high degree of flexibility in designing the system layout, making it easy to realize a system layout that meets the needs of the system user. Furthermore, the movable element 11 that transports defective items such as defective bags can be moved away from the normal predetermined route and moved towards the dropout station (discharge / release station).

[0181] By changing the height position and tilt angle of the movable element 11, the state of containers such as bags and cans that move with the movable element 11 can be adaptively changed. Furthermore, by changing the height position, tilt angle, and rotational state of the movable element 11, the state of the contents contained in the container placed on the movable element 11 can be adaptively changed. This makes it possible to prevent the contents from splashing or leaking out of the container, to agitate the contents inside the container, or to level the contents inside the container like tapping (i.e., to align the height of the contents inside the container).

[0182] Furthermore, the transport system 10 and processing system 100 can flexibly handle a variety of items, and even if the specifications or types of items to be transported change, it is often not necessary to change the basic configuration of the transport system 10 and processing system 100. Therefore, it is possible to propose specific specifications for the transport system 10 and processing system 100 according to the requirements of the system user. In addition, it is possible to realize a transport system 10 and processing system 100 that can perform a series of processes without being bound by the order of processing.

[0183] Furthermore, by mounting the power source device 22 and the drive source device 23 on the movable element 11, the power source device 22 and the drive source device 23 are movably positioned, simplifying the system configuration and facilitating the replacement and maintenance of various devices.

[0184] [Note] This disclosure may also take the following form:

[0185] [Item 1] A transport system comprising a transport body having a transport surface, a movable element that moves along the transport surface, and a transport control unit that controls the magnetic field acting between the movable element and the transport body, wherein the movable element moves along the transport surface in a floating state separated from the transport surface based on the magnetic field, The transport control unit controls the magnetism to variably adjust one or more of the following: the movement trajectory, rotation state, movement speed, movement time, and posture of the movable element. Processing system.

[0186] [Item 2] The transport control unit controls the magnetic field to variably adjust at least the movement trajectory of the movable element. The processing system described in item 1.

[0187] [Item 3] The transport control unit controls the magnetism to variably adjust at least the rotation state of the movable element. The processing system described in item 1 or 2.

[0188] [Item 4] The transport control unit controls the magnetism to variably adjust at least the attitude of the movable element. A processing system described in any of items 1 to 3.

[0189] [Item 5] The apparatus includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing position on the transport surface, The article includes a bag-holding device for holding a bag, The processing apparatus performs packaging-related processing on the bag held by the bag holding device. A processing system described in any of items 1-4.

[0190] [Item 6] The apparatus includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing position on the transport surface, The article includes a bag-holding device for holding a bag, The processing apparatus performs processing related to attaching a spout to a bag held by the bag holding device. A processing system described in any of items 1-4.

[0191] [Item 7] The apparatus includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing position on the transport surface, The article includes a spout holding device for holding the spout, The processing apparatus performs a process related to attaching the spout, which is held by the spout holding device, to the bag. A processing system described in any of items 1-4.

[0192] [Item 8] The apparatus includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing position on the transport surface, The article includes at least one of a drive source device and a power source device, The aforementioned processing apparatus performs packaging-related processing for bags. A processing system described in any of items 1-4.

[0193] [Item 98] The apparatus includes a processing device that performs processing using an article placed on a movable element positioned at a corresponding processing position on the transport surface, The article includes at least one of a drive source device and a power source device, The processing apparatus performs a process related to attaching a spout to a bag. A processing system described in any of items 1-4.

[0194] [Item 10] The articles placed on the aforementioned movable element include cans, A processing system described in any of items 1 through 9.

[0195] [Item 11] The articles placed on the aforementioned movable element include containers. A processing system described in any of items 1 through 9.

[0196] [Item 12] The apparatus includes a device for placing packaging material on at least one of the aforementioned movable elements. A processing system described in any of items 1 through 11.

[0197] [Item 13] The apparatus includes a device for placing a package on at least one of the aforementioned movable elements. A processing system described in any of items 1 through 12. [Explanation of symbols]

[0198] 10 Conveying system, 11 Movable element, 11A Source movable element, 11B Destination movable element, 12 Conveying surface, 13 Conveying main body, 14 Conveying control unit, 20 Processing unit, 21 Processing unit battery, 22 Power source device, 23 Drive source device, 30 Bag holding device, 30a Holding part, 30b Opening / closing control member, 30c Opening / closing elastic device, 30d Holding main body, 31 Fixed guide, 32 Opening / closing movable member, 34 Sensor, 35 Sealing heat plate, 36 Opening suction cup, 40 Communication device, 41 Sensor, 42 Solenoid valve, 43 Cylinder, 44 Servo mechanism, 45 Imaging device, 48 Conveying device, 100 Processing system, 111 Bag supply device, 112 Printing device, 113 Printing inspection device, 114 Opening device, 115 Solid material input device, 116 Liquid filling device, 117 Degassing device, 118 First seal heating device, 119 Second seal heating device, 120 Seal cooling device, 121 Good product discharge device, 122 Defective bag discharge device, 131 Bag supply device, 132 Opening device, 133 Spout supply temporary fixing device, 134 First spout seal heating device, 135 Second spout seal heating device, 136 Spout seal cooling device, 137 Spout seal inspection device, 138 Good product discharge device, 141 Spout holding device, 142 Spout holding part, Ax Rotation axis, B Bag, B0 Defective bag, B1 Product bag, B2 Bag with spout, C Container, D0 Direction of movement, D1 Rotation direction, D3 Press / release direction, D4 Upward direction, D5 Rotation direction, D6 Longitudinal vibration direction, D7 Lateral vibration direction, D8 Article movement direction, D9 Processing device vibration direction, D10 retraction direction, D11 upward / downward direction, D12 device movement direction, D13 horizontal movement direction, F contents, Fm movement route, Fm1 first movement route, Fm2 second movement route, Fm3 third movement route, Fm4 fourth movement route, Fp return route, Fq defective discharge route, Fr normal movement route, H holding interval, P item, S spout, S1 upper flange portion, S2 lower flange portion, S3 planned mounting seal portion, S4 straw portion, T movement trajectory, V cap

Claims

1. A transport system comprising a transport body having a transport surface, a plurality of movable elements that move along the transport surface, and a transport control unit that controls the magnetic field acting between the plurality of movable elements and the transport body, wherein the plurality of movable elements move along the transport surface in a floating state separated from the transport surface based on the magnetic field, Each of the multiple processing stations comprises multiple processing devices that perform processing using articles placed on movable elements positioned at corresponding processing locations on the transport surface, The transport control unit controls the magnetism to variably adjust one or more of the movement trajectory, rotation state, movement speed, movement time, and posture of the plurality of movable elements. The article includes a container holding device for holding a container, The plurality of processing devices include a processing device that performs packaging-related processing on a container held by the container holding device, The transport control unit controls the movement of a trailing movable element to another processing station without waiting for the completion of processing for a preceding movable element at a given processing station. Processing system.

2. The transport control unit controls the magnetic field to variably adjust the movement trajectories of at least the plurality of movable elements. The processing system according to claim 1.

3. The transport control unit controls the magnetism to variably adjust the rotation state of at least the plurality of movable elements. The processing system according to claim 1 or 2.

4. The transport control unit adjusts the orientation of at least the plurality of movable elements variably by controlling the magnetism. The processing system according to claim 1 or 2.

5. The container is a bag, and the container holding device is a bag holding device for holding the bag, The plurality of processing devices include a processing device that performs processing related to attaching a spout to a bag held by the bag holding device, The processing system according to claim 1 or 2.

6. The article includes a spout holding device for holding the spout, The plurality of processing devices include a processing device that performs processing related to the spout held by the spout holding device, The processing system according to claim 1 or 2.

7. The article includes at least one of a drive source device and a power source device, The aforementioned plurality of processing devices include a processing device that performs packaging-related processing for containers, The processing system according to claim 1 or 2.

8. The article includes at least one of a drive source device and a power source device, The aforementioned container is a bag. The plurality of processing devices include a processing device that performs processing related to attaching a spout to the bag, The processing system according to claim 1 or 2.

9. The article includes a can. The processing system according to claim 1 or 2.

10. The article includes a container. The processing system according to claim 1 or 2.

11. The plurality of processing devices include a processing device for placing packaging material on at least one of the plurality of movable elements, The processing system according to claim 1 or 2.

12. The plurality of processing devices includes a processing device for placing a package on at least one of the plurality of movable elements, The processing system according to claim 1 or 2.

Images